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Adaptive fuzzy observer based hierarchical sliding mode control for uncertain 2D overhead cranes

Cyber-Physical systems 2019年第3期5卷 191-208页

作者： Le, Hai Xuan Le, Anh Viet Nguyen, Linh Department of Automatic Control Hanoi University of Science and Technology Hanoi Viet Nam Centre for Autonomous Systems University of Technology Sydney Ultimo Australia

This paper proposes a new approach to robustly control a 2D under-actuated overhead crane system, where a payload is effectively transported to a destination in real time with small sway angles, given its inherent uncertainties such as actuator nonlinearities and external disturbances. The control law is proposed to be developed by the use of the robust hierarchical sliding mode control (HSMC) structure in which a second-level sliding surface is formulated by two first-level sliding surfaces drawn on both actuated and under-actuated outputs of the crane. The unknown and uncertain parameters of the proposed control scheme are then adaptively estimated by the fuzzy observer (FO), where the adaptation mechanism is derived from the Lyapunov theory. More importantly, stability of the proposed strategy is theoretically proved. Effectiveness of the proposed adaptive FO-based HSMC approach was extensively validated by implementing the algorithm in both synthetic simulations and real-life experiments, where the results obtained by our method are highly promising. © 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Lyapunov functions

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Model-based fuel detection in a diesel engine 1

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21. MTZ-Fachtagung Simulation und Test, 2019

作者： Schroeder, Andreas Hinrichs, Michael Isermann, Rolf Pickel, Peter John Deere European Technology Innovation Center Kaiserslautern67663 Germany Institute of Automatic Control TU Darmstadt Darmstadt64283 Germany

ISBN: (数字)9783658287078

ISBN: (纸本)9783658287061

Der landwirtschaftliche Sektor eignet sich besonders für die Nutzung von naturbelassenem Rapsöl als Kraftstoff. Durch dezentrale Ölmühlen bleiben die Transportwege kurz und der Landwirt kann seinen eigenen Kraftstoff herstellen [1]. Diese Selbstversorgung mit erneuerbaren Energien eröffnet den Betrieben zusätzliches Wertschöpfungspotenzial [2]. Die Marktdurchdringung von Rapsölkraftstoff ist jedoch seit Jahrzenten gering. Einer der Gründe hierfür ist die Preisvolatilität von biogenen Kraftstoffen.

Um diese wirtschaftlichen Probleme zu überwinden hat John Deere das MuSt5 Forschungsprojekt gestartet (Projekt: „Entwicklung und Feldtest eines Abgasstufe 5 Multi-Fuel-Traktors mit der Möglichkeit des flexiblen Einsatzes von Diesel- und Pflanzenölkraftstoffen (MuSt5, development and field test of a multifuel tractor complying with EU Stage V emission regulations running on diesel and plant oil based fuels), gefördert durch das Bundesministerium für Ernährung und Landwirtschaft, Projekt Nr.: 22408217, Partner; TU Kaiserslautern, TFZ Straubing, TU Darmstadt, UFOP e. V.). Hierbei wird ein Traktor angestrebt, welcher mit Diesel- und Rapsölkraftstoff betrieben werden kann. Der Traktor soll den Kraftstoff bzw. das Kraftstoffgemisch im Tank erkennen und den Motor opt

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Toward parallel intelligence: an interdisciplinary solution for complex systems

arXiv

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arXiv 2023年

作者： Zhao, Yong Zhu, Zhengqiu Chen, Bin Qiu, Sihang Huang, Jincai Lu, Xin Yang, Weiyi Ai, Chuan Huang, Kuihua He, Cheng Jin, Yucheng Liu, Zhong Wang, Fei-Yue College of Systems Engineering National University of Defense Technology Changsha410073 China Hunan Institute of Advanced Technology Changsha410073 China Shanghai Institute of Infectious Disease and Biosecurity Shanghai200032 China Neuherberg Germany Department of Computer Science Hong Kong Baptist University 999077 Hong Kong State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

The growing complexity of real-world systems necessitates interdisciplinary solutions to confront myriad challenges in modeling, analysis, management, and control. To meet these demands, the parallel systems method rooted in Artificial systems, Computational experiments, and Parallel execution (ACP) approach has been developed. The method cultivates a cycle, termed parallel intelligence, which iteratively creates data, acquires knowledge, and refines the actual system. Over the past two decades, the parallel systems method has continuously woven advanced knowledge and technologies from various disciplines, offering versatile interdisciplinary solutions for complex systems across diverse fields. This review explores the origins and fundamental concepts of the parallel systems method, showcasing its accomplishments as a diverse array of parallel technologies and applications, while also prognosticating potential challenges. We posit that this method will considerably augment sustainable development while enhancing interdisciplinary communication and cooperation. © 2023, CC BY-NC-ND.

关键词： Iterative methods

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TOWARDS THE EXPLICIT DYNAMIC MODELING OF DISTRIBUTION GRIDS IN THE TIME-DOMAIN

TOWARDS THE EXPLICIT DYNAMIC MODELING OF DISTRIBUTION GRIDS ...

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CIRED 2021 - The 26th International Conference and Exhibition on Electricity Distribution

作者： F. Gielnik F. Mueller S. de Jongh M. Pfeifer M. Suriyah S. Hohmann T. Leibfried Karlsruhe Institute of Technology (KIT) Institute of Electrical Energy Systems and High Voltage Engineering (IEH) Karlsruhe Germany Karlsruhe Institute of Technology (KIT) Institute of Control Systems (IRS) Karlsruhe Germany

The majority of monitoring and control applications at a distribution system control center rely on the assumption that the distribution network is in quasi steady-state. Known limitations of the quasi steady-state assumption are its inability to capture fast transients and harmonic distortion. Both of them are induced by the large-scale integration of distributed energy sources (DES) and power electronics. This motivates a dynamic modeling of distribution grids since such an approach naturally obviates the steady-state assumption. In the literature, the dynamic modeling of distribution networks mainly leads to implicit models in forms of differential-algebraic equations (DAEs). In contrast, the explicit modeling in terms of ordinary differential equations (ODEs) has received limited attention. This is a problem as the model-based design of a controller and state estimator usually requires an explicit model. In this paper, we present a first approach towards a dynamic description of an unbalanced distribution grid by an explicit ODE model. A minimal system consisting of two buses and one three-phase three-wire line is considered. The contribution is twofold: first, we propose a time-domain dynamic model for the minimal system in form of an explicit Port-Hamiltonian system; secondly, the dynamic model is validated through experiments. The results show that the dynamic model can deal with both, fast transients and harmonic distortion.

关键词： differential algebraic equations nonlinear dynamical systems time-domain analysis distribution networks differential equations harmonic distortion wires (electric) power electronics distributed power generation

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Novel resonant pressure sensor based on piezoresistive detection and symmetrical in-plane mode vibration

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Microsystems & Nanoengineering 2020年第1期6卷 165-175页

作者： Xiangguang Han Qi Mao Libo Zhao Xuejiao Li Li Wang Ping Yang Dejiang Lu Yonglu Wang Xin Yan Songli Wang Nan Zhu Zhuangde Jiang State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University710049 Xi’anChina School of Mechanical Engineering Xi’an Jiaotong University710049 Xi’anChina Xi’an Flight Automatic and Control Institute 710049 Xi’anChina

In this paper,a novel resonant pressure sensor is developed based on electrostatic excitation and piezoresistive *** measured pressure applied to the diaphragm will cause the resonant frequency shift of the *** working mode stress–frequency theory of a double-ended tuning fork with an enhanced coupling beam is proposed,which is compatible with the simulation and experiment.A unique piezoresistive detection method based on small axially deformed beams with a resonant status is proposed,and other adjacent mode outputs are easily *** to the structure design,high-vacuum wafer-level packaging with different doping in the anodic bonding interface is fabricated to ensure the high quality of the *** pressure sensor chip is fabricated by dry/wet etching,high-temperature silicon bonding,ion implantation,and wafer-level anodic *** results show that the fabricated sensor has a measuring sensitivity of~19 Hz/kPa and a nonlinearity of 0.02%full scale in the pressure range of 0–200 kPa at a full temperature range of−40 to 80°*** sensor also shows a good quality factor>25,000,which demonstrates the good vacuum ***,the feasibility of the design is a commendable solution for high-accuracy pressure measurements.

关键词： resonant mode anodic

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Development of a PM Spherical Actuator with Tiltable Stator for High Torque Density

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IEEE Transactions on Transportation Electrification 2025年

作者： He, Xinghua Xiang, Pengjie Yan, Liang Yang, Xuxu Liu, Xiaoshuai Du, Nannan Bu, Suwan Yan, Guishan Ai, Chao Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Ningbo Institute of Technology Ningbo315800 China Sun Yat-Sen University School of Intelligent Systems Engineering Shenzhen518000 China Yanshan University School of Mechanical Engineering Qinhuangdao066004 China

Spherical actuators are active joints that rotate around three directions and are more compact than conventional joints using multiple single-axis motors connected in series. However, spherical electromagnetic actuators have low torque density, particularly in tilt directions, hindering practical applications. The essential reason is that their stator and rotor are misaligned after tilting, which not only reduces the electromagnetic torque but also introduces restoring torques. To enhance torque density, this paper proposes a 3-DOF permanent magnet spherical actuator with a tiltable stator. The relative positions of the stators and rotors of each actuation unit remain unchanged after tilting, maintaining high output torque and allowing large tilting angles, and rotating and tilting torques are decoupled. We introduce the working principle of the proposed actuator and establish its basic structure. Two-dimensional magnetic field finite element analysis and conformal transformation are combined to simplify three-dimensional magnetic field computations. The optimized parameters for the tilting unit are obtained. Finally, a prototype is fabricated and experimentally tested. The proposed spherical actuator yields a tilt torque exceeding 8 Nm and a rotation torque of 7.34 Nm, corresponding to a torque density of 1.75 Nm/kg for tilt and 1.6 Nm/kg for rotation relative to the entire actuator. © 2015 IEEE.

关键词： Spheres

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Distributed model predictive control of buildings and energy hubs

arXiv

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arXiv 2021年

作者： Lefebure, Nicolas Khosravi, Mohammad De Badyn, Mathias Hudoba Bünning, Felix Lygeros, John Jones, Colin Smith, Roy S. Department of Mechanical Engineering Swiss Federal Institute of Technology Lausanne Switzerland Automatic Control Laboratory Swiss Federal Institute of Technology Zürich Switzerland Empa Urban Energy Systems Laboratory Überlandstrasse 129 Dübendorf8600 Switzerland

Model predictive control (MPC) strategies can be applied to the coordination of energy hubs to reduce their energy consumption. Despite the effectiveness of these techniques, their potential for energy savings are potentially underutilized due to the fact that energy demands are often assumed to be fixed quantities rather than controlled dynamic variables. The joint optimization of energy hubs and buildings' energy management systems can result in higher energy savings. This paper investigates how different MPC strategies perform on energy management systems in buildings and energy hubs. We first discuss two MPC approaches;centralized and decentralized. While the centralized control strategy offers optimal performance, its implementation is computationally prohibitive and raises privacy concerns. On the other hand, the decentralized control approach, which offers ease of implementation, displays significantly lower performance. We propose a third strategy, distributed control based on dual decomposition, which has the advantages of both approaches. Numerical case studies and comparisons demonstrate that the performance of distributed control is close to the performance of the centralized case, while maintaining a significantly lower computational burden, especially in large-scale scenarios with many agents. Finally, we validate and verify the reliability of the proposed method through an experiment on a full-scale energy hub system in the NEST demonstrator in Dübendorf, Switzerland. Copyright © 2021, The Authors. All rights reserved.

关键词： Predictive control systems

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Mitigating the Massive Access Problem in the Internet of Things 1

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2nd International Symposium on Security in Computer and Information Sciences, EuroCybersec 2021

作者： Gelenbe, Erol Nakıp, Mert Marek, Dariusz Czachorski, Tadeusz Institute of Theoretical and Applied Informatics Polish Academy of Sciences Gliwice44-100 Poland Yaşar University Bornova İzmir Turkey CNRS Lab. I3S Université Côte d’Azur Nice France CNRS Lab. Abraham de Moivre London United Kingdom Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice44-100 Poland

ISBN: (数字)9783031093579

ISBN: (纸本)9783031093562

The traffic from the large number of IoT devices connected to the IoT is a source of congestion known as the Massive Access Problem (MAP), that results in packet losses, delays and missed deadlines for real-time data. This paper reviews the literature on MAP and summarizes recent results on two approaches that have been designed to mitigate MAP. One approach is based on randomizing the packet arrival instants to IoT gateways within a given time interval that is chosen so that packet arrivals do not exceed their deadlines, but also so that they do not constitute bulk arrivals. The second approach is a novel traffic shaping policy named the Quasi-Deterministic-Transmission-Policy (QDTP) which has been proved to drastically reduce queue formation at the receiving gateway by delaying packet departures from the IoT devices in a judicious manner. Both analytical and experimental results are summarized, that describe the benefits of these techniques. © 2022, The Author(s).

关键词： Internet of things

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Research on Data Standardization and Unified Data Interface Based on Digital Station System

Research on Data Standardization and Unified Data Interface ...

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IEEE Advanced Information Management,Communicates,Electronic and Automation control Conference (IMCEC)

作者： Wang Xiaojin Sun Shucai Xie Yehua Jiang Tao Liu Hongkun NARI TECHNOLOGY CO. LTD NARI-TECH Nanjing Control Systems Ltd. NARI Group Corporation/State Grid Electric Power Research Institute Nanjing China

ISBN: (纸本)9781665479691

At present, the development of energy and power is faced with a major strategic task of ensuring safe and reliable supply, accelerating the clean and low-carbon transformation, and helping to achieve the “dual carbon” goal. The construction of digital station information system bears the historical mission of energy transformation, has great and far-reaching significance, is an important part of a clean, low-carbon, safe and efficient energy system, and has new features such as clean, low-carbon, safe and controllable, flexible and efficient, intelligent, friendly, open and interactive. In this paper, the equipment model data standardization technology and unified data interface technology based on the digital station information system are studied to solve the problems faced in the construction of the digital station information system, such as multiple islands of information, multiple fault patterns, and low data value. According to the principle of unified collection, storage and utilization of distribution network information, the SG-CIM model specification is used as the basis for modeling to provide standardized data; The unified data interface of digital station information is formed through unified basic software and hardware facilities, unified equipment information model, and unified application and development specifications to achieve equipment centric panoramic data aggregation and sharing, and visual presentation of operation and maintenance business. Realize the coordination and interaction of digital station information system, and provide a strong support way for the country to promote the “double carbon” goal.

关键词： Visualization Standardization Distribution networks Data models Software Hardware Software reliability

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Contract Composition for Dynamical control systems: Definition and Verification using Linear Programming

arXiv

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arXiv 2022年

作者： Sharf, Miel Besselink, Bart Johansson, Karl Henrik Division of Decision and Control Systems Kth Royal Institute of Technology Digital Futures Stockholm10044 Sweden Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen Groningen9700 AK Netherlands

Designing large-scale control systems to satisfy complex specifications is hard in practice, as most formal methods are limited to systems of modest size. Contract theory has been proposed as a modular alternative to formal methods in control, in which specifications are defined by assumptions on the input to a component and guarantees on its output. However, current contract-based methods for control systems either prescribe guarantees on the state of the system, going against the spirit of contract theory, or can only support rudimentary compositions. In this paper, we present a contract-based modular framework for discrete-time dynamical control systems. We extend the definition of contracts by allowing the assumption on the input at a time k to depend on outputs up to time k -1, which is essential when considering the feedback connection of an unregulated dynamical system and a controller. We also define contract composition for arbitrary interconnection topologies, under the pretence of well-posedness, and prove that this notion supports modular design, analysis and verification. This is done using graph theory methods, and specifically using the notions of topological ordering and backward-reachable nodes. Lastly, we use k-induction to present an algorithm for verifying vertical contracts, which are claims of the form "the conjugation of given component-level contracts is a stronger specification than a given contract on the integrated system". These algorithms are based on linear programming, and scale linearly with the number of components in the interconnected network. A numerical example is provided to demonstrate the scalability of the presented approach, as well as the modularity achieved by using it. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear programming

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