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13th International Conference Management of Large-Scale System Development, MLSD 2020

作者： Antipov, Aleksey Krasnova, Svetlana Pivneva, Svetlana V.A. Trapeznikov Institute of Control Sciences of Ras Laboratory of Systems with Discontinuous Control Moscow Russia Russian State Social University Faculty of Information Technology Moscow Russia

ISBN: (纸本)9781728110943

In this paper, a stabilization problem of angular positions is considered for the twin rotor electromechanical system under parametric uncertainties and the presence of cross-couplings between rotors. The procedure of block synthesis of nonlinear local feedbacks and discontinuous controls is developed. This procedure allows satisfying the project restrictions on the state variables and control actions. The simulation results of the developed procedure are presented. © 2020 IEEE.

关键词： Decomposition methods

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Offset-free setpoint tracking using neural network controllers

arXiv

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arXiv 2020年

作者： Pauli, Patricia Köhler, Johannes Berberich, Julian Koch, Anne Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Germany Institute for Dynamic Systems and Control ETH Zurich Switzerland

In this paper, we present a method to analyze local and global stability in offset-free setpoint tracking using neural network controllers and we provide ellipsoidal inner approximations of the corresponding region of attraction. We consider a feedback interconnection of a linear plant in connection with a neural network controller and an integrator, which allows for offset-free tracking of a desired piecewise constant reference that enters the controller as an external input. Exploiting the fact that activation functions used in neural networks are slope-restricted, we derive linear matrix inequalities to verify stability using Lyapunov theory. After stating a global stability result, we present less conservative local stability conditions (i) for a given reference and (ii) for any reference from a certain set. The latter result even enables guaranteed tracking under setpoint changes using a reference governor which can lead to a significant increase of the region of attraction. Finally, we demonstrate the applicability of our analysis by verifying stability and offset-free tracking of a neural network controller that was trained to stabilize a linearized inverted pendulum. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Pinning control of chimera states in systems with higher-order interactions

arXiv

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arXiv 2024年

作者： Muolo, Riccardo Gambuzza, Lucia Valentina Nakao, Hiroya Frasca, Mattia Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Department of Electrical Electronics and Computer Science Engineering University of Catania Catania95125 Italy International Research Frontiers Initiative Tokyo Institute of Technology Kanagawa226-8501 Japan Istituto di Analisi dei Sistemi ed Informatica "A. Ruberti" IASI-CNR Roma00185 Italy

Understanding and controlling the mechanisms behind synchronization phenomena is of paramount importance in nonlinear science. In particular, chimera states, patterns in which order and disorder coexist simultaneously, continue to puzzle scholars, due to their elusive nature. Recently, it has been shown that higher-order interactions greatly promote the onset of chimera states, which are easier to found and more resilient when the system units interact in group. In this work, we show that the higher-order framework is fertile not only for the emergence of chimera states, but also for their control. Via pinning control, a technique consisting in applying a forcing to a subset of the nodes, we are able to trigger the emergence of chimera states with only a small fraction of controlled nodes, at striking contrast with the case without higher-order interactions. We show that our setting is robust for different higher-order topologies and types of pinning control and, finally, we give a heuristic interpretation of the results via phase reduction theory. Our numerical and theoretical results provide further understanding on how higher-order interactions shape nonlinear dynamics. © 2024, CC BY.

关键词： Synchronization

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A Novel Edge Computing Based Area Navigation Scheme

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Computers, Materials & Continua 2020年第12期65卷 2385-2396页

作者： Jianzhong Qi Qingping Song Jim Feng School of Information Science and Technology North China University of TechnologyBeijing100144China School of Computer and Communication Engineering University of Science and Technology BeijingBeijing100083China Science and Technology on Information Systems Engineering Laboratory Beijing Institute of Control and Electronic TechnologyBeijing100038China Amphenol Global Interconnect Systems San JoseCA 95131USA

The area navigation system,discussed in this paper,is composed of ground responders and a navigation terminal and can position a high-velocity aircraft and measure its *** navigation system is silent at ordinary *** sends out a request signal when positioning is required for an aircraft,and then the ground responders send a signal for resolving the *** the direct sequence spread spectrum and frequency hopping,the concealed communication mode is used in the whole communication process,with short communication pulses as much as possible,so the system has strong concealment and anti-interference *** the transmission delay is apparent in the response communication mode,there is a big error where the common navigation algorithm is used for the positioning and velocity measurement of a high-velocity *** this paper,a new algorithm is proposed,which can eliminate the influence of response communication delay on the positioning of a high-velocity moving target to realize the precise positioning and velocity measurement of a high-velocity aircraft.

关键词： Navigation pseudo-noise code ranging positioning velocity measurement edge computing

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Design of diagnosis service system for self-driving vehicles - Learnings from the driver's role today 12

Design of diagnosis service system for self-driving vehicles...

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12th IEEE Global Reliability and Prognostics and Health Management, PHM-Nanjing 2021

作者： Rylander, Lina Eneberg, Magnus Martensson, Jonas Pernestal, Anna Integrated Transport Research Lab Kth Royal Institute Of Technology Scania Cv Ab Stockholm Sweden Division Of Integrated Product Development And Design Kth Royal Institute Of Technology Stockholm Sweden Integrated Transport Research Lab And Division Of Decision And Control Systems Kth Royal Institute Of Technology Stockholm Sweden Integrated Transport Research Lab Kth Royal Institute Of Technology Stockholm Sweden

ISBN: (纸本)9781665401302

The drivers play an essential role in detecting and handling vehicle faults, and they are an important actor in the diagnosis service system. When developing self-driving vehicles, exploring the driver's role could create knowledge regarding the reconsiderations needed when designing a diagnosis service system with no driver present. The aim of this paper is to increase the understanding of the driver's role in fault detection and troubleshooting and how a control tower can support self-driving vehicles. A service design research study has been performed. Based on semi-structured interviews and a workshop, a system map, information flowchart, and decision-making process have been developed. Furthermore, a scenario is used to exemplify how a control tower can support a diagnosis service system for self-driving vehicles. Finally, examples are given to show how a control tower operator can replace actions and decisions that are currently handled onboard the vehicle by the driver. © 2021 IEEE.

关键词： Autonomous vehicles

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Experimental study on the stability and breakup of a planar liquid sheet under a standing wave acoustic field

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Physical Review Fluids 2022年第12期7卷 124004-124004页

作者： Boqi Jia Tiehan Wang Qing-fei Fu Li-jun Yang Institute of Combustion and Thermal Systems School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China Shanghai Space Propulsion Technology Research Institute Shanghai 201109 China School of Astronautics Beihang University Beijing 100083 China Aircraft and Propulsion Laboratory Ningbo Institute of Technology Beihang University Ningbo 315800 China

When combustion instability occurs—in addition to periodic change in the nozzle flow rate caused by pressure oscillation—the instability of the liquid sheet is also affected by pressure oscillation, reflected mainly in oscillation of the internal parameters of the fluid. In this work, the parametric instability of a liquid sheet under a standing wave acoustic field was studied theoretically, and the influence of acoustic parameters on the instability of a liquid sheet was analyzed. It was found that sinuous and varicose modes were coupled in the subharmonic region. Atomization characteristics of slit nozzles under a standing wave acoustic field were studied experimentally; the effects of acoustic pressure and injector position were analyzed with respect to the acoustic field on atomization characteristics and the characteristics of nozzles in the critical state. It was found that under the same acoustic pressure, the effect of the acoustic field at the velocity antinode (VAN) was stronger than the effect at the acoustic intensity antinode (IAN), and there was little effect at the acoustic pressure antinode. There was also a critical value of acoustic pressure: when the pressure threshold was exceeded, Faraday waves were motivated at VAN and IAN. An interesting phenomenon is that the frequency of the surface wave is the same as the acoustic frequency, but the Faraday wave was found to be subharmonic rather than harmonic. The effect of flow rate on atomization characteristics was analyzed. The wavelength of the Faraday wave and breakup length of the liquid sheet were well in accord with the theoretical wavelength calculated in the analysis of liquid sheet instability.

关键词： Thin fluid films Gas-liquid interfaces

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Implicit solutions to constrained nonlinear output regulation using MPC

Implicit solutions to constrained nonlinear output regulatio...

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IEEE Conference on Decision and control

作者： Johannes Köhler Matthias A. Müller Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Institute of Automatic Control Leibniz University Hannover Hannover Germany

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this paper, we show that a simple model predictive control (MPC) scheme can solve the constrained nonlinear output regulation problem without explicitly solving the classical regulator (Francis-Byrnes-Isidori) equations. We first study the general problem of stabilizing a set with MPC using a positive semidefinite (input/output) cost function under suitable stabilizability and detectability assumptions, similar to Grimm et al. (2005). We show that in the output regulation setting, these conditions hold, if the nonlinear constrained regulation problem is (strictly) feasible, the plant is detectable (i-IOSS) and the control input can be uniquely reconstructed from the plant/reference output. Given these structural assumptions, by simply penalizing the predicted output error in the MPC stage cost, the closed loop implicitly stabilizes a state trajectory that solves the regulator equations, if a sufficiently large prediction horizon is used.

关键词： Regulators Regulation Mathematical model Trajectory Economics Upper bound Transforms

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Three-dimensional tracking and height verification of polystyrene particles with piezo actuator positioning by means of multi-wavelength evanescent fields 20

Three-dimensional tracking and height verification of polyst...

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20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Blattler, Aran Khajornrungruang, Panart Suzuki, Keisuke Permpatdechakul, Thitipat Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Department of Intelligent and Control Systems Advanced Mechanical Division Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9780995775176

To understand the nanoparticle motion behaviours on a surface, we have studied to investigate the three-dimension tracking of an individual nanoparticle with nanometre localisation accuracy. In three-dimensional nanoparticle moving position, the X and Y coordinates are on the parallel plane to the surface, which their coordinates can be tracked in general microscopy. However, the Z coordinate is the nanoparticle height position perpendicularly to the surface plane, which could not be generally tracked without longitudinal scanning method. In this paper, the polystyrene 100 nm standard particles were used to investigate the three-dimensional tracking. The individual standard nanoparticles were fixed on the tip, which was vertically travelled with the piezo actuator for movement control on the third dimension to verify the actual height Z. Our developed optical microscopy apparatus has been applying multi-wavelength evanescent fields, and obtaining multi scattering light intensities from the observed nanoparticles near to surface. Commonly, the X and Y coordinates of nanoparticle were determined by the centre of mass of each scattering light intensity. The height Z was investigated from the integration of the detected scattering intensities of each wavelength. By using our method, the height Z uncertainty could be measured approximately less than ±20 nm, and the penetration height measurability was approximately 250 nm far from the reference surface. Consequently, we could three-dimensionally track the individual standard nanoparticle in recording speed higher than 50 frames per second. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Nanoparticles

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Distributed Frequency and Voltage control for AC Microgrids based on Primal-Dual Gradient Dynamics ⁎

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IFAC-PapersOnLine 2020年第2期53卷 12229-12236页

作者： Lukas Kölsch Katharina Wieninger Stefan Krebs Sören Hohmann Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

With the gradual transformation of power generation towards renewables, distributed energy resources are becoming more and more relevant for grid stabilization. In order to involve all participants in the joint solution of this challenging task, we propose a distributed, model-based and unifying controller for frequency and voltage regulation in AC microgrids, based on steady-state optimal control. It not only unifies frequency and voltage control, but also incorporates the classic hierarchy of primary, secondary and tertiary control layers with each closed-loop equilibrium being a minimizer of a user-defined cost function. By considering the individual voltage limits as additional constraints in the corresponding optimization problem, no superordinate specification of voltage setpoints is required. Since the dynamic model of the microgrid has a port-Hamiltonian structure, stability of the overall system can be assessed using shifted passivity properties. Furthermore, we demonstrate the effectiveness of the controller and its robustness against fluctuations in active and reactive power demand by means of numerical examples.

关键词： distributed control optimization-based control electric power systems microgrids frequency regulation voltage regulation

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