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arXiv 2022年

作者： Xu, Duo Damsma, Sander Lazar, Mircea The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands

Motivated by increasing precision requirements for switched power amplifiers, this paper addresses the problem of model predictive control (MPC) design for discrete-time linear systems with a finite control set (FCS). Typically, existing solutions for FCS-MPC penalize the output tracking error and the control input rate of change, which can lead to arbitrary switching among the available discrete control inputs and unpredictable steady-state behavior. To improve the steady-state behavior of FCS-MPC, in this paper we design a cost function that penalizes the tracking error with respect to a state and input steady-state limit cycle. We prove that if a suitable terminal cost is added to the FCS-MPC algorithm convergence to the limit cycle is ensured. The developed methodology is validated in direct switching control of a power amplifier for high-precision motion systems, where it significantly improves the steady-state output current ripple. Copyright © 2022, The Authors. All rights reserved.

关键词： Power amplifiers

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Stabilization of a class of infinite-dimensional systems subjected to unknown matched disturbances

Stabilization of a class of infinite-dimensional systems sub...

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control Conference (ICC), 2019 Sixth Indian

作者： Bhagyashri Gurjar Sudipta Chattopadhyay Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

In this paper, we consider the problem of constructing an output-feedback controller for stabilizing an un-stable linear PDE system with bounded control and observation operators driven by an unknown disturbance. The disturbance is matched with the input of the PDE system and its derivative is assumed to be bounded. Under a smoothness assumption on the observation operator and an observability matching condition, we first develop a linear observer with disturbance decoupling for state estimation and then we develop a sliding mode observer for estimating the disturbance. Using the estimated state and disturbance we implement a state-feedback control law which guarantees the exponential decay of the state of the PDE system to zero for all initial states. Our approach assumes certain prior knowledge regarding the stabilization and estimation of the PDE system in the absence of disturbances. Our contribution lies in performing stabilization (convergence of state to zero) and estimation in the presence of unknown disturbances. We illustrate our controller design approach in simulations using an unstable 1D heat equation.

关键词： Heating systems Perturbation methods Impedance matching Observers control systems Mathematical models Observability

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Stabilization of cascade interconnection of an 1D heat equation in polar coordinates and an ODE using LQR design

Stabilization of cascade interconnection of an 1D heat equat...

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IEEE Conference on Decision and control

作者： Bhargav Pavan Kumar Sistla Soham Chatterjee Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we consider ODE-PDE cascade systems in which the input is applied to the ODE system whose output drives the PDE system and PDE-ODE cascade systems in which the input is applied to the PDE system whose output drives the ODE system. In both the cascade systems we take the PDE system to be an 1D heat equation in polar coordinates containing a singular term. We address the problem of designing state-feedback control laws for stabilizing these cascade systems via finite-dimensional approximation and LQR design. Using the Galerkin technique we first obtain an N th -order ODE approximation for the cascade system. Next we fix a quadratic cost function for the cascade system and consider the corresponding operator algebraic Riccati equation (ARE). Then we associate an appropriate matrix ARE with the ODE approximation. Under some natural assumptions on the cascade system, we verify that certain well-known hypothesis in the literature hold, which imply that the solution Π N of the matrix ARE converges to the solution Π of the operator ARE strongly as N→∞. This implies that the stabilizing gain for the ODE approximation determined by Π N converges to a stabilizing gain for the cascade system. We illustrate this in simulations.

关键词： Heating systems Riccati equations Cost function Mathematical models Method of moments

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Consensus of hierarchical multi-agent systems with a time-varying set of active agents

arXiv

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arXiv 2022年

作者： Dreke, Victor Daniel Reyes Lazar, Mircea Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands

Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has been applied so far to multi-agent systems with fixed or time-varying communication topologies. In this paper, we consider single-integrator multi-agent systems where only a subset of the agents are active at any given time and the set of active agents is time-varying. This type of multi-agent system is relevant in applications such as modular multilevel converters and water pumping systems. We develop a switching algorithm that periodically selects a set of active agents through a set of graphs that connect the follower agents with a leader agent. We further prove that the developed switching algorithm combined with a classic consensus protocol yields convergence to a consensus state defined by the leader despite a time-varying set of active agents. The effectiveness of the switching algorithm is illustrated in two benchmark examples: a modular multilevel converter and a water pumping system. Copyright © 2022, The Authors. All rights reserved.

关键词： Multi agent systems

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Trajectory Following control for Automated Driving 1

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6. Internationalen ATZ-Fachtagung Automatisiertes Fahren, 2020

作者： Homann, Andreas Buss, Markus Keller, Martin Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Germany ZF Group Germany

ISBN: (数字)9783658347529

ISBN: (纸本)9783658347512

In the contribution, a model predictive trajectory tracking approach is presented. Due to the utilization of an accurate prediction model, which considers not only the vehicle dynamics but also the limited actuator dynamics, the approach can be used even in emergency collision avoidance systems. The approach explicitly predicts a trajectory set for defined control inputs. Out of the set, the trajectory which is closest to the reference is selected. Two different objective functions are defined, each of them selecting the optimum input variable for trajectory tracking. On the one hand, the selection is based on the predicted position trajectories and, on the other hand, on the speed and yaw rate of the trajectory set. The evaluation is carried out in the simulation with a vehicle model for which different error sources, like sensor errors, sensor noise, and static friction are modeled using data from a real vehicle. This development method allows a direct and fast transferability into the real test vehicle. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Predictive control systems

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Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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Software-defined event-based camera and vision algorithms for digitizing highly dynamic manufacturing tasks

Software-defined event-based camera and vision algorithms fo...

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2024 Low-Cost Digital Solutions for Industrial Automation, LoDiSA 2024

作者： Walker, Emily Turner, Christopher J. Oyekan, John Department of Automatic Control & Systems Engineering The University of Sheffield SheffieldS1 3JD United Kingdom Surrey Business School The University of Surrey Surrey GuildfordGU2 7XH United Kingdom Real Time & Distributed Systems Group Department of Computer Science University of York Heslington YorkYO10 5GH United Kingdom

ISBN: (纸本)9781837242672

Event-based cameras are inspired by the way the retina in the eye process information. Rather than capturing image frames at a constant rate, event cameras generate data asynchronously, based on changes in pixel value between frames. As a result, these cameras have a high spatiotemporal accuracy, low power constraints and reduced artefacts from motion blur. Hence, they represent favourable properties for digitizing highly dynamic manufacturing tasks such as machine vibrations and rapid human assembly actions. However, the costs of event-based cameras are prohibitively high for small to medium sized enterprises (SMEs). In this research, we present the development of a rig that combines low-cost visual sensors with low-cost algorithms to perform action recognition for highly dynamic manual manufacturing tasks. We applied our algorithms to achieve an action classification system via a novel threshold-based approach and in parallel use a neural network to perform classification of objects in the video feed. The results achieved demonstrated that our approach was able to successfully identify various rapid manual tasks being performed on identified objects. In addition to SMEs, our approach would be suited for providing low-cost digitization on legacy machines. © This is an open access article published by the IET under the Creative Commons Attribution License (http://***/licenses/by/3.0/).

关键词： Machine vibrations

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Distributed voltage control of active distribution network based on global sensitivity and ADAM 8

Distributed voltage control of active distribution network b...

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8th International Conference on Energy System, Electricity, and Power, ESEP 2023

作者： Huang, Kun Si, Jiandong Zhang, Xiaoyan Yang, Jian Zhu, Kanglong NARI Group Corporation Nanjing211106 China NARI Technology Nanjing Control Systems Co. Ltd. Nanjing211100 China Taizhou Supply Company State Grid Zhejiang Electric Power Co. Ltd. Taizhou318000 China College of Electrical Engineering Zhejiang University Hangzhou310063 China

ISBN: (数字)9781510679801

ISBN: (纸本)9781510679795

With the development of distributed photovoltaic and energy storage,the characteristics of "source-charge interaction"in radial distribution network are becoming more and more obvious, and it is gradually developed into active distribution network(ADN). The problem of voltage crossing due to power imbalance becomes more and more frequent and cannot be ignored. Most of the existing studies on the voltage control of active distribution network tend to have a single control target without taking into account various regulatory objectives. They ignore the collaborative regulation of multiple flexible resources, and there are problems such as failing to make full use of the adjustment capacity of multi-energy energy storage at the user side. Due to the problems of solving dimension explosion and invading user privacy in centralized voltage control, a distributed voltage control method based on global sensitivity, distributed gradient tracking and ADAM is proposed in this paper. Firstly, an improved DistFlow power flow model and a Back-and-Forth communication framework are established to lay a foundation for real-time calculation of global sensitivity and inter-network flow. Secondly, all kinds of global sensitivity calculation methods and voltage control flow based on global sensitivity are analyzed and obtained. Finally, the distributed gradient tracking method and ADAM method are combined to optimize the control process, and finally the voltage of the distribution network throughout the day is basically kept within the safe range. © 2024 SPIE.

关键词： Energy storage

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Uncertain uncertainty in data-driven stochastic optimization: towards structured ambiguity sets

Uncertain uncertainty in data-driven stochastic optimization...

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IEEE Conference on Decision and control

作者： Lotfi M. Chaouach Dimitris Boskos Tom Oomen Systems and Control Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Ambiguity sets of probability distributions are a prominent tool to hedge against distributional uncertainty in stochastic optimization. The aim of this paper is to build tight Wasserstein ambiguity sets for data-driven optimization problems. The method exploits independence between the distribution components to introduce structure in the ambiguity sets and speed up their shrinkage with the number of collected samples. Tractable reformulations of the stochastic optimization problems are derived for costs that are expressed as sums or products of functions that depend only on the individual distribution components. The statistical benefits of the approach are theoretically analyzed for compactly supported distributions and demonstrated in a numerical example.

关键词： Uncertainty Costs Cost function Probability distribution Random variables

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Prediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiency

arXiv

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arXiv 2024年

作者： Sánchez, Manuel Muñoz van der Ploeg, Chris Smit, Robin Elfring, Jos Silvas, Emilia van de Molengraft, René Department of Mechanical Engineering Robotics Group Japan Control Systems Technology Group Eindhoven University of Technology Eindhoven Netherlands Department of Integrated Vehicle Safety Helmond Netherlands VDL CropTeq Robotics Eindhoven Netherlands

Predicting the movement of other road users is beneficial for improving automated vehicle (AV) performance. However, the relationship between the time horizon associated with these predictions and AV performance remains unclear. Despite the existence of numerous trajectory prediction algorithms, no studies have been conducted on how varying prediction lengths affect AV safety and other vehicle performance metrics, resulting in undefined horizon requirements for prediction methods. Our study addresses this gap by examining the effects of different prediction horizons on AV performance, focusing on safety, comfort, and efficiency. Through multiple experiments using a state-of-the-art, risk-based predictive trajectory planner, we simulated predictions with horizons up to 20 seconds. Based on our simulations, we propose a framework for specifying the minimum required and optimal prediction horizons based on specific AV performance criteria and application needs. Our results indicate that a horizon of 1.6 seconds is required to prevent collisions with crossing pedestrians, horizons of 7-8 seconds yield the best efficiency, and horizons up to 15 seconds improve passenger comfort. We conclude that prediction horizon requirements are application-dependent, and recommend aiming for a prediction horizon of 11.8 seconds as a general guideline for applications involving crossing pedestrians. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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