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AmE 2021 - Automotive meets Electronics;12th GMM-Symposium

作者： Philip Dorpmueller Martin Keller Torsten Bertram TU Dortmund Institute of Control Theory and Systems Engineering ZF Group Division Electronics and ADAS

ISBN: (纸本)9783800754878

The guidance of an automated vehicle requires a software-module, which plans a comfortable and collision-free future motion. Furthermore, it must be able to lead the vehicle into a given planning goal. This requires the design of a trajectory planning method including a suitable objective function under consideration of vehicle dynamics and environmental constraints. In this contribution, a trajectory planning algorithm is proposed, which enables the execution of different maneuvers for on-road driving. Restrictions of the state- and input space are included as hard constraints.

关键词： Vehicle navigation Automated vehicles Vehicle dynamics Objective function trajectory planning Guidance splines (mathematics) Legal Executions Planning methods vehicle trajectory parameterization

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Tailored neural networks for learning optimal value functions in MPC

Tailored neural networks for learning optimal value function...

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IEEE Conference on Decision and control

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

ISBN: (纸本)9781665436601

Learning-based predictive control is a promising alternative to optimization-based MPC. However, efficiently learning the optimal control policy, the optimal value function, or the Q-function requires suitable function approximators. Often, artificial neural networks (ANN) are considered but choosing a suitable topology is also non-trivial. Against this background, it has recently been shown that tailored ANN allow, in principle, to exactly describe the optimal control policy in linear MPC by exploiting its piecewise affine structure. In this paper, we provide a similar result for representing the optimal value function and the Q-function that are both known to be piecewise quadratic for linear MPC.

关键词： Network topology Conferences Optimal control Artificial neural networks Topology Predictive control

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Influence of inspiratory resistors on tracheal pressure during ventilation with decelerating flow

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Intensive Care Medicine – Paediatric and Neonatal 2025年第1期3卷 1-10页

作者： Werder, David Stankovic, Nikola Zander, Mark Oliver Serfözö, Peter Erb, Thomas Otto Hammer, Jürg Schmid Daners, Marianne Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Anesthesiology University Children’S Hospital Basel University of Basel Basel Switzerland Product Development Group Zurich Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Emergency Department Lausanne University Hospital Lausanne Switzerland Department of Pulmonology and Critical Care University Children’S Hospital Basel University of Basel Basel Switzerland

Understanding driving pressure is of general interest in lung mechanics, especially in ventilated neonatal and pediatric patients. The aim of this study was to investigate the effects of endotracheal tube size (ETT) and bi-directional linear flow resistors mimicking different degrees of tube and airway obstruction on tracheal pressure (Ptr) during ventilation with decelerating flow. A mechanical lung simulator with unchanged respiratory mechanics like the mimicked compliance and resistance, three ETTs (inner diameters of 7.5 mm, 5.5 mm, and 3.5 mm), and four different linear flow resistors were alternatively connected to a commercial ventilator operating in pressure-controlled mode. Four resistors mimicking various degrees of ETT obstructions were placed consecutively between the Y-piece and the ETT. Varying sequentially ETT size, resistance, and ventilator settings resulted in 90 sets of measurements. Data acquisition, signal processing, and data analysis were performed using Python. The results clarify that decreasing ETT sizes and increasing flow resistances cause an increase in the time necessary to reach zero-flow conditions both during in- and expiration. This results in a decrease of Ptr at the end of inspiration and an increase of Ptr at the end of expiration, if inspiratory and expiratory times remain unchanged. The degree to which peak inspiratory pressure overestimates Ptr (or plateau pressure) in decelerating flow can be substantial and increases with increasing flow resistance. This highlights the importance of measuring plateau pressure or Ptr to understand pressure dynamics delivered to the lung.

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On Discretization Methods for Indirect Adaptive Sliding Mode control

On Discretization Methods for Indirect Adaptive Sliding Mode...

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IEEE Conference on Decision and control

作者： Christina Hettiger Lars Watermann Kiran Kumari Lukas Eisenzopf Florian Weissenberger Martin Horn Stefan Koch Johann Reger Markus Reichhartinger Control Engineering Group Technische Universität Ilmenau Ilmenau Germany Institute of Automation and Control Graz University of Technology Graz Austria Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, discrete-time versions of the first-order indirect adaptive sliding mode control (SMC) algorithm are developed and analyzed. In particular, a scalar linear system with parametric uncertainty linear in the state and with bounded input disturbance is considered. The discretization of continuous-time first-order indirect adaptive SMC algorithm may not preserve continuous-time properties like asymptotic stability of the origin. In order to ensure boundedness, knowledge about where the actual parameter may be located is used in this work. Then, for each proposed discretization scheme, conditions on the sampling time are derived that guarantee convergence into a bounded set. The theoretical results are illustrated with simulation examples and the proposed discretization schemes are compared with regard to the condition on sampling time and precision.

关键词： Linear systems Asymptotic stability Adaptation models Uncertainty Adaptive systems Complex systems Sliding mode control

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A Noise Mitigation Approach for Improving Position Estimate in Indoor Vehicle Navigation Using Inertial Measurement Unit

A Noise Mitigation Approach for Improving Position Estimate ...

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control Conference (ICC), 2019 Sixth Indian

作者： Vasumathi R Subhadeep Kumar Ramkrishna Pasumarthy Nirav Bhatt Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence and Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India Department of Biotechnology Robert Bosch Center of Data Sciences and Artificial Intelligence Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

Accurate position estimation, especially in indoor environments, presents a formidable challenge despite significant advancements in estimation methodologies. The integration of additional sensors is often imperative to refine estimates, particularly within indoor settings. The choice of additional sensors depends on the specific applications and operational range. This study focuses on devising a position estimation framework utilizing the internal sensors such as the Inertial Measurement Unit (IMU) and wheel encoders within a scaled-down Electric Vehicle. The proposed approach entails a combination of crafting a digital filter and implementing a Kalman filter to effectively attenuate noise and errors in the IMU data, thereby enhancing the position estimate, and the methodology is validated through experiments. This work contributes to the broader discourse on advancing indoor position estimation while bypassing the need for external positioning systems.

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Fixed-Time Sliding Mode Tracking control for Two-Dimensional Directional Drilling System

Fixed-Time Sliding Mode Tracking Control for Two-Dimensional...

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Asian control Conference

作者： Jinyu Li Hongchao Wei Chengda Lu Wangnian Li Quanxin Li Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the effect of the initial state of the drilling system on trajectory tracking is taken into account in the directional drilling trajectory tracking control. Firstly, the trajectory model describing the two-dimensional drilling trajectory of the rotary steering system (RSS) is introduced. To improve the accuracy of trajectory tracking control and reduce the trajectory deviation, a fixed-time sliding mode control (FTSMC) method is introduced. Then, the stability of the closed-loop system is analyzed, and the range of controller parameters satisfying the stability condition is obtained. Finally, the effectiveness of the designed control strategy is verified by simulation experiments.

关键词： Drilling Upper bound Trajectory tracking Steering systems Stability analysis Trajectory Closed loop systems

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Frequency response data based LPV controller synthesis applied to a control moment gyroscope

arXiv

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arXiv 2021年

作者： Bloemers, Tom Tóth, Roland Oomen, Tom The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Control Systems Technology Department of Mechanical Engineering Eindhoven University of Technology The Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

control of systems with operating condition-dependent dynamics, including control moment gyroscopes, often requires operating condition-dependent controllers to achieve high control performance. The aim of this paper is to develop a frequency response data-driven linear parameter-varying control design approach for single-input single-output systems, which allows improved performance for a control moment gyroscope. A stability theory using closed-loop frequency response function data is developed, which is subsequently used in a synthesis procedure that guarantees local stability and performance. Experimental results on a control moment gyroscope demonstrate the performance improvements. Copyright © 2021, The Authors. All rights reserved.

关键词： controllers

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Modelling the connection between propagating disturbances and solar spicules

arXiv

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arXiv 2024年

作者： Skirvin, Samuel Skirvin, S.J. Samanta, Tanmoy Van Doorsselaere, Tom Centre for mathematical Plasma Astrophysics Department of Mathematics KU Leuven Celestijnenlaan 200B bus 2400 LeuvenB-3001 Belgium Plasma Dynamics Group Department of Automatic Control & Systems Engineering The University of Sheffield United Kingdom Indian Institute of Astrophysics Koramangala Bangalore India

Aims. Propagating (intensity) disturbances (PDs) are well reported in observations of coronal loops and polar plumes in addition to recent links with co-temporal spicule activity in the solar atmosphere. However, despite being reported in observations, they are yet to be studied in depth and understood from a modelling point of view. Methods. In this work, we present results from a 3D MHD numerical model featuring a stratified solar atmosphere which is perturbed by a p-mode wave driver at the photosphere, subsequently forming spicules described by the rebound shock model. Results. Features with striking characteristics to those of detected PDs appear consistent with the co-temporal transition region dynamics and spicular activity resulting from nonlinear wave steepening and shock formation. Furthermore, the PDs can be interpreted as slow magnetoacoustic pulses propagating along the magnetic field, rather than high speed plasma upflows, carrying sufficient energy flux to at least partially heat the lower coronal plasma. Using forward modelling, we demonstrate the similarities between the PDs in the simulations and those reported in observations from IRIS and SDO/AIA. Conclusions. Our results suggest that, in the presented model, the dynamical movement of the transition region is a result of wave dynamics and shock formation in the lower solar atmosphere, and that PDs are launched co-temporally with the rising of the transition region, regardless of the wave-generating physical mechanisms occurring in the underlying lower solar atmosphere. However, it is clear that signatures of PDs appear much clearer when a photospheric wave driver is included. Finally, we present the importance of PDs in the context of providing a source for powering the (fast) solar wind. © 2024, CC BY.

关键词： Magnetohydrodynamics

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A Backstepping Integral Sliding Mode controller Design for Partial Feedback Linearized Models of Synchronous Generators in Simple Power systems to Improve the Transient Stability 2

A Backstepping Integral Sliding Mode Controller Design for P...

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2nd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

作者： Pramanik, M.A.H. Roy, T.K. Anower, M.S. Ghosh, S.K. Mahmud, M.A. Rajshahi University of Engineering Technology Department of Electrical Computer Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electronics Telecommunication Engineering Rajshahi Bangladesh Rajshahi University of Engineering Technology Department of Electrical Electronic Engineering Rajshahi6204 Bangladesh Northumbria University Electrical Power Control Systems Research Group Faculty of Engineering and Environment Newcastle United Kingdom

ISBN: (纸本)9781665443197

This paper proposes a backstepping integral sliding mode controller (BISMC) based on the partial feedback linearization (PFBL) of the detailed model of synchronous generators (SGs) in simple power networks. The proposed scheme is designed to obtain the excitation control input using the detailed model of SGs in a simple power system where the PFBL is used to simplify the model. The BISMC is employed on this simplified model to ensure the transient stability during large disturbances. The inherent property of the BISMC tackles the chattering and overcomes the parameter sensitivity problem of the PFBL scheme. Simulation studies are conducted under different operating situations to justify the effectiveness of the proposed PFBL-BISMC over a partial feedback linearizing controller (PFBLC). © 2021 IEEE.

关键词： Synchronous generators

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A Composite Nonlinear controller Design to Enhance the Large-Signal Stability of a DC Distribution System with Constant Power Loads 2

A Composite Nonlinear Controller Design to Enhance the Large...

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2nd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

作者： Ghosh, S.K. Roy, T.K. Pramanik, M.A.H. Mahmud, M.A. Rajshahi University of Engineering Technology Department of Electrical Electronic Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electronics Telecommunication Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electrical Computer Engineering Rajshahi6204 Bangladesh Northumbria University Newcastle Electrical Power Control Systems Research Group Faculty of Engineering and Environment United Kingdom

ISBN: (纸本)9781665443197

A composite backstepping integral sliding mode controller (BISMC) is proposed in this work for a DC-DC boost converter feeding a constant power load (CPL) in a simple DC distribution system. Here, the main objective is to ensure the large-signal stability with wide variations in operating regions. The proposed BISMC is designed based on the feedback linearized model of the DC-DC boost converter with a CPL where the average state-space model is exactly linearized. The use of exact feedback linearization overcomes the non-minimum phase problem of a DC-DC boost converter due to the presence of the CPL that exhibits negative impedance characteristics. The control law is obtained using the combination of backstepping and integral sliding mode control schemes where both approaches ensure the faster convergence of errors for all states and the integral action on the sliding surface is designed in such a fashion that will ensure the constant frequency operation of the power converter feeding the CPL while eliminating the variable frequency associated problem of the existing controllers. In addition, the stability of the whole system is analyzed through the Lyapunov stability theory. Numerical simulations are conducted to verify the performance of the designed composite nonlinear controller whose performance is also compared with a double-loop proportional integral (PI) controller to verify the superiority of the designed controller. © 2021 IEEE.

关键词： Backstepping

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