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TOPCORE open modular platform for real-time control of experimental setups

IFAC-PapersOnLine 2017年第1期50卷 11287-11294页

作者： Jörger T. Schlagenhauf J. Rosch E. Ernestus M. Dold M. Greulich J. Schleusener B. Reimer J. Diehl M. University of Freiburg Department of Microsystems Engineering Systems Control and Optimization Laboratory Germany

This paper presents the results of the development of a modular open source platform for experimental control setups. This platform emerged from research on the automatic rotation start-up and landing of a tethered airplane for wind energy harvesting, implementing and testing promising theoretical concepts such as real-time moving horizon estimation (MHE) and non-linear model predictive control (NMPC) on hardware developed in parallel. As experimental setups for testing new control algorithms tend to be fine-tuned by trial and error methods, a rapid control prototyping system for fast evaluation had to be implemented. Technical results of this research are presented in the form of a modular platform for real-time control. The created platform provides a complete toolchain for performing, observing and evaluating control experiments. It offers modular low-cost hardware and free software especially suited for flight control experiments. Clearly defined interfaces between the components allow for expanding on its current capabilities for other control scenarios in need of fast and reliable real-time control. The provided modularity allows for spatial separation of high performance computing hardware from low-level components, permits rapid reconfiguration of the experiment and eases the collaboration and workflow between hardware developers and control engineers. © 2017

关键词： closed-loop real-time control data acquisition open hardware rapid control prototyping sensor fusion

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Removal of sodium perfluorononyloxybenzenesulfonate (OBS) as an emerging PFAS contaminant from aquatic environments by magnetic ultrafine hydrotalcite adsorption-CPAM coagulation technique: Combined performance and mechanism

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Water Research 2025年 283卷 123792页

作者： Yang, Yuqing Zu, Siyi Zhang, Liqiu Liu, Yongze Jin, Jie Du, Ziwen Beijing Key Lab for Source Control Technology of Water Pollution College of Environmental Science and Engineering Beijing Forestry University Beijing100083 China China Engineering Research Center for Water Pollution Source Control & Eco-remediation College of Environmental Science and Engineering Beijing Forestry University Beijing100083 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China

The demand for effective remediation of aqueous per- and polyfluoroalkyl substances (PFAS), especially emerging PFAS, has constantly increased over the last few years. Although adsorption and coagulation are well-established techniques for PFAS remediation, adsorption reaction requires a long equilibrium time;coagulation performance deteriorates when PFAS concentration becomes lower. To address the challenges, an integrated approach which synergistically combined adsorption and coagulation was proposed in this study, using perfluorononenoxybenzenesulfonate (OBS) as the target emerging PFAS to evaluate performance. Ultrafine magnetic hydrotalcite (Fe3O4@LDHs), synthesized via a simple ball-milling process, served as the adsorbent in this approach. Such ultrafine material not only enhanced floc formation during coagulation but also showed rapid OBS adsorption via anion exchange. Cationic Polyacrylamide (CPAM) as the optimal coagulant contributed to OBS removal through electrostatic attraction driven by [R4N+] groups and hydrophobic interactions involving its alkyl chains. Under optimal dosage of CPAM (25 mg·L–1) and Fe3O4@LDHs (50 mg·L–1), the combined magnetic coagulation process achieved 99.89 % of OBS removal within 30 mins. Such combined method still showed effective performance in the presence of hydrocarbon organic competitors, achieving above 90 % removal of OBS from firefighting training wastewater with an acceptable dosing increase. The adsorption-coagulation technique provides a promising and fast solution for treating PFAS wastewater, such as firefighting and industrial wastewater. © 2025 Elsevier Ltd

关键词： Coagulation

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Warping NMPC for Online Generation and Tracking of Optimal Trajectories

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IFAC-PapersOnLine 2017年第1期50卷 13252-13257页

作者： Lago, Jesus Erhard, Michael Diehl, Moritz Delft Center for Systems and Control Delft University of Technology Netherlands Algorithms Modeling and Optimization VITO EnergyVille Belgium SkySails Power GmbH Hamburg Germany Systems Control and Optimization Laboratory Dept. of Microsystems Engineering Dept. of Mathematics University of Freiburg Germany

Generation of feasible and optimal reference trajectories is crucial in tracking Nonlinear Model Predictive control. Especially, for stability and optimality in presence of a time varying parameter, adaptation of the tracking trajectory has to be implemented. General approaches are real-time generation of trajectories or switching between a discrete set of precomputed trajectories. In order to circumvent the operational efforts of these methods for a special type of dynamical systems, we propose time warping as an alternative approach. This algorithm implements online generation of tracking trajectories by warping a single precomputed reference. In detail, warpable systems, feasibility and optimality of trajectories and the controller implementation are discussed. Finally, as an application example, simulation results of a tethered kite system for airborne wind energy generation are presented. © 2017

关键词： Trajectories Dynamical systems Model predictive control optimization Predictive control systems Wind power controller implementation Nonlinear model predictive control Optimal trajectories Predictive control Reference trajectories Renewable energy systems Time varying parameter Wind energy generation

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Distributed Relative Attitude Formation control of Multiple Rigid-Body Agents with Switching Topologies

Distributed Relative Attitude Formation Control of Multiple ...

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第三十二届中国控制会议

作者： Song Wenjun Hong Yiguang Hu Xiaoming Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Optimization and Systems Theory Royal Institute of Technology

ISBN: (纸本)9781479900305

This paper formulates and investigates the relative attitude formation problem of a group of rigid-body agents with directed and switching sensing topologies. Each agent can only measure the attitudes of its neighbors from the body-fixed frame of the agent. Based on the axis-angle representation of the error attitude, we present a distributed protocol and then show how to achieve the desired relative attitude formation, provided that the inter-agent topology graph is jointly connected and each relative attitude between agents initially is contained within a geodesic ball of radius less than 2π/3 centered at its desired relative attitude. A numerical example is provided to show the effectiveness of the proposed angular velocity control scheme.

关键词： Attitude formation, Axis-angle representation, Multi-agent systems, Joint connectivity

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Unintended side effect of the coal-to-gas policy in North China Plain: Migration of the sources and health risks of ambient PAHs

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Science of the Total Environment 2025年 958卷 178050页

作者： Li, Zhiyong Liu, Chen Ren, Zhuangzhuang Liu, Jinming Ma, Xiaohua Ning, Zhi Meng, Jianwei Liu, Aiqin Ma, Huichun Wang, Lei Chen, Lan Wang, Hao Kong, Shaofei Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Hebei Key Lab of Mineral Resources and Ecological Environment Monitoring Hebei Research Center for Geoanalysis Baoding071051 China Department of Atmospheric Sciences School of Environmental Sciences China University of Geosciences Wuhan430074 China

Ongoing coal-to-gas (CTG) largely cut down both coal consumption and associated PM2.5. However, a knowledge gap still existed in CTG impacts on the other energy and organic pollutant emissions. Coupling on-site investigation with statistical yearbooks, we provided a more realistic energy evolutions before (BCTG), during (DCTG), and after (ACTG) the CTG for Hebei Province. Together, we examined the impacts of CTG derived energy conversion on PM2.5-bound PAHs at urban (UA)/suburban rural (SRA)/remote rural (RRA) sites in winter 2022. As expected, the consumptions of coal and natural gas (NG) far decreased and increased from BCTG to ACTG, respectively. Accidentally, biomass usage rose by 60.7%, and rural CTG acted as a main driver. Specially, SRA's NG-shortage and coal-stove demolition should be the main inducements, and RRA's coal-sale ban was another trigger in the early stage of CTG. ∑18PAHs and ∑8TPAHs stand for the sum of 18 PAHs and 8 toxic PAHs, respectively. ∑18PAHs (ng/m3) presented as SRA (81.8) > RRA (46.4) > UA (19.4). Biomass burning (BB) and NG combustion (NGC) contributed most to∑18PAHs of 31.0% and 23.1% at SRA, resulting in the highest ∑18PAHs, ∑18PAHs/PM2.5, and ∑8TPAHs/PM2.5, and incremental lifetime cancer risk values. Also, NGC has become the second largest contributor at UA. Variations in both diagnostic ratios and source-depend isomers further proved the prominence of NGC related PAHs at UA vs. SRA. Notably, RRA was least affected by the CTG, coal combustion (CC, 40.4%) and BB (32.6%) still occupied the top positions. In short, CTG gave rise to an upsurge in biomass usage, and the incremental PAHs emissions from BB vs. NGC. This study underlined that the priorities should be given to rural NG guarantee and subsidy retention, and biomass prohibition for further air quality improvement. © 2024 Elsevier B.V.

关键词： Coal

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A Jacobi Decomposition Algorithm for Distributed Convex optimization in Distributed Model Predictive control

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IFAC-PapersOnLine 2017年第1期50卷 4905-4911页

作者： Dang Doan M. Diehl M. Keviczky T. De Schutter B. Systems Control and Optimization Laboratory Department of Microsystems Engineering and Department of Mathematics University of Freiburg Germany Delft Center for Systems and Control Delft University of Technology Netherlands

In this paper we introduce an iterative distributed Jacobi algorithm for solving convex optimization problems, which is motivated by distributed model predictive control (MPC) for linear time-invariant systems. Starting from a given feasible initial guess, the algorithm iteratively improves the value of the cost function with guaranteed feasible solutions at every iteration step, and is thus suitable for MPC applications in which hard constraints are important. The proposed iterative approach involves solving local optimization problems consisting of only few subsystems, depending on the flexible choice of decomposition and the sparsity structure of the couplings. This makes our approach more applicable to situations where the number of subsystems is large, the coupling is sparse, and local communication is available. We also provide a method for checking a posteriori centralized optimality of the converging solution, using comparison between Lagrange multipliers of the local problems. Furthermore, a theoretical result on convergence to optimality for a particular distributed setting is also provided. © 2017

关键词： cooperative optimization algorithm distributed model predictive control distributed optimization Jacobi algorithm

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A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

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Journal of systems Engineering and Electronics 2024年第5期35卷 1219-1230页

作者： XU Changyi WANG Yun DUAN Yiman ZHANG Chao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and EngineeringDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Discrete event system(DES)models promote system engineering,including system design,verification,and *** advancement in manufacturing technology has endowed us to fabricate complex industrial ***,the adoption of advanced modeling methodologies adept at handling complexity and scalability is ***,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the *** this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the *** traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone *** with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new ***,this general modeling approach has wide potential for future complex and intelligent industrial systems.

关键词： industrial complex system operation specifying Boolean semantic discrete event system(DES)theory intelligent operation

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Formal management-specifying approach for model-based safety assessment

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Journal of systems Engineering and Electronics 2023年第6期34卷 1589-1601页

作者： XU Changyi DUAN Yiman ZHANG Chao School of Control Science and Engineering Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of EducationDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

In the field of model-based system assessment,mathematical models are used to interpret the system ***,the industrial systems in this intelligent era will be more *** management operations will be dynamically set,and the system will be no longer static as it is initially ***,the static model generated by the traditional model-based safety assessment(MBSA)approach cannot be used to accurately assess the *** mainly exists three ***:huge and complex behaviors make the modeling to be trivial manual;Dynamic:though there are thousands of states and transitions,the previous model must be resubmitted to assess whenever new management arrives;Unreusable:as for different systems,the model must be resubmitted by reconsidering both the management and the system itself at the same time though the management is the *** by solving the above problems,this research studies a formal management specifying approach with the advantages of agility modeling,dynamic modeling,and specification design that can be ***,three typical managements are specified in a series-parallel system as a demonstration to show the potential.

关键词： model-based safety assessment(MBSA) management availability reliability maintainability continuous time Markov chain.

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Adaptive-triggered H ∞ sliding-mode optimal control for nonlinear input-limited systems

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Communications in Nonlinear Science and Numerical Simulation 2025年 149卷

作者： Hongxu Zhang Honggui Wang Department of Applied Mathematics Harbin University of Science and Technology Harbin 150080 China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin 150080 China

This paper concentrates on the H ∞ sliding mode optimal control (SMOC) problem for nonlinear systems with mismatched interference and constrained input. Firstly, an adaptive-triggered strategy for the discontinuous control part is employed, which can suppress input interference and the separated matched disturbances. Also, the system trajectories are guaranteed to converge to the sliding manifold. Moreover, the adaptive-triggered strategy is optimized into self-triggered strategy with the aim to avoid the real-time measurement of triggered conditions, and the minimum time interval is obtained to prevent Zeno phenomenon. Subsequently, the optimal H ∞ control problem of sliding motion turns into a two-person ZS game issue. To derive the solutions of event-trigger HJI equation, an adaptive dynamic programming (ADP) algorithm with critic-only structure is implemented to obtain the optimal control online. Furthermore, by utilizing the Lyapunov technique, the uniformly ultimately bounded (UUB) conditions about system state and the weight estimation error are obtained. At last, simulation outcomes are analyzed to validate the effectiveness of the control strategy.

关键词： Sliding mode control

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Recursive estimation with compensation strategies under random access protocol and deception attacks

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IEEE Transactions on Signal Processing 2025年

作者： Li, Jiaxing Caballero-Aguila, Raquel Hu, Jun Linares-Perez, Josefa Harbin University of Science and Technology Department of Applied Mathematics Harbin 150080 China University of Jaén Department of Statistics and Operations Research Jaén 23071 Spain Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin 150080 China Harbin University of Science and Technology School of Automation Harbin 150080 China University of Granada Department of Statistics and Operations Research Granada 18071 Spain

In this paper, recursive least-squares linear estimation algorithms are proposed for stochastic systems influenced by uniform quantization, random access protocol (RAP) and deception attacks. With the purpose of enhancing communication efficiency and reducing unnecessary data collisions, RAP is adopted to schedule data signal transmissions that are also subject to deception attacks. In order to alleviate the side effect of missing information caused by RAP, three compensation strategies (zero-input, zero-order hold and prediction-compensation) are utilized. By resorting to an innovation method, covariance-based filters are designed and then fixed-point smoothers are obtained in light of available observations. Finally, a simulation experiment with comparisons is employed to demonstrate the effectiveness of the developed recursive estimation schemes, where the influence of attack probabilities on estimation accuracy is evaluated. © 1991-2012 IEEE.

关键词： compensation strategies deception attacks Least-squares linear estimation random access protocol uniform quantization

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