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American control Conference

作者： Stefan Wildhagen Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

Rollout approaches are an effective tool to address the problem of co-designing the transmission schedule and the corresponding input values, when the controller is connected to the plant via a resource-constrained communication network. These approaches typically employ an MPC, activated at multiples of the period length of a base transmission schedule. Using multi-step invariant terminal regions and a prediction horizon longer than the base period, stability can be ensured. This strategy, however, suffers from intrinsic shortcomings, such as a high computational complexity and low robustness. We aim to resolve these drawbacks by proposing an MPC with periodically time-varying terminal region and cost for the rollout setup, where the controller is activated at each time instant and features an arbitrary but fixed prediction horizon. We consider in more detail two specific setups from the literature on Networked control systems, namely the token bucket network and actuator scheduling. For both setups, we provide conditions for which convergence under application of the time-varying MPC can be guaranteed. In a numerical example, we demonstrate the benefits of the proposed method.

关键词： duration of menstrual flow time varying controllers application time networks(communications) complexity classes Network numerical example

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Distributed Optimal Data Allocation in Finite Time with Efficient Communication and Transmission Stopping over Dynamic Networks

Distributed Optimal Data Allocation in Finite Time with Effi...

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IEEE Conference on Decision and control

作者： Apostolos I. Rikos Christoforos N. Hadjicostis Karl H. Johansson Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Digital Futures Stockholm Sweden Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we focus on the problem of data sharing over a wireless computer network (i.e., a wireless grid). Given a set of available data, we present a distributed algorithm, which operates over a dynamically changing network and allows each node to calculate the optimal allocation of data in a finite number of time steps. We show that our proposed algorithm (i) converges to the optimal solution in finite time with very high probability, and (ii) once the optimal solution is reached, each node is able to cease transmissions without needing knowledge of a global parameter such as the network diameter. Furthermore, our algorithm (i) operates exclusively with quantized values (i.e., each node processes and transmits quantized information), (ii) relies on event-driven updates, and (iii) calculates the optimal solution in the form of a quantized fraction which avoids errors due to quantization. Finally, we demonstrate the operation, performance, and potential advantages of our algorithm over random dynamic networks.

关键词： Wireless communication Knowledge engineering Quantization (signal) Heuristic algorithms Distributed databases Dynamic scheduling Computer networks

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Rollout scheduling and control for disturbed systems via tube MPC*

Rollout scheduling and control for disturbed systems via tub...

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IEEE Conference on Decision and control

作者： Stefan Wildhagen Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Rollout control is an MPC-based control method, in which a controller is periodically activated to schedule the transmission of sensor or actuator data. Therein, a preassigned traffic specification acts as a constraint on the scheduled transmissions, ensuring that they are triggered at an admissible rate for the underlying communication network. In this paper, we extend the theory of rollout control by considering bounded disturbances on the controlled plant in the presence of state and input constraints. We use methods from tube MPC, where the error between the nominal (undisturbed) system, used as a prediction model, and the real system is kept in a robust control invariant set. This approach requires satisfaction of a maximum inter-transmission interval in closed loop, a guarantee that is not straightforward to obtain in rollout control. Our main contribution is to introduce a novel tube MPC scheme adapted for rollout control, which contains an additional constraint on the predicted transmission schedule. We show that by virtue of this schedule constraint, the inter-transmission interval is bounded in closed loop. We also establish recursive feasibility of this novel MPC scheme and show convergence of the system.

关键词： Actuators Electron tubes Schedules Convergence Robust control Quality of service Stochastic processes

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Data-Driven Predictive control for Linear Parameter-Varying systems ⁎

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IFAC-PapersOnLine 2021年第8期54卷 101-108页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Sofie Haesaert Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven 5600MB The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control (SZTAKI) Kende u. 13-17 1111 Budapest Hungary

Based on the extension of the behavioral theory and the Fundamental Lemma for Linear Parameter-Varying (LPV) systems, this paper introduces a Data-driven Predictive control (DPC) scheme capable to ensure reference tracking and satisfaction of Input-Output (IO) constraints for an unknown system under the conditions that (i) the system can be represented in an LPV form and (ii) an informative data-set containing measured IO and scheduling trajectories of the system is available. It is shown that if the data set satisfies a persistence of excitation condition, then a data-driven LPV predictor of future trajectories of the system can be constructed from the IO data set and online measured data. The approach represents the first step towards a DPC solution for nonlinear and time-varying systems due to the potential of the LPV framework to represent them. Two illustrative examples, including reference tracking control of a nonlinear system, are provided to demonstrate that the data-based LPV-DPC scheme, achieves similar performance as LPV model-based predictive control.

关键词： Predictive control Data-Driven control Linear Parameter-Varying systems Non-Parametric Methods

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Performance evaluation for ranking-based discretisation 24

Performance evaluation for ranking-based discretisation

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24th KES International Conference on Knowledge-Based and Intelligent Information and Engineering systems, KES 2020

作者： Baron, Grzegorz Stanczyk, Urszula Department of Graphics Computer Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A Gliwice44-100 Poland

Discretisation often constitutes a part of initial data preparation stage. It translates continuous domain of features into granular, by assigning a number of intervals to represent attributes' values by nominal categories. Typically all real-valued features are subjected to transformations, regardless of their characteristics. The paper presents research on discretisation executed with a discerning approach. To all available attributes, feature selection mechanisms were employed, in the form of rankings that order variables based on their importance. Exploiting this discovered knowledge on attributes, discretisation was then driven by a ranking, and either highest or lowest ranking features were selected for transformation. The influence of selective discretisation on the performance of classification systems was studied for three popular inducers. The procedure was employed in the field of stylometry, and a task of authorship recognition, considered as a binary classification with balanced classes. The experiments show that discretisation based on importance of features can lead to better performance than in the case of transformations applied to all attributes. © 2020 The Authors. Published by Elsevier B.V.

关键词： Feature Selection

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secRTK -A Jamming Resistant RTK-Receiver: Prototype Architecture and Results of First Measurement Campaigns

secRTK -A Jamming Resistant RTK-Receiver: Prototype Architec...

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ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)

作者： Gö tz C. Kappen Shutao Zhang Shuchen Liu Markus Biermann Tobias Gemmeke Dennis Borgmann Communication Engineering Laboratory NTLab FH M&#x00FC nster Steinfurt Germany Chair of Integrated Digital Systems and Circuit Design RWTH Aachen Aachen Germany RWTH Aachen Institute of Automatic Control Aachen Germany trilogik GmbH Greven Germany

ISBN: (数字)9781665416160

ISBN: (纸本)9781665416177

GNSS receivers featuring both high accuracy and interferer resistance would be a very promising option for existing markets and could be the basis for new applications in the field of satellite navigation. This paper presents an architecture based on the concept of controlled radiation pattern antennas. The general idea and a receiver setup, which is based mainly on of-the-shelf hardware, are introduced. Central components of the presented demonstrator are a 2-by-2 rectangular multi-an-tenna array, a programmable 4-channel analog GNSS-frontend and FPGA-used for processing at intermediate frequency, an up-converter and RTK-receiver. This real-time demonstrator is used during measurement campaigns with and without interfering signals. Measurements without interfering signals prove that the overall architecture is functional, and the integrated RTK-receiver provides consistent and high accuracy localization. For a scenario without interfering signal, the results in this paper show scatter plots for single and multi-antenna configuration, which prove that the RTK fix state can still be reached within seconds for the combined antenna data streams. These measurements are done using a connection to the SAPOS® NRW service. A first test campaign on the vehicle dynamics area in Aldenho-ven Testing Center shows the behavior with controlled interfer-ence conditions for the static and dynamic case. Results compared with a commercial single antenna receiver show that spa-tial processing successfully rejects the interferer signals. Results under certain conditions of the test campaign are presented. While high-end hardware in the demonstrator provides sufficient processing capability for the prototype, algorithmic opti-mizations enable mapping to low-cost commodity FPGAs or highly optimized CMOS chip implementation for commerciali-zation.

关键词： Resistance Semiconductor device measurement Satellites Prototypes Estimation Signal processing algorithms Hardware

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A Multi-Model Fusion Approach for Transformer Fault Detection

A Multi-Model Fusion Approach for Transformer Fault Detectio...

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Information technology,Big Data and Artificial Intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Ke Zhou Wei Zhang Ligang Li Shaoming Pan Chengwei Huang Guangxi Power Grid Equipment Monitoring and Diagnosis Technology Innovation Center Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment Electric Power Research Institute of Guangxi Power Grid CO. LTD. Nanning State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Power Supply Bureau of Guangxi Hezhou Power Grid Co. Ltd.

ISBN: (数字)9798350363609

ISBN: (纸本)9798350363616

Addressing the weak generalization capability and suboptimal prediction performance of single mechanistic and data-driven models, this paper proposes a transformer fault detection method based on the fusion of mechanism and data models. Firstly, vibration and current data are collected on-site to train the SVM vibration model and the Adaboost current model. Secondly, current simulation data is obtained using laboratory simulation software. This simulation data, combined with the current data collected under the same conditions on-site, is used as input to train the GBDT error compensation model. Finally, these three models are used as inputs to the GRNN, completing the overall model design. This fusion of mechanistic and data-driven models not only addresses the parameter mismatch issue of the mechanistic model under complex working conditions but also deeply mines time-series data. Experimental results show that The mean squared error of the fusion model is 0.002 lower than that of the data model, and the coefficient of determination is improved by 5.07% compared to the mechanistic model, enhancing the overall predictive accuracy of the model.

关键词： Vibrations Support vector machines Training Accuracy Biological system modeling Fault detection Predictive models Transformers Prediction algorithms Data models

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Dissipativity verification with guarantees for polynomial systems from noisy input-state data

arXiv

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arXiv 2020年

作者： Martin, Tim Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Germany

In this paper, we investigate the verification of dissipativity properties for polynomial systems without explicit knowledge of a model but directly from noise-corrupted measurements. Contrary to most data-driven approaches for nonlinear systems, we determine dissipativity properties over infinite time horizon using input-state data. To this end, we propose two characterizations of the noise that affects the system and deduce from each characterization a data-based set-membership representation of the ground-truth system. Each representation then serves as a framework to derive computationally attractive conditions to verify dissipativity properties with rigorous guarantees from noise-corrupted data using SOS optimization. Copyright © 2020, The Authors. All rights reserved.

关键词： Machine learning

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LogisticsVISTA: 3D Terminal Delivery Services With UAVs, UGVs and USVs Based on Foundation Models and Scenarios Engineering

LogisticsVISTA: 3D Terminal Delivery Services With UAVs, UGV...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Yonglin Tian Fei Lin Xinyuan Zhang Jingwei Ge Yutong Wang Xingyuan Dai Yisheng Lv Fei-Yue Wang State Key Laboratory of Multimodal Artificial Intelligence Systems and State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Engineering Science Faculty of Innovation Engineering Macau University of Science and Technology Macau China University of Chinese Academy of Sciences Beijing China Department of Automation Tsinghua University Beijing China

ISBN: (数字)9798350379167

ISBN: (纸本)9798350379174

Intelligent logistics with autonomous vehicles is promising to improve the efficiency of rapidly expanding delivery systems. However, complex environments, diverse packages, and irregular human interaction have imposed challenges to the application of unmanned delivery vehicles. Combining various forms of vehicles and developing knowledge-driven delivery services have been the key to further facilitating the upgrading of logistics systems. In this paper, we propose an integrated framework named LogisticsVISTA (Logistics on Vehicles with Intelligent systems for Transport Automation) comprised of UAVs (Unmanned Aerial Vehicles), UGVs (Unmanned Ground Vehicles), and USVs (Unmanned Surface Vehicles) to provide timely and flexible 3D delivery services. In LogisticsVISTA, we design Large language models (LLMs) and large multimodal models (LMMs) for task planning, active perception, autonomous decision, and human-machine interaction. Besides, virtual-real integrated parallel scenarios are constructed to provide the playing ground for embodied agents efficiently and flexibly.

关键词： Human computer interaction Training Three-dimensional displays Foundation models Transportation Transforms Real-time systems Resource management Logistics Testing

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Sallen-Key Dual Channel Low-Pass Filter with Tunable Cutoff Frequency

Sallen-Key Dual Channel Low-Pass Filter with Tunable Cutoff ...

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IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics Engineering, SIBIRCON

作者： Darya Yu. Denisenko Nikolay N. Prokopenko Nikolay V. Butyrlagin Dept. of Information Systems and Radio Engineering DTSU Dept. of Automatic Control Systems SFU Rostov-on-Don Russia Dept. of Information Systems and Radio Engineering DTSU Institute for Design Problems in Microelectronics of RAS Rostov-on-Don Zelenograd Russia Dept. of Information Systems and Radio Engineering DTSU Rostov-on-Don Russia

ISBN: (纸本)9781665464819

A two-channel Sallen-Key low-pass filter on three non-inverting amplifiers is studied, which has the property of unrelated digital set of the upper cut-off frequency at constant index of the transmission coefficient in the bandwidth range. The restructuring of the upper cutoff frequency and the attenuation of the pole is carried out by modify the resistors’ resistance of one in the upper channel of the low-pass filter. It is shown that a non-inverting amplifier in the lower channel of the low-pass filter can have a small value of the systematic zero bias voltage component, what is important for the operation of the low-pass filter at the input of analog-to-digital converters. It has been established that due to the construction of a low-pass filter according to a two-channel architecture, the requirement for the magnitude of the output static voltage of the upper channel is removed. The base equations of the new low-pass filter scheme are given and the summary modeling in the Micro-Cap was pictured.

关键词： Resistance Operational amplifiers Time-frequency analysis Systematics Cutoff frequency Capacitors Low-pass filters

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