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American control Conference (ACC)

作者： Ross Drummond Hamed Taghavian Pablo R. Baldivieso-Monasterios The Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

The problem of learning-to-control relaxation systems from data is considered. It is shown that the equi-librium of the relaxation system's step response defines the solution of a class of robust control problems and provides a good suboptimal solution to a class of linear quadratic regulator problems. These results demonstrate the potential to efficiently learn policies for these control problems from a single, easy-to-implement trajectory data point, being the step response. More broadly, these results highlight how the system structure and problem definition of the control problem can be exploited to generate data efficient learning- to-control methods.

关键词： Robust control Linear systems Regulators System dynamics Optimal control Trajectory

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Oligopoly Game Stabilisation Through Multilayer Congestion Dynamics

arXiv

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arXiv 2024年

作者： Willis, Toby Punzo, Giuliano Department of Automatic Control and Systems Engineering University of Sheffield Street South Yorkshire Sheffield100190 United Kingdom

International trade and logistics are subject to factors including geopolitical instability, climate change, and black swan events such as the unforeseen closure of the Suez Canal. The problem of predicting local price change under modification of an underlying transport network or change in supply characteristics unites elements of game theory, network theory and transport. The Cournot Oligopoly models economic actors as rational players attempting to maximise profit by optimising supply quantities with analytical results now consolidated about equilibrium characteristics where transport conditions are fixed. Similarly, where supply and demand are fixed, the routing of goods in a transport network can be analytically solved through a traffic assignment problem. Hence we can solve the coupled Cournot-congestion problem by means of a 2-layer network. Where the layers are linked, inter-layer feedback wherein players attempt to maximise their utility occurs. In this respect we find players benefit from taking advantage of non-simultaneous responses to the market rather than moving to a new equilibrium. We draw conclusions about the nature of equilibria, finding that the concave utility curve property results in unique and stable equilibrium for each uncoupled layer, while linked layers have a non-unique stable equilibria for which general solutions are stated. © 2024, CC BY.

关键词： International trade

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An Interacting Multiple Model Correntropy Kalman Filter Approach for Unmanned Aerial Vehicle Localisation 16

An Interacting Multiple Model Correntropy Kalman Filter Appr...

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16th International Conference on INnovations in Intelligent systems and Applications, INISTA 2022

作者： Candan, Fethi Beke, Aykut Shen, Chen Mihaylova, Lyudmila University of Sheffield Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Aselsan Department of Control Systems Design Ankara06750 Turkey 310018 China

ISBN: (数字)9781665498104

ISBN: (纸本)9781665498104

This paper compares a conventional interacting multiple model Kalman filter (IMM-KF) filter and an interacting multiple models with maximum correntropy Kalman filter (IMM-MCKF). A nonlinear UAV dynamics model was used to compare these two methods. The compared filters estimated the position of the UAV under the noise distribution. Although KF has reliable accuracy, MCKF has got better results under non-Gaussian or mixed distributions. At this point, these filters have been investigated under maneuver and non-maneuver motion, and it is known that better advantages will be shown when both filters are used in the IMM. These filters have been compared under non-Gaussian distributions, and the Student's-T distribution has been selected as a non-Gaussian type. The performance validation and testing stages are carried out with variable degrees of freedom, and scaling matrix factors for the Student's-T distributions have been used. Results from simulation tests from 3000 independent Monte-Carlo runs are presented. In these experiments, UAV models and UAV trajectory results have been used. © 2022 IEEE.

关键词： Kalman filters

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Disturbance Observer-Based Optimal Tracking control for Slot Coating Process with Mismatched Input Disturbances

Disturbance Observer-Based Optimal Tracking Control for Slot...

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UKACC International Conference on control (control)

作者： Zezhi Tang Christopher Passmore J Anthony Rossiter Stephen Ebbens Gary Dunderdale George Panoutsos Department of Automatic Control and Systems Engineering University of Sheffield Department of Chemical and Biological Engineering University of Sheffield Sustainable Aviation Fuels Innovation Centre Sheffield

ISBN: (数字)9798350374261

ISBN: (纸本)9798350374278

Slot coating is a widely used technique in various manufacturing processes. The efficiency of the process mostly depends on the precise control of diverse inputs such as pump rate and gap. However, this method can be sensitive to minor disturbances in process conditions, which can disrupt the uniformity of the film thickness. To overcome the challenge, through the implementation of the generalized disturbance observer and compensator, the impact of disturbances can be attenuated in the output channel. In addition, by combining with an output tracking controller, the proposed composite architecture effectively compensates the disturbances while guaranteeing the tracking of the specified film thickness across a wide range of situations. The simulation results were illustrated to showcase the effectiveness of the disturbance observer-based optimal tracking control (DOBOTC) system.

关键词： Manufacturing processes Simulation Perturbation methods Process control Disturbance observers Coatings Closed loop systems

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Learning Polynomial Representations of Physical Objects with Application to Certifying Correct Packing Configurations

arXiv

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arXiv 2023年

作者： Jones, Morgan The Department of Automatic Control and Systems Engineering The University of Sheffield United Kingdom

This paper introduces a novel approach for learning polynomial representations of physical objects. Given a point cloud data set associated with a physical object, we solve a one-class classification problem to bound the data points by a polynomial sublevel set while harnessing Sum-of-Squares (SOS) programming to enforce prior shape knowledge constraints. By representing objects as polynomial sublevel sets we further show it is possible to construct a secondary SOS program to certify whether objects are packed correctly, that is object boundaries do not overlap and are inside some container set. While not employing reinforcement learning (RL) in this work, our proposed secondary SOS program does provide a potential surrogate reward function for RL algorithms, autonomously rewarding agents that propose object rotations and translations that correctly pack objects within a given container set. Copyright © 2023, The Authors. All rights reserved.

关键词： Containers

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Steady-state analysis of networked epidemic models

arXiv

引用

arXiv 2023年

作者： Khong, Sei Zhen Su, Lanlan Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Compartmental epidemic models with dynamics that evolve over a graph network have gained considerable importance in recent years but analysis of these models is in general difficult due to their complexity. In this paper, we develop two positive feedback frameworks that are applicable to the study of steady-state values in a wide range of compartmental epidemic models, including both group and networked processes. In the case of a group (resp. networked) model, we show that the convergence limit of the susceptible proportion of the population (resp. the susceptible proportion in at least one of the subgroups) is upper bounded by the reciprocal of the basic reproduction number (BRN) of the model. The BRN, when it is greater than unity, thus demonstrates the level of penetration into a subpopulation by the disease. Both non-strict and strict bounds on the convergence limits are derived and shown to correspond to substantially distinct scenarios in the epidemic processes, one in the presence of the endemic state and another without. Formulae for calculating the limits are provided in the latter case. We apply the developed framework to examining various group and networked epidemic models commonly seen in the literature to verify the validity of our conclusions. Copyright © 2023, The Authors. All rights reserved.

关键词： Cell proliferation

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Recent Developments in Self-Assembling Multi-Robot systems

引用

Current robotics Reports 2023年第4期4卷 101-116页

作者： Bray, Edward Groß, Roderich Department of Automatic Control & Systems Engineering The University of Sheffield Sheffield UK School of Mechanical and Mechatronic Engineering University of Technology Sydney Sydney Australia

This review studies recent developments towards the physical design and control of self-assembling multi-robot systems. A wide range of novel robotic systems have been developed lately, for potential applications in terrestrial, aquatic, and aerospace environments. They increasingly make use of connectors which enable modules to join with each other at arbitrary points instead of discrete locations. Although the majority of contemporary algorithms are shape-driven, an increased focus on task-driven algorithms is observed. Self-assembling multi-robot systems allow the same set of robots to adopt specific morphologies for different tasks. The requirements for robots to be able to connect to each other, locomote, and communicate have led to a wide range of physical designs realising different trade-offs. While algorithms are validated extensively in simulation, only a small portion are yet tested on real robotic platforms. Future research should investigate the real-world application of these systems, possibly aided by the introduction of standardised and open hardware.

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Robotic Assembly of Aviation Fuel Probes and Parameters Optimisation Using Bees Algorithm

Robotic Assembly of Aviation Fuel Probes and Parameters Opti...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Xiaoguo Lin Mo Qu Marc Auledas Noguera Ashutosh Tiwari Yongjing Wang Department of Mechanical Engineering University of Birmingham Birmingham United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

Robots for automated assembly are being progressively implemented in the aerospace manufacturing sector. The dim and complex internal structure of the aircrafts significantly complicates the operation of robotic arms through visual system. This paper proposes an assembly strategy based on force-feedback control for fuel probe installation inside the aircraft wings, enabling autonomous assembly of tubular objects under translational and rotational misalignments. Furthermore, the Bees Algorithm (BA) is employed in a simulation environment to optimise the parameters of this control strategy. The results demonstrate that BA can effectively decrease the overall installation time while simultaneously proving the effectiveness of this method and its potential applicability in aerospace manufacturing.

关键词： Bees algorithm Robotic assembly Service robots Visual systems Fuels Aircraft manufacture Probes

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Online Scene Visibility Estimation as a Complement to SLAM in UAVs 22nd

Online Scene Visibility Estimation as a Complement to SLAM ...

引用

22th Annual Conference Towards Autonomous Robotic systems, TAROS 2021

作者： Haggart, Rory Aitken, Jonathan M. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030891763

Simultaneous localisation and mapping (SLAM) relies on low-cost on-board sensors such as cameras and inertial measurement units. It is crucial that the surroundings are visible to the cameras to maximise the accuracy of the system. An estimation strategy is proposed to augment ORB-SLAM2 that considers feature extraction capability, distribution of the extracted features in the image frame, and the ability of the algorithm to track features over time. The method is tested on challenging datasets, and the output is evaluated against different visibility conditions. The proposed method is shown to react appropriately and consistently to ‘less visible’ conditions such as fog, sunlight, and rapid motion in real time, with minimal computational load. © 2021, Springer Nature Switzerland AG.

关键词： Cameras

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A Minimalist Solution to the Multi-robot Barrier Coverage Problem 22nd

A Minimalist Solution to the Multi-robot Barrier Coverage Pr...

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22th Annual Conference Towards Autonomous Robotic systems, TAROS 2021

作者： Green, Thomas Kamel, Kevin Li, Siyuan Shinn, Christopher Toscano, Paolo Wang, Xintong Ye, Yuchen Groß, Roderich Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030891763

This paper addresses the multi-robot barrier coverage problem. It presents a group of memory-less robots that encircle a group of herd agents, by moving along a polygonal barrier. The results, produced from simulations in CoppeliaSim, demonstrate high retention of herd agents, and robust performance across a range of simulated scenarios. © 2021, Springer Nature Switzerland AG.

关键词： Multipurpose robots

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