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arXiv 2024年

作者： Chatterjee, Soham Batra, Aman Natarajan, Vivek The Centre for Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India

Consider a non-uniform Euler-Bernoulli beam with a tip-mass at one end and a cantilever joint at the other end. The cantilever joint is not fixed and can itself be moved along an axis perpendicular to the beam. The position of the cantilever joint is the control input to the beam. The dynamics of the beam is governed by a coupled PDE-ODE model with boundary input. On a natural state-space, there exists a unique state trajectory for this beam model for every initial state and each smooth control input which is compatible with the initial state. In this paper, we study the motion planning problem of transferring the beam from an initial state to a final state over a prescribed time-interval. We address this problem by extending the generating functions approach to flatness-based control, originally proposed in the literature for motion planning of parabolic PDEs, to the beam model. We prove that such a transfer is possible if the initial and final states belong to a certain set, which also contains steady-states of the beam. We illustrate our theoretical results using simulations and experiments. Copyright © 2024, The Authors. All rights reserved.

关键词： Flexible structures

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Explicit feedback synthesis for nonlinear robust model predictive control driven by quasi-interpolation

arXiv

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arXiv 2023年

作者： Ganguly, Siddhartha Chatterjee, Debasish Systems and Control Engineering Indian Institute of Technology Bombay India

We present QuIFS (Quasi-Interpolation driven Feedback Synthesis): an offline feedback synthesis algorithm for explicit nonlinear robust minmax model predictive control (MPC) problems with guaranteed quality of approximation. The underlying technique is driven by a particular type of grid-based quasi-interpolation scheme. The QuIFS algorithm departs drastically from conventional approximation algorithms that are employed in the MPC industry (in particular, it is neither based on multi-parametric programming tools nor does it involve kernel methods), and the essence of its point of departure is encoded in the following challenge-answer approach: Given an error margin Ε > 0, compute in a single stroke a feasible feedback policy that is uniformly Ε-close to the optimal MPC feedback policy for a given nonlinear system subjected to constraints and bounded uncertainties. Closed-loop stability and recursive feasibility under the approximate feedback policy are also established. We provide a library of numerical examples to illustrate our results. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Clustering techniques to optimize railway daily path utilization for non-daily trains

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Transportation Research Procedia 2025年 82卷 2373-2383页

作者： Karim Shahbaz Mohit Agarwala Samay P. Singh Satwik V. Ramisetty Sayali R. Duragkar Merajus Salekin Raja Gopalakrishnan Narayan Rangaraj Madhu N. Belur Department of Electrical Engineering Indian Institute of Technology Bombay India Centre for Railway Information Systems New Delhi India Industrial Engineering and Operation Research Indian Institute of Technology Bombay India

A typical rail-network has a combination of daily trains and non-daily trains that have a weekly-pattern. Being non-daily, such trains run sporadically across the week and thus creates the problem of inefficient timetabling. Further, for large rail-networks, the timetabling is often done decentrally zone-wise without explicitly ensuring that groups of non-daily trains have similar running times on the bottleneck sections. In this paper, we use a notion of ‘dailyzing’ (making a daily path of non-daily trains) by performing a modulo 24 hours operation and then using Hierarchical Agglomerative Clustering (amongst other techniques) to group the trains. These clusters of trains share the same railway resources almost simultaneously but on different days of the week. Thus the scheduling of one representative train of the cluster as a ‘daily train’ would automatically schedule non-daily ones in that group. Hence, the daily path for non-daily trains provides a systematic and more efficient way of timetabling. The clustering/grouping of trains can also help find an empty slot for a new train scheduling/addition or help in point towards resource under-utilization.

关键词： Train timetabling Clustering techniques in train-timetabling Hierarchical clustering

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Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare systems on Matrix Lie Groups ⁎

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IFAC-PapersOnLine 2024年第6期58卷 333-338页

作者： Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.

关键词： Non-Linear control systems control Design Tracking Mechatronic systems

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Frequency Selective control of an Ensemble Using RF Pulses Designed via the TOPS Algorithm in NMR Spectroscopy

Frequency Selective Control of an Ensemble Using RF Pulses D...

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control Conference (ICC), 2019 Sixth indian

作者： Justin Jacob Navin Khaneja Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Faculty of Systems and Control Engineering Department Indian Institute of Technology Bombay Mumbai India

NMR spectroscopy is all about manipulating the nuclear spin of an atom, and we use radio frequency (RF) pulses for this. This paper introduces the TOPS algorithm, which focuses on phase manipulation in RF pulse design. It addresses the requirement for selective excitation/inversion in MRI and protein resonance experiments and demonstrates the application of the TOPS-2 algorithm in designing phase-modulated frequency selective pulses. The paper presents the algorithm for designing pulses using the TOPS approach to achieve specific objectives such as selective inversion and excitation. Experimental validation of the selective pulse sequence is performed using a sample consisting of 0.5 % H 2 O in 99.5% D 2 O.

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Adaptive Continuous Terminal Sliding Mode control for Unmanned Aerial Vehicle

Adaptive Continuous Terminal Sliding Mode Control for Unmann...

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indian control Conference (ICC)

作者： Sunil Kumar Asifa Yesmin Arpita Sinha Anirban Guha TIH Foundation for IoT and IoE Indian Institute of Technology Bombay Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798331517212

ISBN: (纸本)9798331517229

This paper introduces an improved control strategy for tracking the altitude and attitude of the quadcopter unmanned aerial vehicle (UAV) in the presence of external disturbance, known as adaptive super-twisting terminal sliding mode control (AST-TSMC). This approach ensures finite-time convergence of the sliding variable and error trajectories using a real second-order sliding mode. An adaptive super-twisting approach is incorporated to reduce the reliance on the upper bound of the unknown disturbance and achieve continuous control. A nonlinear sliding surface is designed to ensure the finite time convergence of the sliding variable and the tracking error. The Lyapunov-based stability analysis is presented to confirm the finite-time convergence. Comparative simulation results of AST-TSMC, ST-TSMC, and TSMC are presented to demonstrate the strategy's performance. The effectiveness of the proposed approach is validated through MATLAB simulation results.

关键词： Upper bound Attitude control Simulation Switches Autonomous aerial vehicles Stability analysis Trajectory Sliding mode control Convergence Quadrotors

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State-Constrained Adaptive Guidance for Three-Body Pursuit-Evasion Using Super Twisting Algorithm

State-Constrained Adaptive Guidance for Three-Body Pursuit-E...

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American control Conference (ACC)

作者： Bhagyashri Gurjar Shashi Ranjan Kumar Dwaipayan Mukherjee Department of Aerospace Engineering Intelligent Systems & Control Lab Indian Institute of Technology Bombay Mumbai India Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

In this paper, we address the problem of robust guidance for a three-body pursuit-evasion problem involving a target, a defender, and an attacker, where the goal is to safeguard the target (an aircraft) from the attacker, using the defender. Thus, the target and the defender may act as a team of vehicles whose common goal is to safeguard the target from the attacker. Additionally, it is desired to maintain necessary constraints on certain states. An adaptive guidance law is proposed for the target-defender team to ensure optimal performance within this set-up. The target-defender dynamics are considered for designing the guidance law with only approximate knowledge of the unknown parameters of the attacker. A robust guidance command is designed using a super-twisting algorithm with adaptive gains. The unknown disturbance bounds required for control implementation are obtained using a novel norm observer. We consider the complete nonlinear model of the system for control design, thereby enabling a wider domain of applicability of the proposed approach. The convergence is established using Lyapunov analysis, which also ensures satisfaction of the required state constraints. Relevant simulation results are presented to study the efficacy of the proposed approach.

关键词： Navigation control design Simulation Heuristic algorithms Line-of-sight propagation Observers Stability analysis

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Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators

arXiv

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arXiv 2024年

作者： Patra, Keshab Sinha, Arpita Guha, Anirban The Department of Mechanical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Systems & Control Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piece-wise path from start to goal. A novel algorithm detects the narrow regions between the static obstacles and aids in defining the obstacle-free region to enhance the feasibility of the global path. We then formulate a local online motion planning technique for trajectory generation that minimizes the control efforts in a receding horizon manner. It plans the trajectory for finite time horizons considering the kinodynamic constraints and the static and dynamic obstacles. The planning technique jointly plans for the mobile bases and the arms to utilize the locomotion capability of the mobile base and the manipulation capability of the arm efficiently. We use a convex cone approach to avoid self-collision of the formation by modifying the mobile manipulator's admissible state without imposing additional constraints. Numerical simulations and hardware experiments showcase the efficiency of the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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Network-wide mixed-rail traffic scheduler: challenges and implementation aspects

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Transportation Research Procedia 2025年 82卷 2384-2394页

作者： Sidhartha I Kumar Karim Shahbaz Mitul Tyagi Samay P. Singh Satwik V. Ramisetty Sudarshan Pulapadi Madhu N. Belur Narayan Rangaraj Merajus Salekin Raja Gopalakrishnan Department of Electrical Engineering Indian Institute of Technology Bombay India Department of Industrial Engineering and Operation Research Indian Institute of Technology Bombay India Centre for Railway Information Systems New Delhi India

In 2020, indian Railways took up a de novo timetabling exercise for the Golden Quadrilateral and Diagonals (GQD) connecting Mumbai-Delhi-Kolkata-Chennai, involving about 1700 trains on a weekly basis over a network of 9,099 km. Based on significant participation in this activity, this paper elaborates on the challenges faced in a network-wide simulation and scheduling of trains across a large network. The methods to address these challenges and the software implementation aspects are also described. A network-wide mixed-rail traffic simulator was used successfully to construct a daily timetable for the GQD. The two primary goals of the Zero Based Timetabling (ZBTT) project were to generate train schedules that were: (a) feasible (in terms of kinematic constraints on both trains running and block-section, running lines) and (b) conflict-free (due to multiple trains having to share resources and the need to ensure time-durations of resource usage are different, subject to safety constraints), for a proposed set of departure timings and halt patterns of all the services that were planned on the GQD.

关键词： Mixed rail traffic scheduler simulator

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Plug-in for visualizing 3D tool tracking from videos of Minimally Invasive surgeries

arXiv

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arXiv 2024年

作者： Nema, Shubhangi Mathur, Abhishek Vachhani, Leena Systems and Control Group Indian Institute of Technology Bombay Maharashtra India Mechanical Engineering Indian Institute of Technology Goa Goa India

Background This paper tackles instrument tracking and 3D visualization challenges in minimally invasive surgery (MIS), crucial for computer-assisted interventions. Conventional and robot-assisted MIS encounter issues with limited 2D camera projections and minimal hardware integration. Method The objective is to track and visualize the entire surgical instrument, including shaft and metallic clasper, enabling safe navigation within the surgical environment. The proposed method involves 2D tracking based on segmentation maps, facilitating creation of labeled dataset without extensive ground-truth knowledge. Geometric changes in 2D intervals express motion, and kinematics based algorithms process results into 3D tracking information. Result Synthesized and experimental results in 2D and 3D motion estimates demonstrate negligible errors, validating the method for labeling and motion tracking of instruments in MIS videos. Conclusion The conclusion underscores the proposed 2D segmentation technique's simplicity and computational efficiency, emphasizing its potential as direct plug-in for 3D visualization in instrument tracking and MIS practices. © 2024, CC BY-SA.

关键词： Computational efficiency

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