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第32届中国控制与决策会议

作者： Jianfang Dou Zimei Tu Xishuai Peng Department of Automation and Mechanical and Electrical engineering School of Intelligent Manufacturing and Control EngineeringShanghai Polytechnic University Department of Aerospace Information and Control School of Aeronautics and AstronauticsShanghai Jiao Tong University

We present a single-image super-resolution(SR) method for Remote Sensing Image based on deep learning within Discrete Wavelet Domain in this *** method is inspired Residual ***,an input image is decomposed by single level 2 D Discrete wavelet transform to get four sub-bands;The four sub-bands coefficients are feeding into the Deep Learning Residual Network to predict correspondingly residual images;Adding four sub-band images and residual images as the new sub-bands of 2 D wavelet transform;Finally,uses the inverse 2 D Discrete wavelet transform to get the final output Super Resolution HR *** proposed method performs better than existing methods in accuracy and visual improvements in our results are easily noticeable.

关键词： Super Resolution Discrete Wavelet Transform Deep Learning Convolutional Neural Network Residual Learning

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HJB Based Optimal Safe control Using control Barrier Functions

arXiv

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arXiv 2021年

作者： Almubarak, Hassan Theodorou, Evangelos A. Sadegh, Nader School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA United States The Daniel Guggenheim School of Aerospace Engineering Georgia Institute of Technology AtlantaGA United States The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA United States Department of Control and Instrumentation Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

This work proposes an optimal safe controller minimizing an infinite horizon cost functional subject to control barrier functions (CBFs) safety conditions. The constrained optimal control problem is reformulated as a minimization problem of the Hamilton-Jacobi-Bellman (HJB) equation subjected to the safety constraints. By solving the optimization problem, we are able to construct a closed form solution that satisfies optimality and safety conditions. The proposed solution is shown to be continuous and thus it renders the safe set forward invariant while minimizing the given cost. Hence, optimal stabilizability and safety objectives are achieved simultaneously. To synthesize the optimal safe controller, we present a modified Galerkin successive approximation approach which guarantees an optimal safe solution given a stabilizing safe initialization. The proposed algorithm is implemented on a constrained nonlinear system to show its efficacy. Copyright © 2021, The Authors. All rights reserved.

关键词： controllers

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Adaptive control for asynchronously switched fractional-order multi-agent systems

Adaptive control for asynchronously switched fractional-orde...

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第三十九届中国控制会议

作者： Xiongliang Zhang Shiqi Zheng Feng Liu Mingyuan Zhao Yuan Sun School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems School of Electrical and Electronic Engineering The University of Adelaide

In this paper, we discuss the adaptive controller design for a class of fractional-order（FO） multi-agent systems（MAS）.All the agents are described by FO pure-feedback nonlinear systems. This is more general than the existing works, which only considered strict-feedback or integer-order nonlinear systems. Meanwhile, asynchronous switching are considered in FO MAS,meaning the agents have heterogeneous switching dynamics. A new neural network based adaptive controller is proposed for the considered FO MAS, which can make the consensus tracking error converge to a small neighborhood of origin. Simulation verifies the results obtained.

关键词： Consensus tracking fractional-order multi-agent systems asynchronously switched systems

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Finite-gain based prescribed-time rotating containment control for second-order multi-agent systems

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Journal of the Franklin Institute 2025年

作者： Ziguo Liu Yujuan Wang Qing Chen International Joint Laboratory on Safety and Control of Autonomous Unmanned Systems of Ministry of Education Chongqing University Chongqing 400044 China School of Automation Chongqing University Chongqing 400044 China School of Electrical Engineering Chongqing University of Science and Technology Chongqing 401331 China

This work investigates the problem of prescribed-time rotating containment control of a second-order multi-agent systems in a directed topology based on polar coordinate, where multiple moving leaders with rotating motion are involved. A new finite time-varying gain based hybrid prescribed-time control approach consisting of prescribed-time observer and prescribed-time controller, is utilized which enables the numerical implementation issues caused by the infinite time-varying gain to be avoid. The proposed rotating containment control approach ensures that the states of the followers can enter the convex hull formed by that of the moving rotating leaders within a finite time uniforming in any design parameters and initial conditions. Both the numerical simulation and physical experiments are provided to confirm the effectiveness of the proposed method.

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Model-free design of stochastic lqr controller from reinforcement learning and primal-dual optimization perspective

arXiv

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arXiv 2021年

作者： Li, Man Qin, Jiahu Zheng, Wei Xing Wang, Yaonan Kang, Yu Department of Automation University of Science and Technology of China Hefei230027 China School of Computing Engineering and Mathematics Western Sydney University SydneyNSW2751 Australia College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha410082 China

To further understand the underlying mechanism of various reinforcement learning (RL) algorithms and also to better use the optimization theory to make further progress in RL, many researchers begin to revisit the linear-quadratic regulator (LQR) problem, whose setting is simple and yet captures the characteristics of RL. Inspired by this, this work is concerned with the model-free design of stochastic LQR controller for linear systems subject to Gaussian noises, from the perspective of both RL and primal-dual optimization. From the RL perspective, we first develop a new model-free off-policy policy iteration (MF-OPPI) algorithm, in which the sampled data is repeatedly used for updating the policy to alleviate the data-hungry problem to some extent. We then provide a rigorous analysis for algorithm convergence by showing that the involved iterations are equivalent to the iterations in the classical policy iteration (PI) algorithm. From the perspective of optimization, we first reformulate the stochastic LQR problem at hand as a constrained non-convex optimization problem, which is shown to have strong duality. Then, to solve this non-convex optimization problem, we propose a model-based primal-dual (MBPD) algorithm based on the properties of the resulting Karush-Kuhn-Tucker (KKT) conditions. We also give a model-free implementation for the MB-PD algorithm by solving a transformed dual feasibility condition. More importantly, we show that the dual and primal update steps in the MB-PD algorithm can be interpreted as the policy evaluation and policy improvement steps in the PI algorithm, respectively. Finally, we provide one simulation example to show the performance of the proposed algorithms. Copyright © 2021, The Authors. All rights reserved.

关键词： Stochastic systems

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A New LMI-Based controller Design Method for Uncertain Differential Repetitive Processes 1

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20th Polish control Conference, PCC 2020

作者： Maniarski, Robert Paszke, Wojciech Rogers, Eric Institute of Control and Computation Engineering University of Zielona Góra Szafrana 2 Zielona Góra65-516 Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Szafrana 2 Zielona Góra65-516 Poland School of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom

ISBN: (数字)9783030509361

ISBN: (纸本)9783030509354

The paper develops new results on stability analysis and control law design for differential linear repetitive processes. These results are based on new dilated LMI characterizations for stability along the pass where auxiliary slack variables with full structure are employed. This provides additional flexibility to the solution. The results are also easily extended to processes with norm-bounded uncertainties. It is also shown that the generalized Kalman-Yakubovich-Popov lemma can be used to obtain stability and controller design procedures in which performance specifications are imposed over finite frequency ranges. Sufficient conditions for the existence of a robust controller in this setting are established. Finally, a simulation example is given to illustrate the merits of the new design. © 2020, Springer Nature Switzerland AG.

关键词： Linear matrix inequalities

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Three-Phase D-STATCOM with Digital Current control Strategy in abc-Reference Frame

Three-Phase D-STATCOM with Digital Current Control Strategy ...

引用

International Conference on Computing, Mathematics and engineering Technologies (iCoMET)

作者： Tiago Davi Curi Busarello Kamran Zeb Muhammad Asim Sarwar Hee Je Kim Depart. Control Automation and Computation Engineering Federal University of Santa Catarina - UFSC Blumenau Brazil School of Electrical Engineering School of Electrical Engineering and Computer Science. Pusan National University National University of Sciences and Technology Busan South Korea Department Of Electrical Engineering Sukkur IBA University Pakistan School of Electrical Engineering Pusan National University Busan South Korea

ISBN: (数字)9781728149707

ISBN: (纸本)9781728149714

This paper proposes a Three-phase D-STATCOM with digital current control strategy in abc- reference frame. The proposal D-STATCOM does not use a PLL and the reactive power is transferred to the grid through controlling the D-STATCOM output current. The current controller has one zero and two poles. This type of controller is also known as Type-2 controller. The procedure to tune the controller is explained. The Conservative Power Theory (CPT) is used to compute the reactive power of the loads. A case study shows the behavior of the D-STACOM during initialization, during load transitions and during steady-state conditions. The results show the efficacy of the proposed D-STATCOM.

关键词： Automatic voltage control Reactive power Transfer functions Phase locked loops Mathematical model Filtering theory

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Satellite lithium-ion battery remaining useful life estimation with an iterative updated RVM fused with the KF algorithm

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Chinese Journal of Aeronautics 2018年第1期31卷 31-40页

作者： Yuchen SONG Datong LIU Yandong HOU Jinxiang YU Yu PENG Department of Automatic Test and Control School of Electrical Engineering and Automation Harbin Institute of Technology

Lithium-ion batteries have become the third-generation space batteries and are widely utilized in a series of spacecraft. Remaining Useful Life （RUL） estimation is essential to a spacecraft as the battery is a critical part and determines the lifetime and reliability. The Relevance Vector Machine （RVM） is a data-driven algorithm used to estimate a battery＇s RUL due to its sparse feature and uncertainty management capability. Especially, some of the regressive cases indicate that the RVM can obtain a better short-term prediction performance rather than long-term prediction. As a nonlinear kernel learning algorithm, the coefficient matrix and relevance vectors are fixed once the RVM training is conducted. Moreover, the RVM can be simply influenced by the noise with the training data. Thus, this work proposes an iterative updated approach to improve the long-term prediction performance for a battery＇s RUL prediction. Firstly, when a new estimator is output by the RVM, the Kalman filter is applied to optimize this estimator with a physical degradation model. Then, this optimized estimator is added into the training set as an on-line sample, the RVM model is re-trained, and the coefficient matrix and relevance vectors can be dynamically adjusted to make next iterative prediction. Experimental results with a commercial battery test data set and a satellite battery data set both indicate that the proposed method can achieve a better performance for RUL estimation.

关键词： Iterative updating Kalman filter Lithium-ion battery Relevance vector machine Remaining useful life estimation

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ROBOSTEAMSEN Project - Training SEN Teachers to Use Robotics for Fostering STEAM and Develop Computational Thinking*

ROBOSTEAMSEN Project - Training SEN Teachers to Use Robotics...

引用

International Symposium on computers in Education (SIIE)

作者： Miguel Á. Conde Francisco J. Rodríguez-Sedano Francisco J. García-Peñalvo Jose Gonçalves Ilkka Jormanainen Andrea Anzanello Jonny Filipe Ribeiro Alves Raquel Fernández Hernáandez Alina- Andreia Ailincai Dept. of Mechanics Computer Science and Aerospace Engineering Universidad de Leon Leon Spain Dept. Electrical Systems and Automation Engineering Universidad de Leon Leon Spain Dpto. de Informatica y Autormatica - IUCE Universidad de Salamanca Salamanca Espana Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politecnico de Braganca Braganca Portugal School of Computing University of Eastern Finland Joensuu Finland Dept of Project Management Pixel Florence Italy Colegio Internato Dos Carvalhos Carvalhos Portugal Colegio de Educacion Especial Ntra. Sra. del Sagrado Corazon de Leon Leon Spain EuroEd Primary School Lasi Romania

ISBN: (数字)9798350376616

ISBN: (纸本)9798350376623

Our contemporary society necessitates professionals equipped with 21st-century skills. Disciplines within Science, Technology, engineering, Arts, and Mathematics (known as STEAM) have been particularly effective in fostering these skills. However, when considering students with disabilities, especially those with intellectual or developmental disabilities (IDD), this assertion often falls short. In this context, the RoboSTEAMSEN project emerges as an initiative designed to enhance educational processes by providing teachers of IDD students with the necessary resources to promote STEAM engagement. The project proposes the use of active learning methodologies and robotics to achieve this goal. The primary objective of the project is realized through several strategies: understanding the needs of students with disabilities and adapting the use of robotics and active learning methodologies accordingly; training teachers in the use of these resources; and creating a platform to exchange experiences, resources, lessons learned, tools, case scenarios, etc., while reaching other potential stakeholders such as caregivers and policymakers. The main outcomes of the project are teacher training programs and the development of associated competencies, tools to identify and classify resources for the students, and technological platforms to ensure the sustain ability of the project once it concludes.

关键词： Training computers Ecosystems Collaboration Fasteners People with disabilities Mathematics

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Last-Mile Rural Electrification: Lessons Learned from Universalization Programs in Brazil and Venezuela

SSRN

引用

SSRN 2022年

作者： Leduchowicz-Municio, Alba López-Gozález, Alejandro Domenech, Bruno Ferrer-Martí, Laia Morales Udaeta, Miguel Edgar Gimenes, Andre Luiz Veiga Mechanical Engineering Department Universitat Politècnica de Catalunya BarcelonaTech Av. Diagonal 647 Pavilion D. Barcelona08028 Spain Energy Group of the Department of Energy and Electrical Automation Engineering of the Polytechnic School University of São Paulo São Paulo Brazil Socioeconomic Center of Petroleum and Alternative Energies Universidad de Zúlia Venezuela Department of Management Institute of Industrial and Control Engineering Universitat Politècnica de Catalunya – BarcelonaTech Barcelona Spain

Many countries are still facing a common hurdle: last-mile rural electrification. Great skill is required to face this challenge, which generally involves the most isolated, inaccessible and complex regions. Many Latin American countries have already undertaken universal access to energy schemes and have built an experience base that, if shared, can add a wealth of knowledge to facilitate the implementation of future initiatives. In this regard, this work evaluates the sustainability of the main electrification initiatives developed in Brazil and Venezuela, by performing an ex-post comparative multicriteria evaluation on 18 quantitative and qualitative social, institutional, economic, technical and managerial indicators. Eight discussion threads are drawn from the programs’ design and implementation strategies and outcomes. The main insights are: the suitability of renewable-based distributed energy resources for covering last-mile rural electrification;the effectiveness of a private context for the development of the technological market and the creation of policy instruments;and the effectiveness of a public context to implement a greater diversity of technological solutions focused on improving social well-being. The lessons learned aim to guide rural electrification promoters and decision makers in developing more sustainable and successful last-mile electrification initiatives. © 2022, The Authors. All rights reserved.

关键词： Sustainable development

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