Switching Economic Iterative Learning for Combined Path and Power Take-Off Control of a Drag-Powered Underwater Kite

IF 3.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Andrew Abney;Chris Vermillion
{"title":"Switching Economic Iterative Learning for Combined Path and Power Take-Off Control of a Drag-Powered Underwater Kite","authors":"Andrew Abney;Chris Vermillion","doi":"10.1109/TCST.2025.3566255","DOIUrl":null,"url":null,"abstract":"This brief presents the development of an online iterative learning technique for the optimization of both the flight path parameters and rotor control parameters for an underwater energy-harvesting kite. In this technique, a coupled control parameter space is explored through a switching exploration strategy, whereby only a subset of the total system parameters is adapted at each iteration. This formulation, termed switching economic iterative learning control (se-ILC), seeks to intelligently explore this coupled design space to rapidly converge near the global optimum. This work examines the high-level control of an underwater energy-harvesting kite as an application example of se-ILC. First, we establish generalized performance bounds for economic iterative learning control (e-ILC) in the presence of a time-varying environment subjected to parametric uncertainties. Leveraging an existing dynamic model, we then examine the performance of the se-ILC formulation applied to this specific application example, exploring the coupled path and rotor angular velocity parameter spaces. We demonstrate that the se-ILC strategy enables convergence to within tighter bounds (compared with standard e-ILC) of the true optimum in the presence of an imperfect performance characterization.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1960-1966"},"PeriodicalIF":3.9000,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Control Systems Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/11006982/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

Abstract

This brief presents the development of an online iterative learning technique for the optimization of both the flight path parameters and rotor control parameters for an underwater energy-harvesting kite. In this technique, a coupled control parameter space is explored through a switching exploration strategy, whereby only a subset of the total system parameters is adapted at each iteration. This formulation, termed switching economic iterative learning control (se-ILC), seeks to intelligently explore this coupled design space to rapidly converge near the global optimum. This work examines the high-level control of an underwater energy-harvesting kite as an application example of se-ILC. First, we establish generalized performance bounds for economic iterative learning control (e-ILC) in the presence of a time-varying environment subjected to parametric uncertainties. Leveraging an existing dynamic model, we then examine the performance of the se-ILC formulation applied to this specific application example, exploring the coupled path and rotor angular velocity parameter spaces. We demonstrate that the se-ILC strategy enables convergence to within tighter bounds (compared with standard e-ILC) of the true optimum in the presence of an imperfect performance characterization.
拖曳式水下风筝组合路径与动力起飞控制的切换经济迭代学习
本文介绍了一种用于水下捕能风筝飞行路径参数和旋翼控制参数优化的在线迭代学习技术的发展。在该技术中,通过切换探索策略探索耦合控制参数空间,在每次迭代中仅适应总系统参数的一个子集。这个公式被称为切换经济迭代学习控制(se-ILC),旨在智能地探索这个耦合设计空间,以快速收敛到接近全局最优。本文研究了水下能量收集风筝的高级控制,作为se-ILC的应用实例。首先,我们建立了受参数不确定性影响的时变环境下经济迭代学习控制(e-ILC)的广义性能界限。利用现有的动态模型,我们随后检查了应用于该特定应用示例的se-ILC公式的性能,探索了耦合路径和转子角速度参数空间。我们证明,在存在不完美的性能表征的情况下,与标准e-ILC相比,se-ILC策略能够在更严格的范围内收敛到真正的最优。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信