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63rd IEEE Conference on Decision and control, CDC 2024

作者： Van Zutphen, M.J.T.C. Delimpaltadakis, G. Heemels, W.P.M.H. Antunes, D.J. Eindhoven University of Technology Control Systems Technology Group Department of Mechanical Engineering Netherlands

ISBN: (纸本)9798350316339

Regularization of control policies using entropy can be instrumental in adjusting predictability levels of real-world systems. Applications benefiting from such approaches range from cybersecurity, which aims at maximal unpredictability, to human-robot interaction, where predictable behavior is highly desirable. In this paper, we consider entropy regularization for interval Markov decision processes (IMDPs), which are uncertain MDPs where transition probabilities are only known to belong to specified intervals. Lately, IMDPs have gained significant popularity in the context of abstracting stochastic systems for control design. In this work, we address robust minimization of the linear combination of entropy and a standard cumulative cost in IMDPs, thereby establishing a trade-off between optimality and predictability. We show that optimal deterministic policies exist, and devise a value-iteration algorithm to compute them. The algorithm solves a number of convex programs at each step. Finally, through an illustrative example we show the benefits of penalizing entropy in IMDPs. © 2024 IEEE.

关键词： Stochastic systems

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Detection of Oscillations in Process control Loops From Visual Image Space Using Deep Convolutional Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 982-995页

作者： Tao Wang Qiming Chen Xun Lang Lei Xie Peng Li Hongye Su the Department of Electronic Engineering the School of InformationYunnan UniversityKunming 650091China DAMO Academy Alibaba GroupHangzhou 311100China the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Oscillation detection has been a hot research topic in industries due to the high incidence of oscillation loops and their negative impact on plant *** numerous automatic detection techniques have been proposed,most of them can only address part of the practical *** oscillation is heuristically defined as a visually apparent periodic ***,manual visual inspection is labor-intensive and prone to missed *** neural networks(CNNs),inspired by animal visual systems,have been raised with powerful feature extraction *** this work,an exploration of the typical CNN models for visual oscillation detection is ***,we tested MobileNet-V1,ShuffleNet-V2,Efficient Net-B0,and GhostNet models,and found that such a visual framework is well-suited for oscillation *** feasibility and validity of this framework are verified utilizing extensive numerical and industrial *** with state-of-theart oscillation detectors,the suggested framework is more straightforward and more robust to noise and *** addition,this framework generalizes well and is capable of handling features that are not present in the training data,such as multiple oscillations and outliers.

关键词： Convolutional neural networks(CNNs) deep learning image processing oscillation detection process industries

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Deadtime Compensation-Based Approximate Decoupling control Approach for Multivariable Processes

Deadtime Compensation-Based Approximate Decoupling Control A...

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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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Reference Model based Data-driven control of Power Amplifiers for High-precision Motion systems

Reference Model based Data-driven Control of Power Amplifier...

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2023 IEEE Conference on control technology and Applications, CCTA 2023

作者： Xu, Duo Popescu, Mihai-Serban Lazar, Mircea Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Netherlands

ISBN: (纸本)9798350335446

Motivated by the increasing requirements in positioning precision for lithography applications, this paper analyzes how the position error in a high-precision motion system is affected by the response of the controlled power amplifier that drives the motor. Based on the analysis, guidelines for designing a reference model in continuous or discrete time that satisfies certain requirements that would decrease the overall position error are presented. Then, a data-driven control method, namely Virtual Reference Feedback Tuning (VRFT), is employed to directly synthesize both feedback and feedforward controllers based on the designed reference model. The position error of the motion system with the data-driven controlled power amplifier is compared to the case when classical industrial controllers are employed in the control of the amplifier. If adequate reference models are designed, the VRFT-controlled power amplifier can significantly decrease the position error such that it is close to the ideal position error. All of the presented results are based on simulations. © 2023 IEEE.

关键词： Power amplifiers

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Consensus-based distributed model predictive control applied to modular multilevel converters

Consensus-based distributed model predictive control applied...

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2023 IEEE Conference on control technology and Applications, CCTA 2023

作者： Dreke, Victor Daniel Reyes Duan, Shiqi Lazar, Mircea Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Netherlands

ISBN: (纸本)9798350335446

Modular multilevel converters (MMCs) have the potential to improve the performance of high- and medium-power applications, such as renewable energy generation and fast charging stations. The functioning of MMCs relies on their ability to balance capacitor voltages across all modules. Motivated by the capacitor voltage balancing (CVB) problem, this paper studies consensus-based distributed model predictive control (DMPC) schemes. As a result, we propose an alternative cost function that enables output synchronization of linear systems and, consequently, solves the CVB problem. The advantages of the proposed method are demonstrated by proving its stability properties and comparing its computational time and performance with existing DMPCs. Simulation results for a benchmark multi-agent system example from the literature and an MMC AC/DC topology demonstrate the effectiveness of the developed consensus DMPC. © 2023 IEEE.

关键词： Multi agent systems

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Hybrid control of a Variable-Speed Peristaltic PUMP

Hybrid Control of a Variable-Speed Peristaltic PUMP

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2024 American control Conference, ACC 2024

作者： Beijen, Michiel Op Smeijers, Thijs Tijman Boerrigter, Gijs Van Den Eijnden, Sebastiaan University of Twente Group of Precision Engineering Department of Engineering Technology Enschede7500 AE Netherlands Demcon High-Tech Systems Enschede7521 PH Netherlands Eindhoven University of Technology Control Systems Technology Group Department of Mechanical Engineering Eindhoven5600 MB Netherlands

ISBN: (纸本)9798350382655

Peristaltic pumps are used for transporting liquids within disposable tubes, and are commonly found in medical devices. The peristaltic pump principle, however, introduces disturbances, thereby distorting the desired rotational speed of the pump. Proportional plus double integral (PI2) control is commonly used to reject these disturbances, but at the cost of deteriorated transient response and robustness margins. To balance these trade-offs in a more desirable manner, in this paper we propose a hybrid PI2 control strategy that allows for reducing the steady-state error while maintaining robustness margins similar to linear PI2 control. Experiments on a representative setup demonstrate up to 45% improvement in disturbance rejection capabilities. © 2024 AACC.

关键词： Disturbance rejection

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A model predictive scheduling strategy for coordinated inland vessel navigation and bridge operation

A model predictive scheduling strategy for coordinated inlan...

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2023 IEEE Conference on control technology and Applications, CCTA 2023

作者： Segovia, Pablo Puig, Vicenc Reppa, Vasso Delft University of Technology Department of Maritime and Transport Technology Delft Netherlands Advanced Control Systems Group Barcelona Spain

ISBN: (纸本)9798350335446

This paper presents the design of a model predictive scheduling strategy to address the inland waterborne transport (IWT) problem considering bridges that must open to enable vessel passage. The main contribution is the formulation of a control-oriented model of the problem, including propositional logic expressions that characterize system behavior and their conversion into (in)equality constraints. The resulting model is embedded into a predictive scheduling approach to determine bridge opening timetables and vessel passage times in a coordinated manner. The effectiveness of the strategy is demonstrated on a realistic case study based on the Rhine-Alpine corridor. © 2023 IEEE.

关键词： Bridges

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Fault detection and diagnosis using the dynamic network framework ⁎

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IFAC-PapersOnLine 2024年第15期58卷 384-389页

作者： Yibo Shi Stefanie J.M. Fonken Paul M.J. Van den Hof Control Systems Group Department of Electrical Engineering Eindhoven University of Technology The Netherlands

A local model-based method for fault detection and diagnosis (FDD) in large-scale interconnected network systems is introduced, using models in a dynamic network framework. To this end, model validation methods are developed for validating single modules in a dynamic network, which are generalized from the classical auto- and cross-correlation tests for open- and closed-loop systems. Invalidation of the model can indicate the detection of a fault in the system. A fault diagnosis algorithm is developed that includes fault isolation and optimal placement of external excitation signals. Numerical illustrations demonstrate the method’s capability to detect a fault in a local module and isolate it within the entire network system.

关键词： Fault interconnected system dynamic network model validation correlation test

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SYSDYNET - A MATLAB App and Toolbox for Dynamic Network Identification ⁎ , ⁎⁎

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IFAC-PapersOnLine 2024年第15期58卷 574-579页

作者： Paul M.J. Van den Hof Shengling Shi Harm H.M. Weerts Xiaodong Cheng Karthik R. Ramaswamy Arne G. Dankers H.J. (Mannes) Dreef Stefanie J.M. Fonken Tom R.V. Steentjes Job B.T. Meijer Control Systems Group Department of Electrical Engineering Eindhoven University of Technology The Netherlands

Identification in interconnected systems requires the handling of phenomena that go beyond the classical open-loop and closed-loop type of identification problems. Over the last decade a comprehensive theory has been developed for addressing identification problems in linear dynamic networks, formulated in a module framework, where the network structure is characterized by a directed graph in which nodes are signals and links are transfer functions. The resulting methods and approaches have been collected in a MATLAB App and Toolbox, supported by an attractive graphical user interface that provides an interactive workflow for manipulating the structural properties of dynamic networks, applying basic network operations like immersion and module invariance testing, and for investigating network/module generic identifiability and selecting appropriate predictor model inputs and outputs. The workflow supports the allocation of external excitation signals (actuation) and measured node signals (sensing) so as to achieve generic identifiability and provide consistent estimation of target modules. The Toolbox includes algorithms for actual network simulation and identification.

关键词： System identification identifiability dynamic networks interconnected systems

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