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2024 IEEE Region 10 Conference, TENCON 2024

作者： Aldhandi, Suresh Detroja, Ketan P. Indian Institute of Technology The Systems and Control Group Department of Electrical Engineering Telangana Hyderabad502285 India

ISBN: (纸本)9798350350821

The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches. © 2024 IEEE.

关键词： Multivariable control systems

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ReactAIvate: A Deep Learning Approach to Predicting Reaction Mechanisms and Unmasking Reactivity Hotspots 27

ReactAIvate: A Deep Learning Approach to Predicting Reaction...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Hoque, Ajnabiul Das, Manajit Baranwal, Mayank Sunoj, Raghavan B. Department of Chemistry Indian Institute of Technology Bombay India Department of Systems & Control Engineering Indian Institute of Technology India Tata Consultancy Services Research Mumbai India Centre for Machine Intelligence and Data Science Indian Institute of Technology Bombay India

ISBN: (纸本)9781643685489

A chemical reaction mechanism (CRM) is a sequence of molecular-level events involving bond-breaking/forming processes, generating transient intermediates along the reaction pathway as reactants transform into products. Understanding such mechanisms is crucial for designing and discovering new reactions. One of the currently available methods to probe CRMs is quantum mechanical (QM) computations. The resource-intensive nature of QM methods and the scarcity of mechanism-based datasets motivated us to develop reliable ML models for predicting mechanisms. In this study, we created a comprehensive dataset with seven distinct classes, each representing uniquely characterized elementary steps. Subsequently, we developed an interpretable attention-based GNN that achieved near-unity and 96% accuracy, respectively for reaction step classification and the prediction of reactive atoms in each such step, capturing interactions between the broader reaction context and local active regions. The near-perfect classification enables accurate prediction of both individual events and the entire CRM, mitigating potential drawbacks of Seq2Seq approaches, where a wrongly predicted character leads to incoherent CRM identification. In addition to interpretability, our model adeptly identifies key atom(s) even from out-of-distribution classes. This generalizabilty allows for the inclusion of new reaction types in a modular fashion, thus will be of value to experts for understanding the reactivity of new molecules. © 2024 The Authors.

关键词： Reaction intermediates

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Nonlinear Infinite Dimensional Model for a Two Degree-of-Freedom Flexible Wing

Nonlinear Infinite Dimensional Model for a Two Degree-of-Fre...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Bharadwaj, Shreyas N. Natarajan, Vivek Paranjape, Aditya A. Indian Institute of Technology Bombay Department of Aerospace Engineerin Powai Mumbai400076 India Indian Institute of Technology Bombay Systems and Control Engineering Powai Mumbai400076 India Monash University Mechanical and Aerospace Engineering ClaytonVIC3168 Australia

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Aninfinite-dimensional nonlinear model for a two-degree-of-freedom highly flexible wing is presented in this paper. The model describes the coupled dynamics of bending and torsion in terms of a set of nonlinear partial differential equations. When torsion is ignored, the resulting transverse bending equations are identical to those for the well-known elastica. The in vacuo response and the flutter onset characteristics of the model are compared with standard aeroelastic models using numerical simulation. The nonlinear model presented here could potentially serve as a benchmark for PDE-based control design methods, providing an intermediate step between low-fidelity linear models and nonlinear simulation models whose high fidelity is usually accompanied by large computational times. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flexible wings

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Estimates on the domain of validity for Lyapunov-Schmidt reduction 63

Estimates on the domain of validity for Lyapunov-Schmidt red...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Gupta, Pranav Bizyaeva, Anastasia Banavar, Ravi Indian Institute of Technology Bombay Mechanical Engineering Maharashtra Mumbai400076 India Cornell University Sibley School of Mechanical and Aerospace Engineering IthacaNY14853 United States Indian Institute of Technology Bombay Systems and Control Engineering Maharashtra Mumbai400076 India

ISBN: (纸本)9798350316339

Lyapunov-Schmidt reduction is a dimensionality reduction technique in nonlinear systems analysis that is commonly utilised in the study of bifurcation problems in high-dimensional systems. The method is a systematic procedure for reducing the dimensionality of systems of algebraic equations that have singular points, preserving essential features of their solution sets. In this article, we establish estimates for the region of validity of the reduction by leveraging recently derived bounds on the Implicit Function Theorem. We then apply these bounds to an illustrative example of a two-dimensional system with a pitchfork bifurcation. © 2024 IEEE.

关键词： Bifurcation (mathematics)

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Explicit feedback synthesis driven by quasi-interpolation for nonlinear model predictive control

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IEEE Transactions on Automatic control 2025年

作者： Ganguly, Siddhartha Chatterjee, Debasish Indian Institute of Technology Bombay Systems and Control Engineering Mumbai India

We present QuIFS (Quasi-Interpolation driven Feedback Synthesis): an offline feedback synthesis algorithm for explicit nonlinear robust minmax model predictive control (MPC) problems with guaranteed quality of approximation. The underlying technique is driven by a particular type of grid-based quasi-interpolation scheme. The QuIFS algorithm departs drastically from conventional approximation algorithms that are employed in the MPC industry (in particular, it is neither based on multi-parametric programming tools nor does it involve kernel methods), and the essence of its point of departure is encoded in the following challenge-answer approach: Given an error margin ϵ > 0, compute in a single stroke a feasible feedback policy that is uniformly ϵ-close to the optimal MPC feedback policy for a given nonlinear system subjected to constraints and bounded uncertainties. Closed-loop stability guarantees under the approximate feedback policy are also established. We provide a couple of numerical examples to illustrate our results. © 1963-2012 IEEE.

关键词： Predictive control systems

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Planning and tracking for safe autonomous overtaking and abort overtaking through a model predictive controller

Planning and tracking for safe autonomous overtaking and abo...

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IEEE Symposium on Intelligent Vehicle

作者： Ishu Jaiswal Ekansh Saraf Arpita Sinha Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

This paper addresses trajectory planning for overtaking maneuvers in a dynamic, two-way, two-lane environment. The proposed novel five-stage planning algorithm comprises initial lane change, acceleration, final lane change, abort, and final lane change abort. This algorithm allows overtaking to be aborted in oncoming lane danger, reverting to the original lane. Employing a point mass model-based model predictive control (MPC) framework, separate longitudinal and lateral planning is conducted in each phase, combined to generate the overall trajectory. A practical nonlinear bicycle model is employed for trajectory tracking to address kinematic infeasibility. Furthermore, the tracking controller utilizes adaptive MPC. Numerical simulations validate the performance of the proposed algorithm.

关键词： Adaptation models Trajectory planning Heuristic algorithms Kinematics Bicycles Predictive models Prediction algorithms

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Sliding Mode control of Non-Minimum Phase Autonomous Underwater Vehicles in the Dive Plane

Sliding Mode Control of Non-Minimum Phase Autonomous Underwa...

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2023 MTS/IEEE U.S. Gulf Coast, OCEANS 2023

作者： Pore, Gauravi Patil, MacHhindranath Vachhani, Leena Indian Institute of Technology Bombay Systems and Control Engineering Mumbai India V.E.S Institute of Technology Department of Instrumentation Engineering Mumbai India

ISBN: (纸本)9798218142186

This paper shows that the torpedo-type Autonomous Underwater Vehicle (AUV) exhibits the non-minimum phase behavior in the depth control operation for a certain range of forward velocity. Contributions in this paper are (i) Transform AUV's 6 DOF dynamic model in a diving plane to the normal form. (ii) A method to determine the range of the forward surge velocity for which zero dynamics is unstable. Understanding the non-minimum phase behavior provides insight into the controller designs in the future, specifically for the identified ranges of the forward surge velocities. © 2023 The Marine technology Society (MTS).

关键词： Autonomous underwater vehicles

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On Linear Convergence of PI Consensus Algorithm under the Restricted Secant Inequality 10

On Linear Convergence of PI Consensus Algorithm under the Re...

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10th indian control Conference, ICC 2024

作者： Chakrabarti, Kushal Baranwal, Mayank The Division of Data & Decision Sciences Tata Consultancy Services Research Mumbai400607 India The Faculty of Systems & Control Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)9798331517212

This paper considers solving distributed optimization problems in peer-to-peer multi-agent networks. The network is synchronous and connected. By using the proportional-integral (PI) control strategy, various algorithms with fixed stepsize have been developed. Two notable among them are the PI algorithm and the PI consensus algorithm. Although the PI algorithm has provable linear or exponential convergence without the standard requirement of (strong) convexity, a similar guarantee for the PI consensus algorithm is unavailable. In this paper, using Lyapunov theory, we guarantee exponential convergence of the PI consensus algorithm for global cost functions that satisfy the restricted secant inequality, with rate-matching discretization, without requiring convexity. To accelerate the PI consensus algorithm, we incorporate local preconditioning in the form of constant positive definite matrices and numerically validate its efficiency compared to the prominent distributed convex optimization algorithms. Unlike classical pre-conditioning, where only the gradients are multiplied by a pre-conditioner, the proposed pre-conditioning modifies both the gradients and the consensus terms, thereby controlling the effect of the communication graph on the algorithm. © 2024 IEEE.

关键词： Consensus algorithm

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Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare systems on Matrix Lie groups ⁎

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IFAC-PapersOnLine 2024年第6期58卷 333-338页

作者： Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.

关键词： Non-Linear control systems control Design Tracking Mechatronic systems

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A δ-Persistently-Exciting Formation controller for Non-Holonomic systems Over Directed Graphs

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IEEE control systems Letters 2023年 7卷 2587-2592页

作者： Dutta, Maitreyee Loria, Antonio Panteley, Elena Sukumar, Srikant Nuno, Emmanuel Indian Institute of Technology Bombay Systems and Control Engineering Department Mumbai400076 India L2S CNRS Gif-sur-Yvette91192 France ITMO university Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Guadalajara45570 Mexico

We study a formation control problem of nonholonomic vehicles which consists in making a group of them gather around a given rendezvous set-point and acquire a common orientation. This task may be regarded as part of a more complex maneuver, e.g., requiring the robots to advance in a scouting mission on a path composed of straight lines and occasional turns. The control approach relies on addressing separately the problems of stabilization (on the plane) and of orientation consensus. For the former we use individual controllers involving smooth time-varying terms and for the latter we use distributed consensus control, under the assumption that the robots form a directed graph that contains a spanning tree. © 2017 IEEE.

关键词： Directed graphs

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