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18th European control Conference, ECC 2019

作者： Kooijman, Dave Schoellig, Angela P. Antunes, Duarte J. Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology Netherlands Canada

ISBN: (纸本)9783907144008

The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle reference. While the thrust vector, generating accelerations, and the angle of rotation about the thrust vector, determining the yaw angle, can be controlled independently, most attitude control strategies in the literature, relying on representations in terms of quaternions, rotation matrices or Euler angles, result in an unnecessary coupling between the control of the thrust vector and of the angle about this vector. This leads, for instance, to undesired position tracking errors due to yaw tracking errors. In this paper we propose to tackle the attitude control problem using an attitude representation in the Cartesian product of the 2-sphere and the 1-sphere, denoted by mathcal{S}control times mathcal{S}control. We propose a non-linear tracking control law on mathcal{S}control times mathcal{S}control that decouples the control of the thrust vector and of the angle of rotation about the thrust vector, and guarantees almost global asymptotic stability. Simulation results highlight the advantages of the proposed approach over previous approaches. © 2019 EUCA.

关键词： Attitude control

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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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Chinese Automation Congress (CAC)

作者： Shuaikang Hu Chengda Lu Min Wu Zhaoqing He Haitao Song Wangnian Li 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 China Coal Technology and Engineering Group Xi'an Research Institute Co. Ltd Xi'an China

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.

关键词： Vibrations Drilling PI control Delay effects Process control Rocks Stability analysis

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Safety and Optimality in Learning-Based control At Low Computational Cost

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IEEE Transactions on Automatic control 2025年

作者： Baumann, Dominik Kowalczyk, Krzysztof Rojas, Cristian R. Tiels, Koen Wachel, Pawel Aalto University Cyber-physical Systems Group Espoo Finland Uppsala University Department of Information Technology Uppsala Sweden Wroc Law University of Science and Technology Department of Control Systems and Mechatronics Wroclaw Poland Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Eindhoven University of Technology Department of Mechanical Engineering Eindhoven Netherlands

Applying machine learning methods to physical systems that are supposed to act in the real world requires providing safety guarantees. However, methods that include such guarantees often come at a high computational cost, making them inapplicable to large datasets and embedded devices with low computational power. In this paper, we propose Colsafe, a computationally lightweight safe learning algorithm whose computational complexity grows sublinearly with the number of data points. We derive both safety and optimality guarantees and showcase the effectiveness of our algorithm on a seven-degrees-of-freedom robot arm. © 1963-2012 IEEE.

关键词： Learning algorithms

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Investigation of Resistance Characteristics of Frozen Ballast Bed in Alpine Region Based on Mbd-Dem Coupling Simulations

SSRN

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SSRN 2023年

作者： Liu, Jianxing Li, Yuzhao Kou, Lei Sysyn, Mykola Fischer, Szabolcs Wang, Ping Xinyun Engineering Co. Ltd. of China Railway First Group Co Ltd. Xianyang712000 China Department of Electrical and Control Engineering Taizhou Institute of Zhejiang University Taizhou318000 China Department of Planning and Design of Railway Infrastructure Institute of Railway Systems and Public Transport Technical University of Dresden Dresden01069 Germany Department of Transport Infrastructure and Water Resources Engineering Széchenyi István University Győr9026 Hungary MOE Key Laboratory of High-speed Railway Engineering Southwest Jiaotong University Chengdu610031 China

In this paper, a simulation model of ballast bed based on the coupling of multi-body dynamics and discrete element method (MBD-DEM coupling) is established, then it is used to simulate and be validated by the single sleeper push test (SSPT) of the ballast bed in laboratory. Meanwhile, a bonding model is introduced into the coupling model to simulate the icing effect of ice layer on the ballast in different low-temperature environments. The results of meso-analysis show that the existence of ice bonding changes the forms of force bearing and force transmission of the ballast layers between the adjacent sleepers and the ballast layers at both ends of a sleeper. The force range of the ballast layer at the bottom of sleeper expands with the decrease of temperature. In addition, the ice bonding near the moving side of the sleeper is mainly subjected to pressure, and the ice bonding far from the moving side of the sleeper is mainly subjected to tension, especially at -30 °C. With the decrease of temperature, the broken rate of ice bonding decreases under the same movements of the sleepers, and the average coordination number of ballast particles decreases. © 2023, The Authors. All rights reserved.

关键词： Ice

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Anomaly detection from cyber threats via infrastructure to automated vehicle

arXiv

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arXiv 2021年

作者： Van Der Ploeg, Chris Smit, Robin Siagkris-Lekkos, Alexis Benders, Frank Silvas, Emilia Netherlands Organisation for Applied Scientific Research Integrated Vehicle Safety Group AT Helmond5700 Netherlands Mechanical Engineering Dept. Dynamics and Control Group Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands Mechanical Engineering Dept. Control Systems Technology Group Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

Using Infrastructure-to-Vehicle (I2V) information can be of great benefit when driving autonomously in highdensity traffic situations with limited visibility, since the sensing capabilities of the vehicle are enhanced by external sensors. In this research, a method is introduced to increase the vehicle's self-awareness in intersections for one of the largest foreseen challenges when using I2V communication: Cyber security. The introduced anomaly detection algorithm, running on the automated vehicle, assesses the health of the I2V communication against multiple cyber security attacks. The analysis is done in a simulation environment, using cyber-attack scenarios from the Secredas Project (Cyber Security for Cross Domain Reliable Dependable Automated systems) and provides insights into the limitations the vehicle has when facing I2V cyber attacks of different types and amplitudes and when sensor redundancy is lost. The results demonstrate that anomalies injected can be robustly detected and mitigated by the autonomous vehicle, allowing it to react more safely and comfortably and maintaining correct object tracking in intersections. Copyright © 2021, The Authors. All rights reserved.

关键词： Crime

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Weighting-Factorless Sequential Model Predictive Torque control of a Six-Phase AC Machine

Weighting-Factorless Sequential Model Predictive Torque Cont...

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IEEE Conference on Power Electronics and Renewable Energy (CPERE)

作者： Jorge Rodas Osvaldo González Margarita Norambuena Jesus Doval-Gandoy Oriol Gomis-Bellmunt Raúl Gregor Magno Ayala José Rodríguez Carlos Romero Laboratory of Power and Control Systems Facultad de Ingeniería Universidad Nacional de Asunción Luque Paraguay Dept of Electrical Engineering Universidad Tecnica Federico Santa Maria Chile Applied Power Electronics Technology Research Group Universidad de Vigo Vigo Spain CITCEA Universitat Politecnica de Catalunya Barcelona Spain Faculty of Engineerin Universidad San Sebastian Santiago Santiago

Model predictive control is an exciting control technique that has been applied successfully to multiphase induction machines. The possibility to include several constraints by using only the cost function is one of its main attractive characteristics. However, this latter implies the nontrivial task of adequately tuning the weighting factors to fulfil multiple control objectives properly. This paper proposes a sequential model predictive torque control of a six-phase induction machine that avoids using the weighting factor. Simulation studies are provided to show the effectiveness of this proposal showing good reference tracking of the torque, flux and stator $\alpha-\beta$ and $x-y$ currents.

关键词： Torque Torque control Rotors Stators Predictive models Mathematical models Induction machines

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Intelligent Fault Tolerant Energy Management System Using First-Price Sealed-Bid Algorithm for Microgrids

SSRN

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SSRN 2022年

作者： Jonban, Mansour Selseleh Romeral, Luis Marzband, Mousa MCIA Center Electronic Engineering Department Universitat Politecnica de Catalunya Terrassa Spain Northumbria University Electrical Power and Control Systems Research Group Ellison Place NE1 8ST Newcastle upon Tyne United Kingdom Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah21589 Saudi Arabia

At present context, computer based algorithms lead modern power industry while monitoring and controlling distributed energy resources. In fact, with prevalence of artificial intelligence algorithm, stability and fault tolerant in power or smart control side become a critical consideration to be investigated in avoiding blackouts. This paper presents a fault tolerant multi-agent based framework to control and manage power into a microgrid. In this paper, a tender framework is used to control operation of agents and develop mutual cooperation. Further, agents are considered as bidders with distinctive decision making capabilities that assist them to participate in tender and gain reward against sharing power. The iterative first-price sealed-bid algorithm has implemented to optimum cost and allocate energy among bidders. The proposed framework guarantees system in avoiding blackouts and creates a possibility to have easy redevelopment in MG, along with iterative optimal algorithm minimizes cost in MG and also reduces purchasing power from the grid. Eventually, theoretical analysis and results demonstrate that proposed technique provides a robust and stable control which could guarantee stability, flexibility and fault tolerant in the system. The results of simulation indicate that during a day power sharing by the grid and injected power by MG are 146.92 kW is 214.34 kW, respectively. © 2022, The Authors. All rights reserved.

关键词： Smart power grids

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SOLPS-ITER simulation of an X-point radiator in TCV

arXiv

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arXiv 2023年

作者： Sun, G. Pan, O. Bernert, M. Carpita, M. Duval, B.P. Février, O. Koenders, J.T.W. Reimerdes, H. Theiler, C. Wiesen, S. Colandrea, C. Gorno, S. Huett, E. Max-Planck-Institut für Plasmaphysik Garching85748 Germany DIFFER-Dutch Institute for Fundamental Energy Research Eindhoven Netherlands Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology Eindhoven Netherlands Forschungszentrum Jülich GmbH Institut für Energie- und Klimaforschung - Plasmaphysik Jülich52425 Germany LausanneCH-1015 Switzerland

SOLPS-ITER simulation is performed to reproduce the X-point radiator recently observed in nitrogen-seeded TCV experiments, which is a scenario that may be favorable to solve the power exhaust problems in future fusion devices. The simulations reveal the transition from the detached regime without XPR to the XPR regime, when increasing the nitrogen seeding rate. A cold X-point core surrounded by ionizing and radiative mentals is formed inside the separatrix and slightly above the X-point, where more than 90% of the total input power is dissipated. The cold X-point core exhibits a temperature of approximately 1eV and features high recombination rate to host the convective fluxes from the ionizing mental. Increasing nitrogen seeding rate also moves the nitrogen ionization front away from the target faster than the nitrogen stagnation point, which enhances the divertor nitrogen leakage to the main chamber and benefits the XPR region cooling. Carbon radiation decreases as the nitrogen seeding increases, and carbon radiation contributes to above 5% of the core impurity radiation before entering the XPR, which decreases to 2.8% when reaching the XPR. Both baffled and unbaffled divertor geometries are simulated and compared, showing that baffles facilitate the access to XPR by increasing the X-point neutral density, but requires higher seeding rate to enter the XPR regime. © 2023, CC BY.

关键词： Fusion reactor divertors

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

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Volume control of Low-Cost Ventilator with Automatic Set-Point Adaptation

Volume Control of Low-Cost Ventilator with Automatic Set-Poi...

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European control Conference (ECC)

作者： Lukas Hewing Marcel Menner Nikolaos Tachatos Marianne Schmid Daners Cosima Du Pasquier Thomas S. Lumpe Kristina Shea Andrea Carron Melanie N. Zeilinger Institute for Dynamic Systems and Control ETH Zurich Zurich Switzerland Product Development Group Zurich ETH Zurich Zurich Switzerland Engineering Design and Computing Laboratory ETH Zurich Zurich Switzerland

This paper considers the control design for a low-cost ventilator that is based on a manual resuscitator bag (also known as AmbuBag) to pump air into the lungs of a patient who is physically unable to breathe. First, it experimentally shows that for accurately tracking tidal volumes, the controller needs to adjust to the individual patient and the different configurations, e.g., hardware or operation modes. Second, it proposes a set-point adaptation algorithm that uses sensor measurements of a flow meter to automatically adapt the controller to the setup at hand. Third, it shows in experiments on a mechanical lung simulator that such an adaptive solution improves the performance of the ventilator for various setups. One objective of this paper is to increase awareness of the need for feedback control using flow measurements in low-cost ventilator solutions in order to automatically adapt to the specific scenario.

关键词： Ventilators Adaptation models control design Volume measurement Lung Europe Manuals

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