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A MATLAB virtual laboratory to support learning of auto-tuning PID approaches

IFAC-PapersOnLine 2024年第7期58卷 73-78页

作者： J.A. Rossiter A. Visioli S. Dormido R. Bars Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Dipartimento di Ingegneria Meccanica e Industiale University of Brescia Italy Universidad Nacional de Educacion a Distancia Madrid Spain Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

This paper presents a small number of MATLAB APPs and livescript files designed to help students both understand and implement PID tuning. The paper presents the thinking behind the use of MATLAB and the topic itself before then describing the proposed resources in detail. The resources split into files with detailed mathematical and coding background students can use for self-study and assignments, and a virtual laboratory which is more intuitive and interactive and useful for familiarisation with core concepts. The files were recently added to the control101 toolbox (Rossiter, 2023).

关键词： control101 toolbox PID compensation virtual laboratories independent learning

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Vision-based Runway Detection and Landing for Unmanned Aerial Vehicle Enhanced Autonomy 20

Vision-based Runway Detection and Landing for Unmanned Aeria...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tsapparellas, Kyriacos Jelev, Nickolay Waters, Jonathon Brunswicker, Sabine Mihaylova, Lyudmila S. University of Sheffield Department of Automatic Control and Systems Engineering S1 3JD United Kingdom Windracers Distributed Avionics Healthaid House Malborough Hill LondonHA1 1UD United Kingdom Purdue University Research Center for Digital Innovation United States

ISBN: (纸本)9798350320831

Introducing autonomy is a task of paramount importance and is currently investigated in many areas, especially for autonomous cars and Unmanned Aerial Vehicles (UAVs). Most UAVs are still remotely human-controlled. A necessity is to implement on-board solutions, able to work in all weather conditions and at any time. Hence, on this topic, we give an overview of recent advances for vision-based landing of UAVs. A thorough classification of the main recently developed methods is introduced with a discussion of their advantages and disadvantages. The paper presents a new solution for autonomous UAV vision-based landing, focusing on runway detection using a hybrid approach combining multi-image matching, SIFT and object tracking. The results are evaluated and validated using simulated images sampled with the X-Plane 11 flight simulator and real-world videos collected during automated flights performed by the ULTRA vehicle, one of the biggest UAVs in the UK [1]. The statistical analysis from the validation of the proposed approach shows a high level of accuracy around 94.89% in clear weather conditions and real-time computational performance. © 2023 IEEE.

关键词： Computer vision

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Modelling and control of a nonlinear distillation column: A, using fractional-order controllers 18

Modelling and Control of a nonlinear distillation column: A,...

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18th IEEE India Council International Conference, INDICON 2021

作者： Hanif, Omar Tiwari, Shipra Kumar, Vivek The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom Motilal Nehru National Institute of Technology Department of Electrical Engineering Prayagraj India Indian Institue of Technology Roorkee Department of Electrical Engineering Roorkee India

ISBN: (纸本)9781665441759

This paper takes up the challenge of modelling a complex nonlinear distillation column type-A and designs four optimal controllers for the same. The nonlinear plant is first linearized into a linear higher-order model. Thereafter, it is reduced into a lower-order model. Subsequently, the controllers are designed for the lower-order linear model. The controllers are designed by reducing the error cost functions, namely Integral Square Error (ISE), Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE). The process of optimization is done heuristically using the Genetic Algorithm method of tuning. The four controllers designed are Proportional Integral Derivative, Fractional-order Proportional Integral Derivative, Tilt Integral Derivative and Fractional-order Internal Model control. A thorough comparison is made between the three designed controllers, first on the Single Input Single Output (SISO), then to the reduced-order linear model and finally to the main plant. The FO-IMC controller is shown as an exhibition controller designed using GA to demonstrate the novelty of its kind. It has also been compared, but the results show poor performances as it has not been tuned with the same parameters as the rest. © 2021 IEEE.

关键词： controllers

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Topological Robot Localization in a Large-Scale Water Pipe Network 21st

Topological Robot Localization in a Large-Scale Water Pipe N...

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21th Annual Conference on Towards Autonomous robotics, TAROS 20120

作者： Worley, Rob Anderson, Sean Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030634858

Topological localization is well suited to robots operating in water pipe networks because the environment is well defined as a set of discrete connected places like junctions, customer connections, and access points. Topological methods are more computationally efficient than metric methods, which is important for robots operating in pipes as they will be small with limited computational power. A Hidden Markov Model (HMM) based localization method is presented here, with novel incorporation of measured distance travelled. Improvements to the method are presented which use a reduced definition of the robot state to improve computational efficiency and an alternative motion model where the probability of transitioning to each other state is uniform. Simulation in a large realistic map shows that the use of measured distance travelled improves the localization accuracy by around 70%, that the reduction of the state definition gives an reduction in computational requirement by 75% with only a small loss to accuracy dependant on the robot parameters, and that the alternative motion model gives a further improvement to accuracy. © 2020, Springer Nature Switzerland AG.

关键词： Computational efficiency

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Roblets: Robotic Tablets That Self-Assemble and Self-Fold into a Robot

Roblets: Robotic Tablets That Self-Assemble and Self-Fold in...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Junyi Han Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in silico Medicine

Inspired by human proteins that are synthesized from only 20 types of amino acids, the development of self-assembly methods that allow robots to be built simply by randomly stirring the parts has been explored for many years. The key challenges include how to synthesize parts in pieces into a three-dimensional functional structure in a practical time, and subsequently, achieve a controlled robotic motion, all with minimal human intervention. This study proposes a method of self-assembling a 3D robot by first self-assembling random parts into a 2D structure and then self-folding it into a 3D shape. Once self-folded, the robot, whose compositional parts contain magnets, becomes capable of performing basic tasks such as block-pushing upon an application of an external magnetic field. Self-assembly from parts into a two-dimensional structure was performed by repeatedly colliding the parts with each other, and combining them with complementary-shaped parts, like matching jigsaw puzzle pieces. Self-folding was performed by shrinking a heat-responsive film attached across the hinge of each assembly part in hot water, causing the entire 2D structure to self-fold. The experiment demonstrated a series of 13 parts self-assembling into the shape of a 3D beetle, then walking and pushing an object in 13 minutes. The self-assembly process is programmed (mechanically) to generate the same geometry even if the number of parts is greater than the necessary number for the structure, thus is capable of generating multiple structures simultaneously.

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Predictive Norm Optimal Iterative Learning control for High-performance Formation control Problem

Predictive Norm Optimal Iterative Learning Control for High-...

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IEEE Conference on Decision and control

作者： Yueqing Zhang Bin Chen Faculty of Engineering and Physical Sciences University of SouthamptonSO17 1BJ Southampton U.K Department of Automatic Control and Systems Engineering University of SheffieldSheffield S10 2TN U.K

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper develops a predictive optimisationbased iterative learning control (ILC) strategy for the highperformance formation control problem in networked dynamical systems working repetitively. It avoids the need for exact model information in traditional methods and achieves high performance via a predictive framework incorporating a unique performance index that integrates both immediate and future performance. The proposed framework guarantees geometric convergence of the formation error norm to zero and is capable of handling both heterogeneous and non-minimum phase systems. A distributed implementation of the framework is developed using the Alternating Direction Method of Multipliers to guarantee the framework’s scalability for largescale networks. Rigorous convergence analysis and numerical examples are provided to confirm its effectiveness.

关键词： Uncertainty Heuristic algorithms Scalability Simulation Prediction algorithms Formation control Performance analysis Dynamical systems Convergence Iterative learning control

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Ensemble Learning Model for Prediction of Natural Gas Spot Price Based on Least Squares Boosting Algorithm

Ensemble Learning Model for Prediction of Natural Gas Spot P...

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2020 International Conference on Data Analytics for Business and Industry: Way Towards a Sustainable Economy, ICDABI 2020

作者： Ali, Aliyuda University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781728196756

ISBN: (纸本)9781728196756

Among fossil fuels, natural gas has been considered a fuel of choice for increasing the supply of energy and reducing environmental contamination worldwide. Given that the supply chain of natural gas is characterized by imbalances between demand and supply on a timely basis, effective and fast models for accurate spot price prediction for natural gas would not only inform but also help various stakeholders to make wise decisions in the competitive natural gas marketplace. Proposed in this paper is a regression ensemble learning model based on least squares boosting algorithm for improving the prediction of natural gas spot price on a monthly basis. Ensemble learning models are becoming more preferred predictive tools due to their capability to train multiple weak learning models, and aggregate their outputs to produce a strong learning model with better overall accuracy. A broad scope of time series data from January 1997 to May 2020 from Henry Hub natural gas spot prices were employed in developing and testing the proposed model. Coefficient of determination (R2), mean square error (MSE) and root mean square error (RMSE) are employed as performance metrics to evaluate the performance of the proposed model. Compared to four existing state-of-the-art approaches, overall results show that the proposed model exhibits better performance over the state-of-the-art methods with R2, MSE and RMSE scores of 0.9668, 0.3248, and 0.5699, respectively. © 2020 IEEE.

关键词： Learning systems

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Discrete-Time Stress Matrix-Based Formation control of General Linear Multi-Agent systems

arXiv

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arXiv 2024年

作者： Onuoha, Okechi Kurawa, Suleiman Tang, Zezhi Dong, Yi School of Computing Engineering and Intelligent Systems Ulster University United Kingdom School of Electrical and Electronic Engineering The University of Manchester United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom School of Electronics & Computer Science University of Southampton United Kingdom

This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim is to drive a set of agents comprising leaders and followers to form any desired geometric pattern and simultaneously execute any required manoeuvre by controlling only a few agents denoted as leaders. Existing works in literature are mostly limited to the cases where the agents’ inter-agent communications are either in the continuous-time settings or the sampled-data cases where the leaders are constrained to constant (or zero) velocities or accelerations. Here, we relax these constraints and study the discrete-time cases where the leaders can have stationary or time-varying velocities. We propose control laws in the study of different situations and provide some sufficient conditions to guarantee the overall system stability. Simulation study is used to demonstrate the efficacy of our proposed control laws. © 2024, CC BY.

关键词： Linear systems

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Tracking-in-range Formulations for Numerical Optimal control

arXiv

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arXiv 2024年

作者： Ramesh, Nikilesh Kerrigan, Eric C. Nie, Yuanbo Interdisciplinary Programmes in Engineering University of Sheffield SheffieldS10 2TN United Kingdom Department of Electrical & Electronic Engineering Department of Aeronautics Imperial College London LondonSW7 2AZ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS10 2TN United Kingdom

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more suitable for the mission specifications of many practical applications. In this work, we present novel optimal control formulations to solve tracking-in-range problems, for both problems requiring the tracker to be always in range, and problems allowing the tracker to go out of range to yield overall better outcomes. As the problem naturally involves discontinuous functions, we present alternative formulations and regularisation strategies to improve the performance of numerical solvers. The extension to in-range tracking with multiple trackers and in-range tracking in high dimensional space are also discussed and illustrated with numerical examples, demonstrating substantial increases in mission duration in comparison to traditional set-point tracking. Copyright © 2024, The Authors. All rights reserved.

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Correlation of Optical Properties to Mechanical Degradation of 3D Printed Thermoplastic Polyurethane Polymers Subjected to Gamma Irradiation

Correlation of Optical Properties to Mechanical Degradation ...

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2022 International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2022

作者： Gharaibeh, Belal M.Y. Salaimeh, Ahamad A. Jararweh, Mohammed Wasel Al-Omari, Ali Alalaween, Wafa'H. Mahfouf, Mahdi Department of Industrial Engineering Collage of Engineering and Applied Sciences Amerincan University of Kuwiat Salmiya Kuwait The University of Jordan Amman Jordan Mechanical Engineering Department University of Kentucky Lexington United States Supply Chain and Planning Department Hikma Pharmaceuticals PIc Amman Jordan Extraction Department Jordanian Uranium Mining Company Amman Jordan The University of Jordan Department of Industrial Engineering Amman Jordan The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

Polymeric medical grade materials subjected to sterilization gamma irradiation doses of medical devises and tools have been studied in this research work. Thermoplastic Polyurethane polymer specimens made by additive manufacturing method of Fused Deposition Modeling subjected to medical sterilization ranges of gamma Irradiation doses at room temperature of 12.5, 15, 20, 25, and 30 kGy were tested for mechanical, chemical and color changes due to the irradiation doses relative to control sample of 0 kGy dose. Reduction in elongation and tensile strength was observed and no significant chemical bonds changes has been observed due to low doses of gamma irradiation which is expected for TPU materials. Color changed from white transparent appearance to a yellow shade as expected due to irradiation reaching 26.7% change in intensity for the 30 kGy irradiation dose. A Levenberg - Marquardt training algorithm of two inputs and a single output were trained using Artificial Neural Network (ANN)-to correlate the color change to % elongation changes due to the single input of gamma irradiation dose and the determination coefficients are as good in the learning set as in the testing having a regression value of (R=0.9998) with validation (R=1). © 2022 IEEE.

关键词： Elongation

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