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arXiv 2025年

作者： Krebbekx, Julius P.J. Tóth, Roland Das, Amritam Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Lab HUN-REN Institute for Computer Science and Control Budapest Hungary

Scaled Relative Graphs (SRGs) provide a novel graphical frequency domain method for the analysis of nonlinear systems. In this paper, we use the restriction of the SRG to particular input spaces to compute frequency-dependent gain bounds for incrementally stable nonlinear systems. This leads to a nonlinear (NL) generalization of the Bode diagram, where the sinusoidal, harmonic, and subharmonic inputs are considered separately. When applied to the analysis of the NL loop transfer and sensitivity, we define a notion of bandwidth for both the open-loop and closed-loop, compatible with the LTI definitions. We illustrate the power of our method on the analysis of a DC motor with a parasitic nonlinearity, verifying our results in simulations. © 2025, CC BY.

关键词： Frequency domain analysis

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Neural Network Training Using Closed-Loop Data: Hazards and an Instrumental Variable (IVNN) Solution

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IFAC-PapersOnLine 2022年第12期55卷 182-187页

作者： Johan Kon Marcel Heertjes Tom Oomen Control Systems Technology Group Departement of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands ASML Mechatronics System Development Veldhoven The Netherlands Delft Center for Systems and Control Delft University of Technology P.O. Box 5 2600 AA Delft The Netherlands

An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may introduce parameter inconsistency that degrades control performance, and to provide a solution. The proposed method employs instrumental variables to ensure consistent parameter estimates. A nonlinear system example reveals that the developed instrumental variable neural network (IVNN) approach asymptotically recovers the optimal solution, while pre-existing approaches are shown to lead to inconsistent estimates.

关键词： Feedforward control instrumental variables neural networks

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Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Dynamics-Based Trajectory Planning for Vibration Suppression...

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

作者： Anthony Siming Chen Erwin Jose Lopez Pulgarin Guido Herrmann Alexander Lanzon Joaquin Carrasco Barry Lennox Benji Carrera-Knowles John Brotherhood Tomoki Sakaue Kaiqiang Zhang Department of Electrical and Electronic Engineering Control Systems and Robotics (CSR) Group The University of Manchester Manchester United Kingdom Jacobs Warrington United Kingdom Tokyo Electric Power Company (TEPCO) Holdings Japan United Kingdom Atomic Energy Authority (UKAEA) United Kingdom

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the acceleration and the jerk at the manipulator’s joints, as well as the vibrations of the flexible long-reach boom where the manipulator’s base is mounted. Firstly, we create an integrated model for the system dynamics based on the knowledge of the robotic manipulator and the acceleration data from the vibration tests. We then develop an original procedure for generating the high-order polynomial trajectory that guarantees the zero-boundary condition for a flexible number of optimization parameters and waypoints. Following the simulation of a multi-objective optimization scheme, the optimized trajectory is experimentally validated on the practical TWD system with around 28% vibration reduction on average compared to the benchmark. Importantly, this reduction is achieved without compromising on the average speed of motion. The methodology is transferable to a wider range of flexible robotic manipulator systems with similar characteristics.

关键词： Vibrations Trajectory planning System dynamics Life estimation Polynomials Maintenance Robots Manipulator dynamics Trajectory optimization Intelligent robots

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Safe Barrier-Constrained control of Uncertain systems via Event-triggered Learning

arXiv

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arXiv 2024年

作者： Lederer, Armin Begzadić, Azra Hirche, Sandra Cortés, Jorge Herbert, Sylvia The Learning and Adaptive Systems Group Department of Computer Science ETH Zurich Switzerland The Department of Mechanical and Aerospace Engineering University of California San Diego United States The Chair of Information-oriented Control TUM School of Computation Information and Technology Technical University of Munich Germany

While control barrier functions are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical limitation, since the dynamics of complex systems are often not fully known. Supervised machine learning techniques hold great promise for alleviating this weakness by inferring models from data. We propose a novel control barrier function-based framework for safe control through event-triggered learning, which switches between prioritizing control performance and improving model accuracy based on the uncertainty of the learned model. By updating a Gaussian process model with training points gathered online, the approach guarantees the feasibility of control barrier function conditions with high probability, such that safety can be ensured in a data-efficient manner. Furthermore, we establish the absence of Zeno behavior in the triggering scheme, and extend the algorithm to sampled-data realizations by accounting for inter-sampling effects. The effectiveness of the proposed approach and theory is demonstrated in simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Gaussian distribution

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Partially Isolated Multi-Active Bridge DC-DC Converter with Bidirectional EV Charging Ports

Partially Isolated Multi-Active Bridge DC-DC Converter with ...

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Compatibility in Power Electronics (CPE)

作者： Mykola Lukianov Enrique Romero Cadaval Gabriele Arena Ryszard Strzelecki Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland Power Electrical and Electronic Systems R+D Group University of Extremadura Badajoz Spain Institute for Technical Physics (ITEP) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (数字)9798350318265

ISBN: (纸本)9798350318272

There is a growing interest in multiport converters due to their ability to interconnect various energy sources and loads using reduced number of components. Regarding electric vehicle (EV) chargers connection, existing multiport solutions either lack scalability, featuring only one isolated charging port or the operation of ports depend on each other, complicating the converter control algorithm. This article proposes a partially isolated multi-active bridge (MAB) converter capable of connecting battery energy storage (BES) and an arbitrary number of EV chargers to the DC grid, aiming to resolve abovementioned problems. The proposed MAB converter requires 6N switches, whereas the conventional solution with independent 3-phase interleaved buck-boost and N DAB converters needs 8N+6 switches to connect BES and N EVs to the DC grid (N - odd number of EV charging ports). Simulation results have proven the ability of the converter ports to work independently in bidirectional operation modes for different BES and EV power levels.

关键词： Power engineering Simulation Scalability Bridge circuits DC-DC power converters Switches Electric vehicle charging

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Modelling of Blood Loss Influence on Propofol Concentrations and Anesthetic States in Critical Responses *

Modelling of Blood Loss Influence on Propofol Concentrations...

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American control Conference (ACC)

作者： Mihaela Ghita Dana Copot Isabela Birs Cristina Muresan Martine Neckebroek Clara Ionescu Depart. of Electromechanical Systems and Metal Engineering Research Group of Dynamical Systems and Control Ghent University Flanders Make Core Lab MIRO: Machineries Intelligence Robots and Electromechanical Systems Ghent Belgium Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Anesthesiology Ghent University Hospital Gent Belgium

This work studies the classical pharmacokinetic-pharmacodynamic (PK-PD) model of Propofol for total intravenous anesthesia in response to intraoperative blood loss. Anesthetic and hemodynamic stability are impaired in the setting of trauma surgeries or major procedures with high hemorrhage risk. Blood loss has immediate effects on the cardiovascular system, but also affects the plasma concentration of the perioperatively infused drugs. During perioperative transition periods, when fast blood losses occur, the PK models on which the target-controlled infusion (TCI) is based should be updated. Then, the population-based parameters move towards an individualized strategy that accounts also for the actual blood volume in the patient. This paper evaluates the influence of changing blood volume on the PK model of Propofol, hence on the anesthesia state of the patient. The simulations also account for the hemodynamic responses due to the conflicting interactions of both hemorrhage and anesthetic drug infusion. This model has great potential for inclusion in multiple-closed loop control strategies of anesthesia-hemodynamic states, as it is simple and adapted from well-known PK models, for which control strategies are already mature.

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Novel convex decomposition of piecewise affine functions

arXiv

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arXiv 2021年

作者： Schlüter, Nils Darup, Moritz Schulze the Control and Cyberphysical Systems Group Department of Mechanical Engineering TU Dortmund University Germany

In this paper, we present a novel approach to decompose a given piecewise affine (PWA) function into two convex PWA functions. Convex decompositions are useful to speed up or distribute evaluations of PWA functions. Different approaches to construct a convex decomposition have already been published. However, either the two resulting convex functions have very high or very different complexities, which is often undesirable, or the decomposition procedure is inapplicable even for simple cases. Our novel methodology significantly reduces these drawbacks in order to extend the applicability of convex decompositions. © 2021, CC BY-NC-ND.

关键词： Functions

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Fuzzy PID control for suppressing stick-slip vibration of drill-string system

Fuzzy PID control for suppressing stick-slip vibration of dr...

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2022 Chinese Automation Congress, CAC 2022

作者： Hu, Shuaikang Lu, Chengda Wu, Min He, Zhaoqing Song, Haitao Li, Wangnian School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi’an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi’an710077 China

ISBN: (纸本)9781665465335

In this paper, a fuzzy PID (Proportional Integral Derivative) controller is introduced to suppress the stick-slip vibration present in the drilling process. First, the dynamical model of stick-slip vibration is composed of the multi-DOF (Degree-Of-Freedom) drill-string model and the Karnopp model describing the interaction of the drill bit with the rock. Then, stability analysis is made for the initial PID parameters of our controller. To suppress the stick-slip vibration and at the same time mitigate the effects of the stratigraphic environment variation on the control performance, the fuzzy adaptive algorithm is chosen as the method of optimization controller parameters. From the experimental results, it is clear that our controller has good control performance in the complex and changing stratigraphic environment. © 2022 IEEE.

关键词： controllers

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Tip-and Laser-based 3D Nanofabrication in Extended Macroscopic Working Areas

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Nanomanufacturing and Metrology 2021年第3期4卷 132-148页

作者： Ingo Ortlepp Thomas Frohlich Roland FuBl Johann Reger Christoph Schaffel Stefan Sinzinger Steffen Strehle ReneTheska Lena Zentner Jens-Peter Zollner Ivo WRangelow Carsten Reinhardt Tino Hausotte Xinrui Cao Oliver Dannberg Florian Fern David Fischer Stephan Gorges Martin Hofmann Johannes Kirchner Andreas Meister Taras Sasiuk Ralf Schienbein Shraddha Supreeti Laura Mohr-Weidenfeller Christoph Weise Christoph Reuter Jaqueline Stauffenberg Eberhard Manske Institute of Process Measurement and Sensor Technology Technische Universitat IlmenauEhrenbergstrasse 2998693 IlmenauGermany Control Engineering Group Technische Universitat IlmenauIlmenauGermany Optical Engineering Group.Technische Universitat Ilmenau IlmenauGermany Microsystems Technology Group.Technische Universitat Ilmenau IlmenauGermany Precision Engineering Group.Technische Universitat Ilmenau IlmenauGermany Compliant Systems Group Technische Universitat IlmenauIlmenauGermany Micro-and Nanoelectronic Systems Group Technische Universitat IlmenauIlmenauGermany Nanoscale Systems Group.Technische Universitat Ilmenau IlmenauGermany Division for Research Service and Technology Transfer Technische Universitat IlmenauIlmenauGermany Electronics Technology Group.Technische Universitat Ilmenau IlmenauGermany IMMS Institut flir Mikroelektronik-und Mechatronik-Systeme Gemeinniitzige GmbH(IMMS GmbH) IlmenauGermany Fachgebiet Technische Physik City University of Applied SciencesBremenGermany Lehrstuhl fiir Fertigungsmesstechnik Friedrich-Alexander-U niversitat(FAU)Erlangen-NiirnbergGermany JUMO GmbH&Co.KG FuldaGermany Asphericon GmbH JenaGermany

The field of optical lithography is subject to intense research and has gained enormous ***,the effort necessary for creating structures at the size of 20 nm and below is considerable using conventional *** effort and the resulting financial requirements can only be tackled by few global companies and thus a paradigm change for the semiconductor industry is conceivable:custom design and solutions for specific applications will dominate future development(Fritze in:Panning EM,Liddle JA(eds)Novel patterning *** society for optics and ***,Bellingham,***://***/10.1117/12.2593229).For this reason,new aspects arise for future lithography,which is why enormous effort has been directed to the development of alternative fabrication ***,the technologies emerging from this process,which are promising for coping with the current resolution and accuracy challenges,are only demonstrated as a proof-of-concept on a lab scale of several square *** scale is not adequate for the requirements of modern lithography;therefore,there is the need for new and alternative cross-scale solutions to further advance the possibilities of unconventional *** challenges arise because of the technical progress in various other fields,realizing new and unique functionalities based on nanoscale effects,e.g.,in nanophotonics,quantum computing,energy harvesting,and life *** platforms for basic research in the field of scale-spanning nanomeasuring and nanofabrication are necessary for these tasks,which are available at the Technische Universitiit Ilmenau in the form of nanopositioning and nanomeasuring(NPM)*** this equipment,the limits of technical structurability are explored for high-performance tip-based and laser-based processes for enabling real 3D nanofabrication with the highest precision in an adequate working range of several thousand cubic millimete

关键词： Nanomeasuring Nanopositioning Nanomanufacturing Scale-spanning Tip-based Laser-based Nanofabrication

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Incremental Dissipativity based control of Discrete-Time Nonlinear systems via the LPV Framework

Incremental Dissipativity based Control of Discrete-Time Non...

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IEEE Conference on Decision and control

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

ISBN: (纸本)9781665436601

Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to bridge this gap by extending convex LTI synthesis results such that they could be applied to nonlinear systems. However, recent literature has shown that naive application of the LPV framework can fail to guarantee the desired asymptotic stability guarantees for nonlinear systems. Incremental dissipativity theory has been successfully used in the literature to overcome these issues for Continuous-Time (CT) systems. However, so far no solution has been proposed for output-feedback based incremental control for the Discrete-Time (DT) case. Using recent results on convex analysis of incremental dissipativity for DT nonlinear systems, in this paper, we propose a convex output-feedback controller synthesis method to ensure closed-loop incremental dissipativity of DT nonlinear systems via the LPV framework. The proposed method is applied on a simulation example, demonstrating improved stability and performance properties compared to a standard LPV controller design.

关键词： Linear systems Bridges Asymptotic stability Systematics Conferences control systems Stability analysis

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