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Event-Triggered Adaptive Dynamic Programming Based Guaranteed Cost Tracking Controller for Uncertain Nonlinear Systems 基于事件触发自适应动态规划的不确定非线性系统保成本跟踪控制器
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093364
Raju Dahal, Indrani Kar
{"title":"Event-Triggered Adaptive Dynamic Programming Based Guaranteed Cost Tracking Controller for Uncertain Nonlinear Systems","authors":"Raju Dahal, Indrani Kar","doi":"10.1109/ICC56513.2022.10093364","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093364","url":null,"abstract":"This paper addresses the robust guaranteed cost tracking control problem of nonlinear matched uncertain systems using event-based adaptive dynamic programming (ADP). By constructing an augmented system and using a discounted cost function, the guaranteed cost control problem is transformed into an optimal control problem of the nominal augmented system. The ADP framework is utilized to approximate the solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the optimal control problem. The event-based guaranteed cost is derived, and its relation with the time-based one is discussed. Furthermore, it is proven that the derived event-based controller can make the tracking error uniformly ultimately bounded (UUB). The applicability of the suggested technique is exhibited using a simulation study.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128045640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Yaw Rate Control utilizing Wheel Slip Regulation in Combined Emergency Braking and Cornering of Heavy Road Vehicles 基于轮滑调节的重型道路车辆紧急制动与转弯联合偏航率控制
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093535
Harshal Patil, Pavel Vijay Gaurkar, Gunasekaran Vivekanandan, S. Sivaram, S. Subramanian
{"title":"Yaw Rate Control utilizing Wheel Slip Regulation in Combined Emergency Braking and Cornering of Heavy Road Vehicles","authors":"Harshal Patil, Pavel Vijay Gaurkar, Gunasekaran Vivekanandan, S. Sivaram, S. Subramanian","doi":"10.1109/ICC56513.2022.10093535","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093535","url":null,"abstract":"An Antilock Brake System (ABS) effectively prevents wheel lock during straight-line braking. However, during combined emergency braking and cornering, ABS alone may not ensure vehicle stability and may result in loss of directional stability. Hence, yaw rate control is necessary for critical cornering scenarios. This study evaluates an existing ABS algorithm in combined braking and cornering scenarios and presents the limitations of ABS in such situations. Further, it proposes a rule-based yaw rate controller which considers the reference value of the wheel slip given to the ABS. The yaw rate controller is evaluated in a hardware-in-loop setup having a brake actuator and utilizing IPG TruckMaker® for simulation of vehicle dynamics. The proposed algorithm reduced the absolute normalized error in yaw rate tracking from 40.3% of the baseline case to 12.7%.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127294228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Neutron Flux Estimation using Inertial Delay Observer for Advanced Heavy Water Reactor 基于惯性延迟观测器的先进重水堆中子通量估计
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093510
H. Mane, R. Desai, B. Patre, T. U. Bhatt, S. Shimjith, A. Tiwari
{"title":"Neutron Flux Estimation using Inertial Delay Observer for Advanced Heavy Water Reactor","authors":"H. Mane, R. Desai, B. Patre, T. U. Bhatt, S. Shimjith, A. Tiwari","doi":"10.1109/ICC56513.2022.10093510","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093510","url":null,"abstract":"In a nuclear reactor such as Advanced Heavy Water Reactor (AHWR), the core neutron flux distribution needs to be continuously monitored and displayed to the operator. This paper presents the design of an Inertial Delay Observer (IDO) for estimating neutron flux distribution and bounded reactivity input disturbances of AHWR. The AHWR model considered here has 17 outputs, 4 inputs and is characterized by 72 state variables. The stability of the observer is demonstrated by using a Lyapunov function. The efficacy of proposed IDO is verified through nonlinear simulation studies under different test scenarios.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127381209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Analysis of Impulsive Modes in Kronecker Canonical Form for Rectangular Descriptor Systems 矩形广义系统Kronecker标准形式的脉冲模分析
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093353
Abhinav Kumar, Mamoni Paitandi, M. Gupta
{"title":"Analysis of Impulsive Modes in Kronecker Canonical Form for Rectangular Descriptor Systems","authors":"Abhinav Kumar, Mamoni Paitandi, M. Gupta","doi":"10.1109/ICC56513.2022.10093353","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093353","url":null,"abstract":"Unlike regular descriptor systems, there are various notions for impulse freeness in rectangular linear descriptor systems. Descriptor systems, in general, do not admit arbitrary initial conditions. In this note, conditions for having no impulsive modes, free of impulse, and admitting arbitrary or particular initial conditions are analyzed by deriving their respective Kronecker canonical forms for rectangular descriptor systems. Some other equivalent conditions are also discussed. Numerical examples are presented to illustrate the theory.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"4 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113958659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes 基于高斯过程的未知非线性系统可达性控制
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-09-28 DOI: 10.1109/ICC56513.2022.10093476
S. Gorantla, Jeel Chatrola, Jay Bhagiya, Adnane Saoud, Pushpak Jagtap
{"title":"Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes","authors":"S. Gorantla, Jeel Chatrola, Jay Bhagiya, Adnane Saoud, Pushpak Jagtap","doi":"10.1109/ICC56513.2022.10093476","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093476","url":null,"abstract":"This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based controller synthesis approach using this approximated dynamical system to design the controller for a reachability specification. Finally, the merits of the proposed method are shown using a numerical example.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124311491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems 一类非凸-非凹最小-极大问题的定时收敛性
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-07-26 DOI: 10.1109/ICC56513.2022.10093480
Kunal Garg, Mayank Baranwal
{"title":"Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems","authors":"Kunal Garg, Mayank Baranwal","doi":"10.1109/ICC56513.2022.10093480","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093480","url":null,"abstract":"This study develops a fixed-time convergent saddle point dynamical system for solving min-max problems under a relaxation of standard convexity-concavity assumption. In particular, it is shown that by leveraging the dynamical systems viewpoint of an optimization algorithm, accelerated convergence to a saddle point can be obtained. Instead of requiring the objective function to be strongly-convex-strongly-concave (as necessitated for accelerated convergence of several saddle-point algorithms), uniform fixed-time convergence is guaranteed for functions satisfying only the two-sided Polyak-Lojasiewicz (PL) inequality. A large number of practical problems, including the robust least squares estimation, are known to satisfy the two-sided PL inequality. The proposed method achieves arbitrarily fast convergence compared to any other state-of-the-art method with linear or even super-linear convergence, as also corroborated in numerical case studies.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130364934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A contraction theory approach to observer-based controller design for glucose regulation in type 1 diabetes 基于收缩理论的1型糖尿病血糖调节控制器设计
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-06-29 DOI: 10.1109/ICC56513.2022.10093345
Bhabani Shankar Dey, A. Nath, Abhilash Patel, I. Kar
{"title":"A contraction theory approach to observer-based controller design for glucose regulation in type 1 diabetes","authors":"Bhabani Shankar Dey, A. Nath, Abhilash Patel, I. Kar","doi":"10.1109/ICC56513.2022.10093345","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093345","url":null,"abstract":"Artificial Pancreas has evolved to be effective in regulating the blood glucose in the safe range of 70–180 mg/dl in type 1 diabetic patients. However, the high intra-patient variability, as well as exogenous meal disturbances, pose serious challenges. Moreover, the unavailability of insulin sensors in Artificial Pancreas adds to the difficulty. In the present work, a subcutaneous model of type 1 diabetes (T1D) is considered for observer-based controller design in the framework of contraction analysis. A variety of realistic multiple-meal scenarios for different virtual TlD patients have been investigated and results are presented.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"127 1-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133321080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Solving the capacitated vehicle routing problem with timing windows using rollouts and MAX-SAT 利用滚动和MAX-SAT求解带定时窗的有容车辆路径问题
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-06-14 DOI: 10.1109/ICC56513.2022.10093678
H. Khadilkar
{"title":"Solving the capacitated vehicle routing problem with timing windows using rollouts and MAX-SAT","authors":"H. Khadilkar","doi":"10.1109/ICC56513.2022.10093678","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093678","url":null,"abstract":"The vehicle routing problem is a well known class of NP-hard combinatorial optimisation problems in literature. Traditional solution methods involve either carefully designed heuristics, or time-consuming metaheuristics. Recent work in reinforcement learning has been a promising alternative approach, but has found it difficult to compete with traditional methods in terms of solution quality. This paper proposes a hybrid approach that combines reinforcement learning, policy rollouts, and a satisfiability solver to enable a tunable tradeoff between computation times and solution quality. Results on a popular public data set show that the algorithm is able to produce solutions closer to optimal levels than existing learning based approaches, and with shorter computation times than meta-heuristics. The approach requires minimal design effort and is able to solve unseen problems of arbitrary scale without additional training. Furthermore, the methodology is generalisable to other combinatorial optimisation problems.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132883890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A note on load balancing in DC microgrids 直流微电网负载平衡问题研究
2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-04-26 DOI: 10.1109/ICC56513.2022.10093666
Shravan Mohan, B. Bhikkaji
{"title":"A note on load balancing in DC microgrids","authors":"Shravan Mohan, B. Bhikkaji","doi":"10.1109/ICC56513.2022.10093666","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093666","url":null,"abstract":"A problem of load balancing in isolated DC microgrids is considered in this paper. Here, a DC load is fed by multiple heterogeneous DC sources, each of which is connected to the load via a boost converter. The gains of the DC Converters (DCC's) provide for a means to control the division of load current amongst the DC sources. The primary objective of the control scheme is to minimise the total losses in the network, while maintaining the output voltage within a desired range, serving the load current demand and adhering to VI-characteristics of the power sources. Under assumptions of concavity/monotonocity/piece-wise-linearity of the VI-characteristics, the problem is solved using a convex relaxation. It is shown that the solution to the relaxed problem is tight. Thus, the resulting algorithm is guaranteed to reach global optimality in a numerically efficient manner [1]. Simulations are provided for corroboration.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130213533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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