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A formal process of hierarchical functional requirements development for Set-Based Design

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arXiv 2022年

作者： Sun, Minghui Chen, Zhaoyang Bakirtzis, Georgios Jafarzadeh, Hassan Fleming, Cody Coordinated Systems Lab Department of Mechanical Engineering Iowa State University AmesIA50011 United States Autonomous Systems Group Oden Institute for Computational Engineering & Sciences The University of Texas at Austin AustinTX78712 United States Advanced Control Methods Research and Advanced Engineering Ford Motor Company DearbornMI48126 United States

The design of complex systems is typically uncertain and ambiguous at early stages. Set-Based Design is a promising approach to complex systems design as it supports alternative exploration and gradual uncertainty reduction. When designing a complex system, functional requirements decomposition is a common and effective approach to progress the design incrementally. However, the current literature on Set-Based Design lacks formal guidance in functional requirements decomposition. To bridge the gap, we propose a formal process to hierarchically decompose the functional requirements for Set-Based Design. A four-step formal process is proposed to systematically define, reason, and narrow the sets, and eventually decompose the functional requirement into the sub-requirements. Such a process can be used by the individual suppliers working in parallel at multiple levels of abstraction and guarantee that the resulting system will eventually satisfy the top-level functional requirements. An example of designing a cruise control system is applied to demonstrate the feasibility of the proposed process. © 2022, CC BY.

关键词： Large scale systems

Intermittent sampling in repetitive control: Exploiting time-varying measurements

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arXiv 2021年

作者： Kon, Johan Strijbosch, Nard Koekebakker, Sjirk Oomen, Tom The Control Systems Technology Group Dept. of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands Canon Production Printing Venlo Netherlands

The performance increase up to the sensor resolution in repetitive control (RC) invalidates the standard assumption in RC that data is available at equidistant time instances, e.g., in systems with package loss or when exploiting timestamped data from optical encoders. The aim of this paper is to develop an intermittent sampling RC framework for non-equidistant measurements. Sufficient stability conditions are derived that can be verified using non-parametric frequency response function data. This results in a frequency domain design procedure to explicitly address uncertainty. The RC framework is validated on an industrial printbelt setup for which exact non-equidistant measurement data is available. Copyright © 2021, The Authors. All rights reserved.

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Hydrone: Modeling of a Hybrid Unmanned Aerial Underwater Vehicle Considering Trans-Media Dynamics

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SSRN

SSRN 2024年

作者： de Oliveira Evald, Paulo Jefferson Dias Brião, Stephanie Loi Aoki, Vivian Misaki da Silva, César Bastos dos Santos Cardoso, Dayana Pinheiro, Pedro Miranda de Oliveira, Felipe Gomes André Barbosa Cunha, Mauro Jorge Drews, Paulo Lilles Intelligent Systems and Control Group Federal University of Pelotas RS Pelotas Brazil Intelligent Robotics and Automation Group Federal University of Rio Grande RS Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas SP Campinas Brazil Federal Institute of Education Science and Technology in Rio Grande do Sul RS Pelotas Brazil Institute of Exact Sciences and Technology Federal University of Amazonas Itacoatiara AM Amazonas Brazil Brazil

Research in mobile robotics is growing into applications for difficult-to-access environments, such as in rescue and transport missions. Furthermore, autonomous vehicles can perform data collection in complex approach areas. Therefore, the study of hybrid unmanned vehicles is relevant for several areas, since these vehicles can act in different domains. The developed vehicle, called Hydrone, is designed in a quadrotor-type structure and equipped with a set of aerial and underwater propellers, which are fixed and independent between them. In this sense, this work presents the mathematical modeling of an unmanned hybrid vehicle, which can navigate underwater and aerial environments. Furthermore, the modeling considers the ground effect due to the influence on the vehicle’s trajectory change and the dynamics of the transition zone between water-air and air-water. These dynamics are important to evaluate the controller’s performance. Numerical simulations consider both transitions (water-air and air-water) and they are performed to discuss the influence of acting forces on the vehicle stability and position-tracking performance using a classical control system. © 2024, The Authors. All rights reserved.

关键词： Hybrid vehicles

LQ-power Consistent control: Leveraging Transmission Power Selection in control systems 18

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LQ-power Consistent Control: Leveraging Transmission Power S...

18th European control Conference, ECC 2020

作者： Balaghiinaloo, Mohammadhadi Antunes, Duarte J. Varma, Vineeth S. Postoyan, Romain Heemels, W.P.M.H. Maurice Eindhoven University of Technology Control Systems Technology Group Department of Mechanical Engineering Netherlands Universite de Lorraine CNRS CRAN NancyF-54000 France

ISBN: (纸本)9783907144015

We consider a linear control system, where the sensors communicate to the controller via a wireless network in which the probability of successful data transmissions is an increasing function of the selected radio signal power. We tackle the problem of jointly selecting the transmission power at every transmission time as a function of the state, much like in event-triggered control systems, and of designing a controller in order to minimize an average quadratic cost. Our proposed power scheduler and corresponding control policy are shown to outperform the optimal control policy when the radio signal power is constant at all times, while using at most the same average transmission power. For this result to hold, the function relating the transmission power to the probability of successful transmission must be convex in the region of interest. We call such a policy LQ-power consistent. © 2020 EUCA.

关键词： controllers

Frequency-domain data-driven controller synthesis for unstable LPV systems

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arXiv 2021年

作者： Bloemers, Tom Tóth, Roland Oomen, Tom Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5612 AE Netherlands Control Systems Technology Department of MechanicalEngineering Eindhoven University of Technology AE Eindhoven5612 Netherlands Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

Synthesizing controllers directly from frequency-domain measurement data is a powerful tool in the linear time-invariant framework. Ever-increasing performance requirements necessitate extending these approaches to account for plant variations. The aim of this paper is to develop frequency-domain analysis and synthesis conditions for local internal stability and H∞-performance of single-input single-output linear parameter-varying systems. The developed synthesis procedure only requires frequency-domain measurement data of the system and does not need a parametric model of the plant. The capabilities of the synthesis procedure are demonstrated on an unstable nonlinear system. Copyright © 2021, The Authors. All rights reserved.

关键词： Frequency domain analysis

Feedback Optimization with State Constraints through control Barrier Functions

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arXiv 2025年

作者： Delimpaltadakis, Giannis Mestres, Pol Cortés, Jorge Heemels, W.P.M.H. Control Systems Technology group Eindhoven University of Technology Netherlands Department of Mechanical and Aerospace Engineering University of California San Diego United States

Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the growing literature on the topic, the important problem of enforcing state constraints at all times remains unaddressed. In this work, we present the first feedback-optimization method that enforces state constraints. The method combines a class of dynamics called safe gradient flows with high-order control barrier functions. We provide a number of results on our proposed controller, including well-posedness guarantees, anytime constraint-satisfaction guarantees, equivalence between the closed-loop’s equilibria and the optimization problem’s critical points, and local asymptotic stability of optima. Copyright © 2025, The Authors. All rights reserved.

关键词： Feedback control

Sampled-Data Observer Design With Exponential Time-Varying Gains for Semilinear Parabolic PDE systems

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Sampled-Data Observer Design With Exponential Time-Varying G...

2021 China Automation Congress, CAC 2021

作者： Wang, Zi-Peng Wu, Huai-Ning Li, Han-Xiong Huang, Tingwen Shen, Tao The School of Electrical Engineering University of Jinan Jinan250022 China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Department of Systems Engineering and Engineering Management City University of Hong Kong Hong Kong The Science Program Texas A&M University at Qatar Doha Qatar The HIT Robot Group Co. Ltd China

ISBN: (纸本)9781665426473

For semilinear parabolic PDE systems, the sampled-data observer (SDO) design under spatially point measurements (SPMs) with exponential time-varying gains is concerned. On basis of a Lyapunov functional, a SDO with exponential time-varying gains under SPMs via linear matrix inequalities is presented to guarantee the exponential stability of estimation error PDE system. Lastly, two numerical examples are provided to support the proposed SDO design approach. © 2021 IEEE

关键词： Linear matrix inequalities

Practical and Rigorous Uncertainty Bounds for Gaussian Process Regression

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arXiv 2021年

作者： Fiedler, Christian Scherer, Carsten W. Trimpe, Sebastian Intelligent Control Systems Group Max Planck Institute for Intelligent Systems Germany Mathematical Systems Theory University of Stuttgart Germany Institute for Data Science in Mechanical Engineering RWTH Aachen University Germany

Gaussian Process Regression is a popular nonparametric regression method based on Bayesian principles that provides uncertainty estimates for its predictions. However, these estimates are of a Bayesian nature, whereas for some important applications, like learning-based control with safety guarantees, frequentist uncertainty bounds are required. Although such rigorous bounds are available for Gaussian Processes, they are too conservative to be useful in applications. This often leads practitioners to replacing these bounds by heuristics, thus breaking all theoretical guarantees. To address this problem, we introduce new uncertainty bounds that are rigorous, yet practically useful at the same time. In particular, the bounds can be explicitly evaluated and are much less conservative than state of the art results. Furthermore, we show that certain model misspecifications lead to only graceful degradation. We demonstrate these advantages and the usefulness of our results for learning-based control with numerical examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Uncertainty analysis

On the use of the Smith-McMillan form in decoupling system dynamics

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arXiv 2021年

作者： Barros, Clarisse Pétua Bosman Butler, Hans Tóth, Roland The Eindhoven University of Technology Department of Electrical Engineering Control Systems Group Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary ASML Veldhoven5504 DR Netherlands

In this paper, the use of the Smith-McMillan form in decoupling multiple-input multiple-output system dynamics is analyzed. In short, from a transfer matrix plant model one can obtain a decoupling compensator which leads to a decoupled plant that contains the same transmission poles and zeros of the transfer matrix of the original system. As a result, full decoupling of the plant transfer matrix is obtained for all frequencies, which can be individually addressed by single-input single-output control. The aim of this paper is to present conditions for the decoupled system that guarantee internal stability and performance requirements for the overall control system. Performance specifications are defined in terms of magnitude limits for the maximum singular value of the closed-loop transfer matrices. The potential of the decoupling procedure is shown in a simulation study of a mechanical system. © 2021, CC BY.

关键词： Transfer matrix method