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第42届中国控制会议

作者： Lei Cao Erhan Yumuk Clara-Mihaela Ionescu Guo-Ping Liu Department of Control Science and Engineering Harbin Institute of Technology Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent University Department of Control and Automation Engineering Istanbul Technical University Center for Control Science and Technology Southern University of Science and Technology

In this paper, the tracking control problem for networked control system(NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost *** on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup.

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UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization

UVIO: An UWB-Aided Visual-Inertial Odometry Framework with B...

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

作者： Giulio Delama Farhad Shamsfakhr Stephan Weiss Daniele Fontanelli Alessandro Fomasier Control of Networked Systems Group University of Klagenfurt Austria Department of Industrial Engineering University of Trento Italy

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state estimation, the position of the UWB anchors must be known. This study proposes a multi-step initialization procedure to map multiple unknown anchors by an Unmanned Aerial Vehicle (UAV), in a fully autonomous fashion. To address the limitations of initializing UWB anchors via a random trajectory, this paper uses the Geometric Dilution of Precision (GDOP) as a measure of optimality in anchor position estimation, to compute a set of optimal waypoints and synthesize a trajectory that minimizes the mapping uncertainty. After the initialization is complete, the range measurements from multiple anchors, including measurement biases, are tightly integrated into the VIO system. While in range of the initialized anchors, the VIO drift in position and heading is eliminated. The effectiveness of UVIO and our initialization procedure has been validated through a series of simulations and real-world experiments.

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Multiplier analysis of Lurye systems with power signals

arXiv

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arXiv 2024年

作者： Heath, William P. Carrasco, Joaquin Control Systems and Robotics Group Department of Electrical and Electronic Engineering Engineering Building A University of Manchester M13 9PL United Kingdom

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities. If a dynamic multiplier is used there is no guarantee the closed-loop system has finite incremental gain. It has been suggested in the literature that without this guarantee such a system may be critically sensitive to time-varying exogenous signals including noise. We show that multipliers guarantee the power gain of the system to be bounded and quantifiable. Furthermore power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee Lurye systems have low sensitivity to noise, provided other exogenous systems have constant steady state. We illustrate the analysis with an example where the exogenous signal is a power signal with non-zero mean. © 2024, CC BY.

关键词： Slope stability

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Coherent Design of Wind Turbine controllers Considering Transitions Between Operating Regions Using Fuzzy Membership Functions

Coherent Design of Wind Turbine Controllers Considering Tran...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Horst Schulte University of Applied Sciences Berlin (HTW Berlin) Faculty: School of Engineering - Energy and Information Science Control Systems Group Berlin Germany

ISBN: (数字)9798350319545

ISBN: (纸本)9798350319552

This paper presents a coherent design of wind turbine controllers with explicit consideration of transitions between operating regions by fuzzy membership functions. In improving the design process of wind turbines, the transitions between partial-load operation by torque control and full-load operation by pitch control need to be systematically considered. From the first view, fuzzy methods for blending separately designed control laws are an obvious choice. However, valid design rules must be developed to ensure stability and performance during the transition. A model-based control design procedure in the Takagi-Sugeno fuzzy framework using the sector nonlinearity method is proposed to achieve the above control design objectives. In addition to a detailed mathematical analysis of the design, the method's applicability is verified by simulation studies using a high-fidelity reference wind turbine model.

关键词： control design Wind speed Torque control Poles and towers Rotors Process control Stability analysis

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Direct data-driven LPV control of nonlinear systems: An experimental result

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IFAC-PapersOnLine 2023年第2期56卷 2263-2268页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology 5600MB Eindhoven The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control 1111 Budapest Hungary

We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a surrogate LPV form of the data-driven representation of the original nonlinear system. The LPV data-driven control design that builds on this representation form uses only measurement data from the nonlinear system and a priori information on a scheduling map that can lead to an LPV embedding of the nonlinear system behavior. Efficiency of the proposed approach is demonstrated experimentally on a nonlinear unbalanced disc system showing for the first time in the literature that behavioral data-driven methods are capable to stabilize arbitrary forced equilibria of a real-world nonlinear system by the use of only 7 data points.

关键词： Data-Driven control Linear Parameter-Varying systems

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Direct Data-Driven State-Feedback control of General Nonlinear systems

Direct Data-Driven State-Feedback Control of General Nonline...

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IEEE Conference on Decision and control

作者： Chris Verhoek Patrick J. W. Koelewijn Sofie Haesaert Roland Tóth Dept. of Electrical Engineering Control Systems group Eindhoven University of Technology The Netherlands Institute for Computer Science and Control Budapest Hungary

Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven representation of the so-called velocity-form, i.e., the time-difference dynamics, of the NL system, which is shown to admit a direct linear parameter-varying (LPV) representation. By applying the LPV extension of the Fundamental Lemma in this velocity domain, a state-feedback controller is directly synthesized to provide asymptotic stability and dissipativity of the velocity-form. By using realization theory, the synthesized controller is realized as a NL state-feedback law for the original unknown NL system with guarantees of universal shifted stability and dissipativity, i.e., stability and dissipativity w.r.t. any (forced) equilibrium point, of the closed-loop behavior. This is achieved by the use of a single sequence of data from the system and a predefined basis function set to span the scheduling map. The applicability of the results is demonstrated on a simulation example of an unbalanced disc.

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Recursive Learning of Feedforward Parameters in High-Tech Motion systems: An Experimental Case Study

Recursive Learning of Feedforward Parameters in High-Tech Mo...

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European control Conference (ECC)

作者： Thijs Van Keulen Bram Kleefstra Ruud Beerens Dep. of Mechanical Engineering Control Systems Technology group Eindhoven Univ. of Tech. The Netherlands ASML Veldhoven The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This article provides an experimental case study of a state-of-the-art recursive feedforward parameter learning framework on a high-tech industrial metrology and inspection machine. The aim of the learning framework is to recursively adapt the feedforward parameters to compensate for time-varying and position-dependent system behavior, e.g., caused by wear, position and temperature dependent actuator characteristics, changes in shape and stiffness due to thermal expansion, and sample time jitter. The strength of the approach is demonstrated through experiments on a high-tech motion system which show a peak error reduction of circa 45% compared to the industrial controller with offline calibrated feedforward parameters.

关键词： Thermal expansion Temperature dependence Temperature Shape Europe Metrology Jitter

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Formal grid integration of photovoltaic and wind power using the model reference control approach

Formal grid integration of photovoltaic and wind power using...

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23rd Wind & Solar Integration Workshop (WIW 2024)

作者： Horst Schulte Jens Fortmann Johannes Brunner University of Applied Sciences HTW Berlin School of Engineering - Energy and Information Renewable Energy and Control Systems Group 12459 Berlin Germany

ISBN: (数字)9781837242122

In this paper, a model-reference control scheme for nonlinear systems in the Takagi-Sugeno form is proposed for formal grid integration of photovoltaic and wind power. Formal in terms of a structural model-based design of grid-integrated wind and photovoltaic systems as demand-oriented power sources. The proposed scheme is applied to a generic Type-4 wind turbine for the partial and full-load region and a photovoltaic power plant with two stages separated into an aggregated PV array and a DC/DC converter. Using the wind turbine as an example, the coefficients of the model controller are calculated using a set of proposed LMI conditions. The design process is described in detail, including a controller performance test under different wind speed conditions.

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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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Experimental Validation of the Capture Chamber Model in Mutriku MOWC Wave Power Plant

Experimental Validation of the Capture Chamber Model in Mutr...

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OCEANS

作者： Aitor J. Garrido Jon Lekube Amparo Villasante Izaskun Garrido Automatic Control Group - ACG Inst. of Research and Development of Processes - IIDP Automatic Control and Systems Engineering Dept. Faculty of Engineering of Bilbao University of the Basque Country (UPV/EHU) Bilbao Spain Automatic Control Group - ACG BiMEP – Biscay Marine Energy Armintza Bizkaia Spain Automatic Control Group - ACG Faculty of Engineering of Bilbao University of the Basque Country (UPV/EHU). Bilbao Spain

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

Ocean wave energy has de potential to satisfy 15% of EU energy demand, cutting 136 MT/MWh off the CO2 emissions by 2050, as stated by the EU Energy Road Map. Analogously, the Spanish Renewable Energies Plan specifically highlighted the Spanish marine energy potential with special emphasis in wave energy. In this context, Oscillating Water Column (OWC) converters are maybe nowadays the most promising wave energy converters, with the potential capability of sea energy harnessing from diverse on-shore and floating structures. This paper presents an analytic modeling of the wave capture chamber for a fixed on-shore OWC wave power plant. The model is particularized and parameterized for the case of the Mutriku MOWC wave power plant, located in the Spanish Basque Country coast, and then validated using both measured real wave entry data and experimental generated output power from the plant

关键词： Renewable energy sources Power measurement Wave power Roads Sea measurements Predictive models Particle measurements

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