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arXiv 2021年

作者： Koelewijn, Patrick J.W. Tóth, Roland Nijmeijer, Henk Weiland, Siep Control Systems Group Department of Electrical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest1111 Hungary Dynamics and Control Group Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of the Linear Time-Invariant framework, mainly based on quadratic stability and performance using dissipativity theory, it has been assumed that they generalize tracking and disturbance rejection guarantees for NL systems. However, as has been shown in literature, stability and performance through standard dissipativity is not sufficient in order to satisfy the desired guarantees in case of reference tracking and disturbance rejection for nonlinear systems. We propose to solve this problem by the application of incremental dissipativity, which does ensure these specifications. A novel approach is proposed to synthesize and realize an NL controller which is able to guarantee incremental stability and performance for NL systems via convex optimization using methods from the LPV framework. Through simulations and experiments, the presented method is compared to standard LPV controller designs, showing significant performance improvements. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

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

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

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Smart Technologies for Power, Energy and control (STPEC), IEEE International Conference on

作者： S. K. Ghosh T. K. Roy M. A. H. Pramanik M. A. Mahmud Rajshahi University of Engineering & Technology Rajshahi Bangladesh Electrical Power & Control Systems Research Group Faculty of Engineering and Environment Northumbria University Newcastle UK

ISBN: (纸本)9781665443203

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.

关键词： Surface impedance Backstepping Simulation Stability analysis Feedback linearization Voltage control Numerical stability

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An 2-consistent event-triggered control policy for linear systems

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Automatica 2021年 125卷

作者： Balaghiinaloo, Mohammadhadi Antunes, Duarte J. Heemels, W.P.M.H. [Maurice] Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 MB EindhovenNL-5600 Netherlands

In this article, we consider the design of an event-triggered 2-control policy, for a setting where a scheduler is arbitrating state transmissions from the sensors to the controller of a discrete-time linear system. We start by introducing a periodic time-triggered 2-controller for different transmission time-periods with a given 2-gain bound using the minimax game-theoretical approach. After that, we propose an 2-consistent event-triggered controller in the sense that it guarantees at least the same 2-gain bound as the designed periodic time-triggered 2-controller, however with a larger, or at most equal, average inter-transmission time. In practice, for typical disturbances, the proposed event-triggered scheme can lead to significant gains, both in terms of communication savings and disturbance attenuation, compared to periodic time-triggered policies, which is illustrated through a numerical example. © 2020 Elsevier Ltd

关键词： Networked control systems

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Adaptive control Applied to Half-Bridge Synchronous Buck Converter using LCL Filter for Charging Batteries

Adaptive Control Applied to Half-Bridge Synchronous Buck Con...

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Power Electronics and control (SEPOC), Seminar on

作者： Vinícius Descovi Rodrigues João Vitor Merlo Jonas Roberto Tibola Rodrigo Varella Tambara Research and Development Center in Electrical Engineering - NUPEDEE Federal University of Santa Maria Santa Maria Brasil Graduate Program in Electrical Engineering - PPGEE Federal University of Santa Maria Santa Maria Brasil Research and Development Center in Electrical and Computational Systems - GSEC Federal University of Santa Maria Santa Maria Brasil Group of Power Electronics and Control - GEPOC Federal University of Santa Maria Santa Maria Brasil

ISBN: (数字)9798350379419

ISBN: (纸本)9798350379426

This paper proposes a discrete-time Model Reference Adaptive controller (MRAC), applied to a Half-Bridge synchronous buck converter for charging batteries. The system uses an LCL filter that interfaces the power converter and the batteries. A virtual plant method is proposed for better transitory response of the adaptive control system. The model reference utilizes a reduced order, to simplify the project of the adaptive controller. Simulation results are presented for validation of the control project.

关键词： Seminars Adaptation models Buck converters Simulation Power electronics Batteries Topology Adaptive control

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Verification of Strong K-Step Opacity for Discrete-Event systems

arXiv

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arXiv 2022年

作者： Han, Xiaoguang Zhang, Kuize Li, Zhiwu The College of Electronic Information and Automation Tianjin University of Science and Technology Tianjin300222 China Control Systems Group Technical University of Berlin Berlin10587 Germany The Institute of Systems Engineering Macau University of Science and Technology Taipa519020 China School of Electro-Mechanical Engineering Xidian University Xi’an710071 China

In this paper, we revisit the verification of strong K-step opacity (K-SSO) for partially-observed discrete-event systems modeled as nondeterministic finite-state automata. As a stronger version of the standard K-step opacity, K-SSO requires that an intruder cannot make sure whether or not a secret state has been visited within the last K observable steps. To efficiently verify K-SSO, we propose a new concurrent-composition structure, which is a variant of our previously-proposed one. Based on this new structure, we design an algorithm for deciding K-SSO and prove that the proposed algorithm not only reduces the time complexity of the existing algorithms, but also does not depend on the value of K. Furthermore, a new upper bound on the value of K in K-SSO is derived, which also reduces the existing upper bound on K in the literature. Finally, we illustrate the proposed algorithm by a simple example. Copyright © 2022, The Authors. All rights reserved.

关键词： Opacity

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High throughput event filtering: The interpolation-based DIF algorithm hardware architecture

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Microprocessors and Microsystems 2025年

作者： Marcin Kowalczyk Tomasz Kryjak Embedded Vision Systems Group Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Krakow Poland

In recent years, there has been rapid development in the field of event vision. It manifests itself both on the technical side, as better and better event sensors are available, and on the algorithmic side, as more and more applications of this technology are proposed and scientific papers are published. However, the data stream from these sensors typically contains a significant amount of noise, which varies depending on factors such as the degree of illumination in the observed scene or the temperature of the sensor. We propose a hardware architecture of the Distance-based Interpolation with Frequency Weights(DIF) filter and implement it on an FPGA chip. To evaluate the algorithm and compare it with other solutions, we have prepared a new high-resolution event dataset, which we are also releasing to the community. Our architecture achieved a throughput of 403.39 million events per second (MEPS) for a sensor resolution of 1280 × 720 and 428.45 MEPS for a resolution of 640 × 480. The averagevalues of the Area Under the Receiver Operating Characteristic (AUROC) index ranged from 0.844 to 0.999, depending on the dataset, which is comparable to the state-of-the-art filtering solutions, but with much higher throughput and better operation over a wide range of noise levels.

关键词： Dataset Denoising DVS FPGA High-throughput

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Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

arXiv

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arXiv 2022年

作者： Dhédin, Victor Li, Haolong Khorshidi, Shahram Mack, Lukas Ravi, Adithya Kumar Chinnakkonda Meduri, Avadesh Shah, Paarth Grimminger, Felix Righetti, Ludovic Khadiv, Majid Stueckler, Joerg Embodied Vision Group Max Planck Institute for Intelligent Systems Tuebingen Germany Movement Generation and Control Group Max Planck Institute for Intelligent Systems Tuebingen Germany Tandon School of Engineering New York University New York United States Oxford Robotics Institute University of Oxford United Kingdom Autonomous Motion Department Max Planck Institute for Intelligent Systems Tuebingen Germany

Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot posture, in particular base height. In this paper, we propose a novel approach for combining visual-inertial odometry (VIO) with leg odometry in an extended Kalman filter (EKF) based state estimator. The VIO module uses a stereo camera and IMU to yield low-drift 3D position and yaw orientation and drift-free pitch and roll orientation of the robot base link in the inertial frame. However, these values have a considerable amount of latency due to image processing and optimization, while the rate of update is quite low which is not suitable for low-level control. To reduce the latency, we predict the VIO state estimate at the rate of the IMU measurements of the VIO sensor. The EKF module uses the base pose and linear velocity predicted by VIO, fuses them further with a second high-rate IMU and leg odometry measurements, and produces robot state estimates with a high frequency and small latency suitable for control. We integrate this lightweight estimation framework with a nonlinear model predictive controller and show successful implementation of a set of agile locomotion behaviors, including trotting and jumping at varying horizontal speeds, on a torque-controlled quadruped robot. Copyright © 2022, The Authors. All rights reserved.

关键词： Extended Kalman filters

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Decentralized Dynamic Disturbance Compensation control Strategy for Multiple Parallel Inverters in Microgrid

Decentralized Dynamic Disturbance Compensation Control Strat...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Shanna Luo Kaixiang Peng Changbin Hu Xiangyi Shi Heng Lu School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China School of Electrical and Control Engineering North China University of Technology Beijing China China Energy Engineering Group Tianjin Electric Power Design Institute Co. LTD Tianjin China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany

In order to enhance the anti-disturbance capability of voltage fluctuation during microgrid island operation, a decentralized dynamic disturbance compensation control strategy for multiple inverters in parallel based on robust residual generator is proposed. First, a parallel state space model of multiple inverters with line parameters under quasi-stationary line conditions is established. Secondly, for the double closed loop control structure of the inverter, a dynamic compensation controller Q(s) is designed from the perspective of disturbance cancellation, and its control signal is applied to the input terminal of the current loop to realize superposition with the original system current given signal. Then, a residual generator and a dynamic compensation controller Qi(s) are added to each parallel inverter to realize mutual influence among multiple inverters further decoupling. Finally, hardware-in-the-loop experiment on three inverters in parallel are designed on the RTDS platform to verify the effectiveness of the proposed strategy.

关键词： Industrial electronics Fluctuations Voltage fluctuations Power quality Microgrids Switches control systems

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In vitro validation of a non-invasive continuous blood pressure measurement method for the perioperative application

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Current Directions in Biomedical engineering 2021年第2期7卷 859-862页

作者： Geus, Paul Laidig, Daniel Borchers, Patrick Seel, Thomas Stettin, Johanna Kertzscher, Ulrich Charité - Universitätsmedizin Berlin Berlin Germany Control Systems Group Technische Universität Berlin Berlin Germany Medical Information Technology RWTH Aachen University Aachen Germany Department Artificial Intelligence in Biomedical Engineering Friedrich-Alexander-Universität Erlangen-Nürnberg Nuremberg Germany Biofluid Mechanics Lab ICM Charité Universitätsmedizin Berlin Berlin Germany

Hypotensive periods during surgery lead to an increase in postoperative complications. To further avoid the adverse events associated with the invasive measurement of the blood pressure, a perioperative, continuous, non-invasive blood pressure measurement method was developed. The precision of the method was tested for different mean pressure values and different thicknesses of the tissue model using a specifically designed and validated simulator that has the characteristics of the lower arm. The mean pressure difference between the pressure determined by the proposed method and simulated blood pressure from the simulator was 3.93 mmHg (±4.75 mmHg) for the systole and 4.89 mmHg (±6.10 mmHg) for the diastole. The results showed that the method can be a promising alternative to invasive blood pressure measurement methods. © 2021 by Walter de Gruyter Berlin/Boston.

关键词： Blood pressure

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Maturity Evaluation of Domain-Specific Language Ecosystems for Cyber-Physical Production systems

Maturity Evaluation of Domain-Specific Language Ecosystems f...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Sandra Greiner Bianca Wiesmayr Kevin Feichtinger Kristof Meixner Marco Konersmann Jérôme Pfeiffer Michael Oberlehner David Schmalzing Andreas Wortmann Bernhard Rumpe Rick Rabiser Alois Zoitl Software Engineering Group University of Bern Switzerland LIT CPS Lab Johannes Kepler University Linz Austria CDL SQI Institute of Information Systems Engineering Technische Universität Wien Austria Software Engineering RWTH Aachen University Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany CDL VaSiCS LIT CPS Lab Johannes Kepler University Linz Austria

engineering Cyber-Physical Production systems (CPPSs) heavily relies on Domain-Specific Languages (DSLs), which are tailored to a specific class of problems inherent to CPPSs. DSLs enable non-programming experts to solve problems in their domain, such as modeling production processes, implementing control software, or managing the variability of production systems. A DSL ecosystem encompasses the entire infrastructure (e.g., libraries and tools) built around its language and contributes to the successful and easy adoption thereof by domain experts. We present a maturity evaluation model for DSL ecosystems serving two aims: to developers, it reveals missing but essential aspects of the ecosystem, and users (e.g., industrial companies) can evaluate the maturity of a DSL ecosystem. We propose criteria to evaluate the maturity of DSL ecosystems and apply them to existing, publicly available DSLs which have been adopted in CPPSs. The results demonstrate that all components of the model are covered and they allow for deriving hypotheses about DSL ecosystems used in CPPSs.

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