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63rd IEEE Conference on Decision and control, CDC 2024

作者： Van Hulst, J.S. Heemels, W.P.M.H. Antunes, D.J. Eindhoven University of Technology Control Systems Technology Section Department of Mechanical Engineering Netherlands

ISBN: (纸本)9798350316339

Reinforcement learning (RL) has seen significant research and application results but often requires large amounts of training data. This paper proposes two data-efficient off-policy RL methods that use parametrized Q-learning. In these methods, the Q-function is chosen to be linear in the parameters and quadratic in selected basis functions in the state and control deviations from a base policy. A cost penalizing the 1-norm of Bellman errors is minimized. We propose two methods: Linear Matrix Inequality Q-Learning (LMI-QL) and its iterative variant (LMIQLi), which solve the resulting episodic optimization problem through convex optimization. LMI-QL relies on a convex relaxation that yields a semidefinite programming (SDP) problem with linear matrix inequalities (LMIs). LMI-QLi entails solving sequential iterations of an SDP problem. Both methods combine convex optimization with direct Q-function learning, significantly improving learning speed. A numerical case study demonstrates their advantages over existing parametrized Q-learning methods. © 2024 IEEE.

关键词： Convex optimization

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Comparative analysis of the ISO tolerance class of 3D-printed spur cylindrical gears produced with material extrusion and powder bed fusion techniques

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International Journal of Powertrains 2024年第3期13卷 225-247页

作者： Vakouftsis, Christos Vasileiou, Georgios Kaisarlis, Georgios Kalligeros, Christos Papalexis, Christos Zalimidis, Pavlos Provatidis, Christopher Spitas, Vasileios National Technical University of Athens Greece Mechanical Design and Control Systems Section School of Mechanical Engineering National Technical University of Athens Athens Greece Athens Greece

The present work correlates the printing accuracy of two major 3D-printing techniques applied for the production of spur gears by calculating the ISO tolerance class that defines the accuracy level of gears in all industrial applications. Specimens were produced using material extrusion MEX-TRB/P/ABS and powder bed fusion PBF-LB/P/PA22 techniques, evaluated by using a touch-probe coordinate measuring machine (CMM) with appropriate software and finally compared in terms of standards gear geometry errors and deviations. MEX-TRB produced specimens exhibited higher levels of accuracy and ISO quality class correspondingly. Both sets of specimens were found to comply with ISO Q12 or higher that greatly varies from the quality class of most metallic gears used in industrial applications. The printing parameters are detailed and discussed extensively in an attempt to provide insight on further research and process optimisation for the production of AM gears. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Coordinate measuring machines

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AIRPORT INFRASTRUCTURE SIZING FOR A REGIONAL ELECTRIC AVIATION NETWORK 34th

AIRPORT INFRASTRUCTURE SIZING FOR A REGIONAL ELECTRIC AVIATI...

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34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024

作者： Vehlhaber, Finn Salazar, Mauro Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands

Electric aircraft will soon be introduced to regional markets and airport operators will need to provide the necessary charging infrastructure to enable their operations. Most regional airports lack the grid connection to support fleet charging and a recent push to reduce emissions in the energy mix that sees national power grids struggling calls for a grid-independent and sustainable solution for these airports. This paper introduces a framework for the sizing of a system for on-site energy generation and storage in support of electric flight operations for a regional aviation network. Specifically, it shows how the properties of the flight network can be leveraged for the strategic sizing of the electric infrastructure for a case study on the Dutch Leeward Antilles, highlighting airport specific requirements that arise from considering the air transport and energy system as a whole. Results with rough cost estimations for the infrastructure components show that installing energy and charging infrastructure at every airport in the flight network leads to a marginal cost decrease compared to a selective strategy where infrastructure is only installed at few airports. This latter case is also shown to have repercussions on infrastructure decisions on every other airport in the network. On the other hand, adapting the battery size of the aircraft in the fleet to the flight network requirements can lead to a significant decrease of up to 17% in total infrastructure costs. © 2024, International Council of the Aeronautical Sciences. All rights reserved.

关键词： Fleet operations

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Filtering in Projection-based Integrators for Improved Phase Characteristics 63

Filtering in Projection-based Integrators for Improved Phase...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Chu, Hoang Van Den Eijnden, S.J.A.M. Heertjes, M.F. Heemels, W.P.M.H. Eindhoven University of Technology Control Systems Technology Section Dept. Mechanical Engineering Netherlands Asml Mechatronics & Measurements Systems Veldhoven Netherlands

ISBN: (纸本)9798350316339

Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated sector set, leading to unique freedom in control design that can be directly translated into performance benefits. This paper aims to enhance projection-based integrators by incorporating well-crafted linear filters directly into its structure, resulting in a new class of projected integrators that includes the earlier ones, such as the hybrid-integrator gain systems (HIGS), as special cases. The extra design freedom in the form of two filters in the input paths to the projection operator and the internal dynamics allows the controller to break away from the inherent limitations of a linear control design. The enhanced performance properties of the proposed structure are formally demonstrated through i) a describing function analysis, ii) mitigation of the gain-loss problem (occurring in, e.g., HIGS), and iii) numerical case studies showcasing improved time-domain properties. The describing function analysis is supported by rigorously showing incremental properties of the new filtered projection-based integrators, thereby guaranteeing the steady-state responses to be unique and asymptotically stable. © 2024 IEEE.

关键词： Describing functions

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Feedback-Based Quantum Algorithm for Constrained Optimization Problems 15th

Feedback-Based Quantum Algorithm for Constrained Optimizati...

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15th International Conference on Parallel Processing and Applied Mathematics, PPAM 2024

作者： Abdul Rahman, Salahuddin Karabacak, Özkan Wisniewski, Rafal Automation and Control Section Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

ISBN: (纸本)9783031856990

The feedback-based algorithm for quantum optimization (FALQON) has recently been proposed to find ground states of Hamiltonians and solve quadratic unconstrained binary optimization problems. This paper efficiently generalizes FALQON to tackle quadratic constrained binary optimization (QCBO) problems. For this purpose, we introduce a new operator that encodes the problem’s solution as its ground state. Using control theory, we design a quantum control system such that the state converges to the ground state of this operator. When applied to the QCBO problem, we show that our proposed algorithm saves computational resources by reducing the depth of the quantum circuit and can perform better than FALQON. The effectiveness of our proposed algorithm is further illustrated through numerical simulations. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Constrained optimization

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Optimal Fault Detection for Closed-Loop Linear Uncertain systems 63

Optimal Fault Detection for Closed-Loop Linear Uncertain Sys...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Classens, Koen Ickenroth, Tjeerd Van De Wijdeven, Jeroen Heemels, W.P.M.H. Maurice Oomen, Tom Asml Netherlands Eindhoven University of Technology Control Systems Technology Section Dept. Mechanical Engineering Netherlands Delft University of Technology Delft Center for Systems and Control Dept. 3mE Netherlands

ISBN: (纸本)9798350316339

Robust fault detection is crucial for ensuring the reliability and safety of complex engineering systems. However, distinguishing faults from disturbances and model uncertainty which are inherently present in any practical system remains remains a challenging task. This paper addresses the robust fault detection filter design problem for continuous-time linear time-invariant uncertain systems operating in open or closed-loop configurations. The proposed framework offers a unified approach to handle both parametric and dynamic uncertainties by solving a single Riccati equation, based on a worst-case disturbance and uncertainty scenario. The efficacy of the proposed approach is demonstrated on a numerical multivariable double mass-spring-damper system. The results illustrate that an optimal compromise is achieved between fault sensitivity and rejection of modelling uncertainties and disturbances. This capability enables the clear differentiation between faults and undesired effects in the residuals, thereby enhancing fault detection reliability, ultimately contributing to improved safety and performance. © 2024 IEEE.

关键词： Riccati equations

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Iterative Robust Experiment Design for MIMO System Identification via the S-Lemma

Iterative Robust Experiment Design for MIMO System Identific...

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2023 IEEE Conference on control Technology and Applications, CCTA 2023

作者： Dirkx, Nic Tiels, Koen Oomen, Tom Asml Veldhoven Netherlands Eindhoven University of Technology Control Systems Technology Dept. of Mechanical Engineering Eindhoven Netherlands Eindhoven University of Technology Control Systems Technology Section Department of Mechanical Engineering Eindhoven Netherlands Delft University of Technology Delft Center for Systems and Control Delft Netherlands

ISBN: (纸本)9798350335446

Optimal input design plays an important role in system identification for complex and multivariable systems. A known paradox in input design is that the optimal inputs depend on the true but unknown system. The aim of this paper is to design inputs for multivariable systems that are robust to all system variations within a given continuous uncertainty set. In the presented approach, the robust design problem is cast as an infinite-dimensional min-max optimization problem, and tackled via the S-lemma in an iterative approximation scheme. Experimental results from a multivariable motion system show that the algorithm enables significant robustness improvements. © 2023 IEEE.

关键词： Iterative methods

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Incremental Stability of Discrete-Time First-Order Projection Elements ⁎

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IFAC-PapersOnLine 2024年第11期58卷 123-128页

作者： Riccardo Bertollo Sebastiaan van den Eijnden W.P.M.H. (Maurice) Heemels Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology The Netherlands

In this paper, we present and analyze a class of discrete-time and sampled-data controllers named first-order projection elements (FOPEs). FOPEs form a class of hybrid controllers that have an underlying linear base dynamics, which are combined with a projection operator that ensures that the input-output (I/O) pair is contained in a well-designed sector. The I/O sector-constraint enables performance benefits in various application domains including motion control of high-precision machines. After the introduction of FOPEs, we focus on incremental stability analysis of these hybrid controllers. We show that the properties of the projection operator ensure incremental stability of the open-loop FOPE dynamics in case of an underlying linear dynamics that is exponentially stable. In this case, we compute tight bounds on the incremental gain. Under an appropriate small-gain condition, we show incremental input-to-state stability of the sampled-data interconnection of a FOPE with a continuous-time linear time-invariant plant. For the case of projected integrator dynamics, we provide a counterexample showing that incremental stability can be compromised. We provide additional, necessary and sufficient conditions under which FOPEs with integrator dynamics are incrementally asymptotically stable. Numerical simulations provide a practical example of the established incremental properties for the trajectories of a dynamical system coming from an industrial motion control application.

关键词： Hybrid integrator-gain systems Projected dynamics Incremental stability Sampled-data systems

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Current Status and Analyses of the SPLICE Hazard Detection Software

Current Status and Analyses of the SPLICE Hazard Detection S...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Liu, John Y. Chen, Po-Ting Aldrich, Jack D. Bocchino, Robert L. Vaughan, Geoffrey Jet Propulsion Laboratory California Institute of Technology Payload/Instrument Pointing Control Systems Engineering Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Flight Software and Avionics Systems Section 4800 Oak Grove Drive PasadenaCA91109 United States

This paper provides a status report of the current development and analysis efforts for the hazard detection (HD) software for the Safe and Precise Landing-Integrated Capabilities Evolution (SPLICE) project. © 20... 详细信息

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

关键词： Hazards

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Optimization-based Verification of Discrete-time control Barrier Functions: A Branch-and-Bound Approach

arXiv

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arXiv 2024年

作者： Shakhesi, Erfan Heemels, W.P.M.H. Katriniok, Alexander The Control Systems Technology section Mechanical Engineering Eindhoven University of Technology Netherlands

— Discrete-time control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper, we provide an optimization-based algorithm, inspired by the αBB algorithm, for the verification of a candidate DTCBF, i.e., either verifying a given candidate function as a valid DTCBF or falsifying it by providing a counterexample for a general nonlinear discrete-time system with input constraints. This method is applicable whether a corresponding control policy is known or unknown. We apply our method to a numerical case study to illustrate its efficacy. © 2024, CC BY-NC-ND.

关键词： Branch and bound method

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