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Anti-Sway control for Crane systems: Robust Design with LMI Optimization 2

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Anti-Sway Control for Crane Systems: Robust Design with LMI ...

2nd IEEE Conference on control Technology and Applications, CCTA 2018

作者： Kawai, Fukiko Hayashi, Takashi Kaneko, Takayuki Andersen, Palle Dimon Bendtsen, Jan Section of Automation and Control Department of Electronic Systems Aalborg University Aalborg9220 Denmark Fuji Electric Co. Ltd. Japan

ISBN: (纸本)9781538676981

Disturbance Feedback control (DFC) is a control concept in which an existing controller is augmented with an additional feedback in order to achieve better disturbance rejection performance. This paper proposes an anti-sway control scheme for crane systems using robust DFC designed to minimize the sway angle and trolley position errors via Linear Matrix Inequality optimization. The robust DFC is added to an existing crane control system composed of a feed forward and state feedback control. Simulation results for the gantry crane system show improvements in control performance when the gantry load is subjected to impulse force disturbances. © 2018 IEEE.

关键词： Feedback control

Resilient Multi-Dimensional Consensus in Adversarial Environment

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arXiv 2020年

作者： Yan, Jiaqi Li, Xiuxian Mo, Yilin Wen, Changyun Department of Automation BNRist Tsinghua University Beijing China Department of Control Science and Engineering College of Electronics and Information Engineering Institute for Advanced Study Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

This paper considers the multi-dimensional consensus in networked systems, where some of the agents might be misbehaving (or faulty). Despite the influence of these misbehaviors, the benign agents aim to reach an agreement while avoiding being seriously influenced by the faulty ones. To this end, this paper first considers a general class of consensus algorithms, where each benign agent computes an "auxiliary point" based on the received values and moves its state toward this point. Concerning this generic form, we present conditions for achieving resilient consensus and obtain a lower bound on the exponential convergence rate. Assuming that the number of malicious agents is upper bounded, two specific resilient consensus algorithms are further developed based on the obtained conditions. Particularly, the first solution, based on Helly's Theorem, achieves the consensus within the convex hull formed by the benign agents' initial states, where the auxiliary point can be efficiently computed through linear programming. On the other hand, the second algorithm serves as a "built-in" security guarantee for standard average consensus algorithms, in the sense that its performance coincides exactly with that of the standard ones in the absence of faulty nodes while also resisting the serious influence of the misbehaving ones in adversarial environment. Some numerical examples are provided in the end to verify the theoretical results. © 2020, CC BY.

关键词： Linear programming

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

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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)

Periodic event-triggered output regulation for linear multi-agent systems

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arXiv 2020年

作者： Zheng, Shiqi Shi, Peng Agarwal, Ramesh K. Lim, Chee Peng School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Electrical and Electronic Engineering University of Adelaide AdelaideSA5005 Australia Department of Mechanical Engineering Washington University Box 1185 St Louis CampusMO63130 United States Institute for Intelligent Systems Research and Innovation Deakin University Australia

This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are only needed to be monitored at discrete sampling instants. It is assumed that only a small number of agents can have access to the system matrix and states of the leader. Meanwhile, the PET mechanism is considered not only in the communication between various agents, but also in the sensorto-controller and controller-to-actuator transmission channels for each agent. The above problem set-up will bring some challenges to the controller design and stability analysis. Based on a novel PET distributed observer, a PET dynamic output feedback control method is developed for each follower. Compared with the existing works, our method can naturally exclude the Zeno behavior, and the inter-event time becomes multiples of the sampling period. Furthermore, for every follower, the minimum inter-event time can be determined a prior, and computed directly without the knowledge of the leader information. An example is given to verify and illustrate the effectiveness of the new design scheme. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

Multi-rotor wind turbine control challenge - A benchmark for advanced control development

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Multi-rotor wind turbine control challenge - A benchmark for...

IEEE Conference on control Technology and Applications

作者： Kim Hylling S?rensen Torben Knudsen Oliver Tierdad Filsoof Tobias Gybel Hovgaard Jacob Deleuran Grunnet Julio Xavier Vianna Neto Rafal Wisniewski Vestas Wind Systems Denmark Department of Electronic Systems Section of Automation and Control Aalborg University Denmark

We consider the control of a multi-rotor wind turbine consisting of two or more nacelles, each with at least a rotor and a generator, fixed to the same load carrying structure. We present a set of control challenges and provide an easily accessible simulation model as a benchmark for development of new ideas and comparison of methods for multi-rotor control. The control objective for the multi-rotor is to minimize the fatigue in the structure supporting the nacelles, while maximizing generated power and observing constraints on, e.g., rotational speed, rotor thrust, etc. We describe a model including the basic dynamics for a four rotor turbine. For this model an open Simulink model is made available for download. Furthermore, we provide an animation tool for visualization of the movement of the support structure during simulations. As an example we design and test a controller using the simulator. The is test completed for normal turbulence conditions obtaining significant fatigue load reductions with a limited power loss.

关键词： animation tool visualization movement

Mobile Energy Transfer in Internet of Things

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arXiv 2020年

作者： Zhang, Qingqing Wang, Gang Giannakis, Georgios B. Liu, Qingwen Chen, Jie College of Electronic and Information Engineering Tongji University Shanghai201800 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN 55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Tongji University Shanghai200092 China

—Internet of things (IoT) is powering up smart cities by connecting all kinds of electronic devices. The power supply problem of IoT devices constitutes a major challenge in current IoT development, due to the poor battery endurance as well as the troublesome cable deployment. The wireless power transfer (WPT) technology has recently emerged as a promising solution. Yet, existing WPT advances cannot support free and mobile charging like Wi-Fi communications. To this end, the concept of mobile energy transfer (MET) is proposed, which relies critically on an resonant beam charging (RBC) technology. The adaptive (A) RBC technology builds on RBC, but aims at improving the charging efficiency by charging devices at device preferred current and voltage levels adaptively. A mobile ARBC scheme is developed relying on an adaptive source power control. Extensive numerical simulations using a 1,000mAh Li-ion battery show that the mobile ARBC outperforms simple charging schemes such as the constant power charging, the profile-adaptive charging, and the distance-adaptive charging in saving energy. Copyright © 2020, The Authors. All rights reserved.

关键词： Energy transfer

A time-sensitive networking (TSN) simulation model based on OMNET++ 15

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A time-sensitive networking (TSN) simulation model based on ...

15th IEEE International Conference on Mechatronics and automation, ICMA 2018

作者： Jiang, Junhui Li, Yuting Hong, Seung Ho Xu, Aidong Wang, Kai Department of Electronic Systems Engineering Hanyang University Ansan15588 Korea Republic of Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781538660720

Industrial and automation control systems require that data be delivered in a highly predictable manner in terms of time. Time-sensitive Networking (TSN), an extension of the Ethernet, is a set of protocols developed and maintained by the IEEE 802.1 Task Group;the protocols deal with time synchronization, traffic scheduling, and network configuration, etc. TSN yields promising solutions for real-time and deterministic networks. Here, we develop a TSN simulation model based on OMNET++;we model a TSN-enabled switch that schedules traffic using gate control lists (GCLs). Simulation verified that the model guaranteed deterministic end-to-end latency. © 2018 IEEE.

关键词： IEEE Standards

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

Dexterous Manipulation through Imitation Learning: A Survey

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arXiv 2025年

作者： An, Shan Meng, Ziyu Tang, Chao Zhou, Yuning Liu, Tengyu Ding, Fangqiang Zhang, Shufang Mu, Yao Song, Ran Zhang, Wei Hou, Zeng-Guang Zhang, Hong School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Control Science and Engineering Shandong University Jinan250061 China State Key Laboratory of General Artificial Intelligence Beijing100086 China Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Informatics University of Edinburgh EH8 9AB United Kingdom Department of Computer Science University of Hong Kong 999077 Hong Kong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high-dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning (IL), details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers