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Probabilistic Tube-based control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic

Probabilistic Tube-based Control Synthesis of Stochastic Mul...

引用

IEEE Conference on Decision and control

作者： Eleftherios E. Vlahakis Lars Lindemann Pantelis Sopasakis Dimos V. Dimarogonas Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science Viterbi School of Engineering University of Southern California Los Angeles CA USA School of Electronics Electrical Engineering and Computer Science Queen’s University Belfast Northern Ireland UK

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into deterministic and error components, we construct a probabilistic reachable tube (PRT) as the Cartesian product of reachable sets of the individual error systems driven by disturbances lying in confidence regions (CRs) with a fixed probability. By bounding the PRT probability with the specification probability, we tighten all state constraints induced by the STL specification by solving tractable optimization problems over segments of the PRT, and relax the underlying stochastic problem with a deterministic one. This approach reduces conservatism compared to tightening guided by the STL structure. Additionally, we propose a recursively feasible algorithm to attack the resulting problem by decomposing it into agent-level subproblems, which are solved iteratively according to a scheduling policy. We demonstrate our method on a ten-agent system, where existing approaches are impractical.

关键词： control design Scalability Linearity Probabilistic logic Scheduling Optimization Multi-agent systems

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Adaptive decentralized vibration control of a cable-stayed bridge in the presence of seismic excitation

Adaptive decentralized vibration control of a cable-stayed b...

引用

ASME 1999 Design engineering Technical Conferences, DETC 1999

作者： Luo, Ningsu Rodellar, Jose Sen, Manuel De La Veh, Josep Campus Montilivi P-ll Dept of Electronics Automatic Control and Computer Engineering University of Girona Girona17071 Spain Department of Applied Mathematics III School of Civil Engineering Technical University of Catalonia Barcelona08034 Spain Department of Electricity and Electronics Faculty of Science University of Basque Country Bizkaia Leioa48940 Spain

ISBN: (纸本)9780791819760

In this paper, an adaptive decentralized controller is presented to attenuate the transversal vibration of a flexible cablestayed bridge induced by seismic excitation, in which only local sensor information has been used to generate the control signal that is sent to the actuator. The dynamic behavior of the beam structure is characterized by a nonlinear mathematical model with interconnection terms, which was obtained by using technique of finite element. The controller design is made based on the principle of sliding mode such that a priori knowledge on the exact value of system parameters, structural disturbances and the seismiic excitation is not required. In particular, it is assumed that the upper and lower bounds for the seismic excitation are also unknown. The closed-loop robust stability has been achieved through the generation of a sliding motion in the system. Nu-merical simulation is done to illustrate the effectiveness of the proposed control scheme for a scaled model of the bridge subject to the Taft earthquake. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： controllers

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Counterfactual reasoning about intent for interactive navigation in dynamic environments

Counterfactual reasoning about intent for interactive naviga...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Bordallo F. Previtali N. Nardelli S. Ramamoorthy School of Informatics University of Edinburgh Edinburgh Scotland Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This requires models that take into consideration the other agent's intended actions in one's own planning. We present a real-time motion planning framework that brings together a few key components including intention inference by reasoning counterfactually about potential motion of the other agents as they work towards different goals. By using a light-weight motion model, we achieve efficient iterative planning for fluid motion when avoiding pedestrians, in parallel with goal inference for longer range movement prediction. This inference framework is coupled with a novel distributed visual tracking method that provides reliable and robust models for the current belief-state of the monitored environment. This combined approach represents a computationally efficient alternative to previously studied policy learning methods that often require significant offline training or calibration and do not yet scale to densely populated environments. We validate this framework with experiments involving multi-robot and human-robot navigation. We further validate the tracker component separately on much larger scale unconstrained pedestrian data sets.

关键词： Navigation Planning Computational modeling Robots Data models Dynamics Real-time systems

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Development of a 5G-Enabled and AI-Powered Agricultural Picking Robot control Module

Development of a 5G-Enabled and AI-Powered Agricultural Pick...

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Applied Physics and Computing (ICAPC), International Conference on

作者： Jianxiang Yu Maher Maalla Allam Maalla School of Engineering Guangzhou College of Technology and Business Guangzhou Guangdong China School of Computer Technologies and Control ITMO University Saint Petersburg Russian Federation

The escalating challenges faced by the agricultural industry, characterized by labor shortages, and rising costs, underscore the imperative for innovative solutions. This study explores the transformative potential of Intelligent Harvesting Systems in revolutionizing fruit harvesting, with a focus on assessing feasibility and understanding implications within the fruit industry. The integration of cutting-edge technologies, specifically 5G communication and artificial intelligence (AI), plays a pivotal role in the design and evaluation of a control module for an agricultural picking robot. The feasibility assessment encompasses an in-depth exploration of the technological, economic, operational, and environmental. Experimental evaluations conducted in controlled environments and real-world settings showcase the system's high picking speed, accuracy, and adaptability to diverse produce sizes. The outcomes of this research not only align with the initial objectives of enhancing harvesting efficiency and reducing labor costs but also hold promise for a sustainable and resource-efficient agricultural future. The positive synergy between 5G communication and AI technology emerges as a driving force behind the system's exceptional performance. This study not only contributes to the immediate advancements in intelligent harvesting but also lays a robust foundation for continued innovation, setting the stage for further exploration and refinement in this dynamic field.

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Lamb wave metal plate defect detection based on COMSOL and finite element analysis

Lamb wave metal plate defect detection based on COMSOL and f...

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2016 International Conference on Automotive engineering,Mechanical and Electrical engineering(AEMEE 2016)

作者： Peng Qin Institute of Signal Capturing and Processing Technology North University of China School of Computer Science and Control Engineering North University of China

With the rapid development of China's economy, and with metal plates being widely used in aerospace, the national defence industry, shipbuilding industry, high-speed railway and so on, the domestic demand for metal plates is increasing. However, in sheet metal processing and production processes, due to the influence of the environment, there will inevitably be a variety of different types of defects. As a result, it is of great significance to choose a reliable method to carry out a large area detection of the metal plate. The electromagnetic ultrasonic guided wave transducer, because of possessing the advantages of both the Electromagnetic Ultrasonic Transducer(EMAT) and the ultrasonic guided wave, which is namely non-contact, large detection area, high sensitivity, small attenuation, and long distance transmission, is very suitable for non-destructive testing of large areas of sheet metal. However, its energy-change efficiency is not high. In order to improve the non-destructive testing of the electromagnetic ultrasonic Lamb wave transducer, this paper studies the optimisation method of the Lamb wave transducer in the detection of metal plate, carries out simulation calculations of the Lamb wave transducer after optimisation, and applies the optimised Lamb wave transducer in the detection of sheet metal defects. Simulation and experimental results show that for the Lamb wave, in the face of defect mode conversion, as the defect depth increases, the received echo signal amplitude increases, which characterises the defect echo size.

关键词： Lamb wave Defect detection Finite element analysis

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On transfer function representation and frequency response of linear Active Disturbance Rejection control

On transfer function representation and frequency response o...

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Chinese control Conference (CCC)

作者： Congzhi Huang Zhiqiang Gao School of Control and Computer Engineering North China Electric Power University Beijing China Center for Advanced Control Technologies Cleveland State University Cleveland OH USA

The algebraic relationship between the transfer function and the state space representations of Linear Active Disturbance Rejection control (LADRC) is derived, upon which the unique frequency response characteristics of LADRC can be seen and understood. The transfer function form of LADRC for arbitrary order plant is derived from its state space representation and this allows that the open loop frequency characteristics of the LADRC based control system to be conveniently obtained and analyzed. The frequency response of LADRC not only shows excellent loop gain shape but also validates the original ADRC design concept: that the internal and external disturbances can be estimated in real time and cancelled. This time, the evidence comes not from simulation, or test, or time-domain analysis, but in the language of practicing engineers: frequency response.

关键词： Transfer functions Process control Frequency response Frequency estimation control systems Uncertainty Frequency control

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Mass Flow Rate Measurement of Pneumatically Conveyed Particles Through Acoustic Emission Detection and Electrostatic Sensing

Mass Flow Rate Measurement of Pneumatically Conveyed Particl...

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IEEE Instrumentation and Measurement Technology Conference

作者： Ge Zheng Yong Yan Yonghui Hu Wenbiao Zhang Long Yang Lanqi Li School of Control and Computer Engineering North China Electric Power University Beijing China School of Engineering and Digital Arts University of Kent Canterbury Kent U. K.

ISBN: (数字)9781728144603

ISBN: (纸本)9781728144610

Accurate online mass flow rate measurement of pneumatically conveyed particles is desirable to convert a conventional pulverized fuel fired power station into a smart thermal power plant. This paper presents a novel method for the online measurement of the mass flow rate of pulverized fuel through acoustic emission (AE) detection and electrostatic sensing. An integrated sensing head with an AE probe and three arc-shaped three-electrode electrostatic sensor arrays is developed. The proposed method determines the particle velocity by multiple-channel cross correlation of the sensor signals and extracts the information about mass flow rate from the AE signal arising from impacts of particles with a waveguide protruding into the flow. A theoretical model that relates the energy of the AE signals, the particle velocity and the mass flow rate is established. The sensing head was mounted on a vertical section of a 72-mm bore laboratory-scale test rig conveying fine silica particles. Experimental tests were conducted under a range of flow conditions to assess the performance of the developed measurement system. The results demonstrate that the instrumentation system is capable of measuring the mass flow rate of particles with a relative error within ±6.5% over the mass flow rate from 7 kg/h to 25 kg/h.

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2D systems based iterative learning control revisited

2D systems based iterative learning control revisited

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2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011

作者： Hladowski, Lukasz Galkowski, Krzysztof Rogers, Eric Kummert, Anton Institute of Control and Computation Engineering University of Zielona Gora Podgorna 50 Zielona Gora Poland University of Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany

ISBN: (纸本)9780955529375

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting point once each one is complete. The idea of iterative learning control is to make use of information from previous executions of the task in order to update the control signal applied during the current execution and thereby sequentially improve performance. This form of control can be treated as a class of 2D systems. In this paper, a critical overview of progress on this application area for 2D systems theory is given, including results from experimental verification on a gantry robot, and discussion of some open research questions. © 2011 Intl Journal of Adv Mechatr.

关键词： Learning algorithms

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Improvement of air-cooling unit and its perspective in China

Improvement of air-cooling unit and its perspective in China

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International Conference on Electronics, Communications and control (ICECC)

作者： Peng Ran Song-ling Wang Shu-fang Zhang School of Control Science & Computer Engineering North China Electric Power University Baoding China School of Energy & Power Engineering North China Electric Power University Baoding China

Three kinds of air-cooling systems and their technical features have been described in this paper. Combined with the energy policy in our country, the perspective of air-cooling unit is discussed mainly in terms of coal-fired unit applied status, air cooling unit's development and our country's energy policy etc. And the matters needing attention and the needed taken measures in the conscientions improvement of air-cooling unit by the power enterprises are put forward.

关键词： Educational institutions Power systems Cooling Power generation Presses computers Power measurement

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Switched differential linear repetitive processes

Switched differential linear repetitive processes

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jacek Bochniak Krzysztof Galkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK

Differential linear repetitive processes are a distinct class of 2D systems where information propagation in one of the two directions only occurs over a finite duration, termed the pass length. Information propagation in one direction of information propagation is governed by a linear differential equation, and in the second by a linear difference equation. Moreover, the output, or pass profile, produced on any pass acts as a forcing function on, and hence contributes to, the dynamics of the next one. The exact sequence of operation is that a pass is completed and then the process is reset to the original location for the start of the next one and so on, and the result can be oscillations that increase in amplitude in the pass-to-pass direction. In this paper, the general problem considered is where the along the pass dynamics switch at the end of each pass. In particular, stability tests are developed which extend to allow control law design for this property and can be computed using Linear Matrix Inequality (LMI) methods.

关键词： Process control Switches Stability analysis Linear matrix inequalities Asymptotic stability Linear systems

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