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6th International Conference on Renewable Energies Offshore, RENEW 2024

作者： Ahmad, I. M’zoughi, F. Aboutalebi, P. Garrido, I. Garrido, A.J. Automatic Control Group—ACG Institute of Research and Development of Processes—IIDP Department of Automatic Control and Systems Engineering Engineering School of Bilbao—EIB/BIE Faculty of Engineering of Bilbao—EIB/BIE University of the Basque Country—UPV/EHU Bilbao Spain

ISBN: (纸本)9781032905570

In the pursuit of sustainable electricity generation from offshore wind and wave energy, the combination of Floating Offshore Wind Turbines (FOWTs) and Oscillating Water Columns (OWCs) has emerged as a promising solution to enhance the working lifespan of this kind of systems. This study introduces a control-focused modeling approach, using empirical data collected from the widely accepted FAST environment, to implement advanced control laws for these integrated platforms. Leveraging Long Short-Term Memory (LSTM) and Artificial Neural Networks (ANN), the research yields predictive models that effectively capture the platform pitch dynamics so as to optimize control strategies. By integrating advanced machine learning techniques, these approaches address the challenges of modeling floating offshore structures in dynamic environments. In this sense, the neuro-estimators developed in this study closely match the original plant results, offering researchers a straightforward way to implement complex control schemes that could hardly be implemented over the original non-linear system. © 2025 The Author(s).

关键词： Offshore wind turbines

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System Class Extensions of the Modulating Function based State Reconstruction for the Advection-Diffusion-Reaction Equation

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IEEE Transactions on Automatic control 2025年

作者： Friedrich, Folke Fokken, Nils Noack, Matti Reger, Johann Institute for Automation and Systems Engineering Technische Universität Ilmenau Control Engineering Group Ilmenau98693 Germany

In this paper, the state estimation of distributed parameter systems (PDEs) using the Modulating Function Method is extended to systems of two or higher spatial dimensions with spatially varying coefficients and general boundary conditions. At the center of the PDE observer approach lies the construction and solvability analysis of systematically obtained kernel equations determining the modulating functions. Additionally, a method for the state estimation of a class of parabolic systems with time-varying and nonlinear parameters based on Volterra integral transformations is presented. Furthermore, a linearization based strategy to deal with nonlinear reaction terms is presented. The stability of the resulting iterative feedback algorithm is proven. Numerical simulations show the validity and robustness of the methodology in two simulated examples. © 1963-2012 IEEE.

关键词： Iterative methods

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A Data-Driven Adaptive control Approach for Enhancing the Dynamic Response of VSGs in Varying Grid Conditions

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IEEE Transactions on Power Delivery 2025年第3期40卷 1421-1433页

作者： Fahad, Shah She, Buxin Yin, Junjie Li, Fangxing Cui, Hantao Bo, Rui Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA Senior Power Systems Engineer ETAP Irvine CA USA Optimization & Control Group Parcific Northwest National Laboratory Richland USA Department of Electrical Engineering and Computer Science University of Tennessee at Knoxville Knoxville TN USA Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Conventionally, a virtual synchronous generator (VSG) is designed for islanded mode (IM) operation to meet specific operational requirements such as the rate of change of frequency (RoCoF). However, the operation of VSG designed for IM may not meet the operational and control criteria in grid connected mode (GCM) when the grid conditions vary. In addition, conventional VSG control technology does not consider the influence of the presynchronization scheme when connected to a weak grid, which degrades the RoCoF in IM. To overcome the aforementioned challenges, the proposed study presents a twin-delayed deep deterministic policy gradient (TD3) algorithm to improve the seamless transition performance of VSG from IM to GCM and vice versa. In the first step, the VSG-based power system model is used as a foundation for problem formulation of the proposed TD3 algorithm. Secondly, a reward function is designed according to the performance requirements, i.e., frequency and RoCoF requirements, of the VSG in order to guide the training of the agent in varying load, power reference, and grid conditions. Finally, the superiority of the proposed algorithm over existing methods is validated in MATLAB/SIMULINK and RTDS based real-time simulation environment. © 1986-2012 IEEE.

关键词： Deep reinforcement learning

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A mixed-integer framework for analyzing neural network-based controllers for piecewise affine systems with bounded disturbances

arXiv

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arXiv 2025年

作者： Teichrib, Dieter Darup, Moritz Schulze Control and Cyber-physical Systems Group Faculty of Mechanical Engineering TU Dortmund University Germany

We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such representations enable the computation of robustly positively invariant (RPI) sets for the specified system class by solving MI linear programs. These RPI sets can subsequently be used to certify stability and constraint satisfaction. Furthermore, the approach allows to handle nonlinear systems based on suitable PWA approximations and corresponding error bounds, which can be interpreted as the bounded disturbances from above. © 2025, CC BY-NC-ND.

关键词： Mixed-integer linear programming

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Demonstration of the Dyna Reinforcement Learning Framework for Reactive Close Proximity Operations

Demonstration of the Dyna Reinforcement Learning Framework f...

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

作者： Majumdar, Ritwik Albee, Keenan Sternberg, David C. Jia-Richards, Oliver Department of Aerospace Engineering University of Michigan Ann ArborMI United States Payload/Instrument Pointing Control Systems Engineering Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Maritime and Multi-Agent Autonomy Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Lessons from the International Space Station (ISS) emphasize the necessity of exterior inspection for anomaly detection and maintenance, but current methods rely on costly and limited human extravehicular activities and robotic arms. Deployable free-flying small spacecraft offer a flexible, autonomous solution, capable of comprehensive exterior inspections without human involvement. However, the safety of these spacecraft during close proximity operations remains a concern, particularly given uncertain variability in thruster performance. This paper presents SmallSat Steward, a reactive and integrated architecture for online model learning and trajectory planning based on the Dyna reinforcement learning architecture. By combining model-based planning and direct reinforcement learning, Dyna offers a potentially flexible and computationally-efficient solution capable of adapting to changes in thruster performance and other system uncertainties. Preliminary results in both simulation and hardware environments demonstrate the potential of this architecture to successfully regulate position under single and double thruster failures. In simulation, the Dyna-based controller outperformed an PD-LQR controller in ∼70% of all cases. On hardware, Dyna was able to eliminate the steady state error caused by thruster failures. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Space stations

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On Space-Filling Input Design for Nonlinear Dynamic Model Learning: A Gaussian Process Approach

arXiv

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arXiv 2025年

作者： Liu, Yuhan Kiss, Máté Tóth, Roland Schoukens, Maarten Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest1111 Hungary

While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems, where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance. To address this issue, we develop a novel identification-oriented space-filling input design strategy for efficient covering of a well-defined region of interest. By placing a Gaussian Process (GP) prior on the joint input-state space, the proposed strategy leverages the GP posterior variance to construct a space-filling promoting input design cost function from the Bayesian point of view. This accordingly enables maximization of the coverage in the region of interest, thereby facilitating the generation of informative datasets. Furthermore, we theoretically prove that minimization of the cost function indicates the space-filling behavior. The effectiveness of the proposed strategy is demonstrated on both an academic example and a mass-spring-damper system, highlighting its potential practical impact on efficient exploration in identification scenarios for nonlinear dynamical systems. © 2025, CC BY-NC-SA.

关键词： Cost functions

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Equilibrium-Independent control of Continuous-Time Nonlinear systems Via the LPV Framework

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IEEE Transactions on Automatic control 2025年

作者： Koelewijn, Patrick J. W. Weiland, Siep Toth, Roland Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Eindhoven Netherlands Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free"concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. © 1963-2012 IEEE.

关键词： control system synthesis

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A Framework for the Consistency Analysis of Relative Pose Sensors for Unmanned Aerial Vehicles (Uavs)

A Framework for the Consistency Analysis of Relative Pose Se...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Roland Jung Jiri Horyna Thomas Jantos Saska Martin Stephan Weiss Department of Smart Systems Technologies in the Control of Networked Systems Group University of Klagenfurt Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In autonomous multi-robot systems robot-to {robot/object} localization methods can be utilized to increase the robustness and to achieve a precise and robust localization of the individuals. This paper investigates on the performance of two promising systems: UVDAR, a vision-based mutual localization in the UV spectrum, which has shown to be effective in swarm formation and leader-following tasks, and PoET, which is a deep learning-based visual relative object pose estimator. To evaluate these methods, we collected datasets in a controlled indoor environment equipped with a motion capture system for precise ground truth measurements. Our evaluation considers two key aspects: the absolute error between measured and true relative poses, and the consistency of the provided measurement uncertainty estimates with the actual errors. We introduce a novel framework for evaluating the consistency of relative pose measurements. This framework supports various error definitions and leverages spline-based trajectory representations to generate smooth, $C^control$ -continuous reference measurements. Both the UVDAR dataset and the evaluation framework are made publicly accessible to foster further research and development in this field.

关键词： Location awareness Visualization Measurement uncertainty Sensors Trajectory Indoor environment Motion measurement Vehicle dynamics Robots Tuning

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Dynamic modeling and simulation of blade-casing system with rubbing considering time-varying stiffness and mass of casing

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Applied Mathematics and Mechanics(English Edition) 2025年第5期46卷 849-868页

作者： Hui MA Hong GUAN Lin QU Xumin GUO Qinqin MU Yao ZENG Yanyan CHEN School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of ChinaNortheastern UniversityShenyang 110819China Sunny Optical Technology(Group)Co.Ltd. Ningbo 315400Zhejiang ProvinceChina Aircraft Strength Institute of China Xi’an 710065China AECC Sichuan Gas Turbine Research Institute Chengdu 610500China

As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic *** this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing *** the shell element,the blade is modeled,and the surface stress of the blade is *** stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the ***,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating *** effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are *** results show that the natural characteristics of the coated casing decrease due to the coating *** flexibly coated casing model is found to be more suitable for studying casing ***,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.

关键词： dynamic modeling flexibly coated casing rubbing coating wear nonlinear vibration

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Unraveling tensor structures in correct-by-design controller synthesis

arXiv

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arXiv 2025年

作者： Wang, Ruohan Sun, Zhiyong Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China

Formal safety guarantees on the synthesis of controllers for stochastic systems can be obtained using correct-by-design approaches. These approaches often use abstractions as finite-state Markov Decision Processes (MDPs). As the state space of these MDPs grows, the curse of dimensionality makes the computational and memory cost of the probabilistic guarantees, quantified with dynamic programming, scale exponentially. In this work, we leverage decoupled dynamics and unravel, via dynamic programming operations, a tree structure in the Canonical Polyadic Decomposition (CPD) of the value functions. For discrete-time stochastic systems with syntactically co-safe linear temporal logic (scLTL) specifications, we provide provable probabilistic safety guarantees and significantly alleviate the computational burden. We provide numerical studies and validations of the theoretical results on several typical case studies and showcase that the uncovered tree structure enables efficient reductions in the computational burden. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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