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Identification and Modeling of Wire Arc Additive Manufacturing under consideration of Interpass Temperature 考虑道间温度的电弧增材制造辨识与建模
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781450
Maxim Scheck, Jonas Franz, Andreas Richter, T. Gehling, K. Treutler, S. Beitler, V. Wesling, C. Rembe, C. Bohn
{"title":"Identification and Modeling of Wire Arc Additive Manufacturing under consideration of Interpass Temperature","authors":"Maxim Scheck, Jonas Franz, Andreas Richter, T. Gehling, K. Treutler, S. Beitler, V. Wesling, C. Rembe, C. Bohn","doi":"10.1109/Control55989.2022.9781450","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781450","url":null,"abstract":"Wire Arc Additive Manufacturing offers the possibility to use the advantage of additive manufacturing on a larger scale due to high build rates. However, the influence of disturbances and the unknown process behavior hamper wider application. Model building and identification make it possible to increase robustness and repeatability through the use of process control. The identification is done as a SISO model and by means of a neural network, the simulation results are validated with measured output variables. In addition, the influence of the interpass temperatures is considered as well as computational effort and extensibility to several process variables are investigated.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114398511","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
Stationarity conditions in optimal control problems class related to dynamical objects group control 一类动态目标群控制的最优控制问题的平稳性条件
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781438
I. Samylovskiy, Anastasia K. Samylovskaya, Alexander Filippov
{"title":"Stationarity conditions in optimal control problems class related to dynamical objects group control","authors":"I. Samylovskiy, Anastasia K. Samylovskaya, Alexander Filippov","doi":"10.1109/Control55989.2022.9781438","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781438","url":null,"abstract":"We consider two classes of optimal control problems related dynamical oobjects group control. The first one is target orbiting of autonomous objects group with carrier object use (satellites, UAVs etc.). To describe the corrsponding situation, we use system of ODEs that consists of two subsystems: the \"carrier\" subsystem and a number of \"payload\" ones. They are determined on the \"main\" and \"nested\" time segments ordered w.r.t. start times. Start time of each \"nested\" segment is in fact time of the corresponding payload \"decoupling\". Our aim is to formulate first-order necessary conditions of extended weak minimum (\"extended\" means in fact that we consider variations of decoupling times also). To do this, we perfom the following scheme: first, introduce normalized time and replicate all constraints to reduce our OCP to classical form, then write necessary conditions, and finally, rewrite these conditions in original time. We also provide simple kinematic example of our conditions application (carrier moves along helix between two \"orbits\", payloads moves in passive way after decoupling and, in addition, provide problem statement related to group cooperation evasion). The second class is cooperative evasion of objects in gravity field. A number of controled \"satellites\" have to avoid collisions with both of uncontroled \"space debri\" elements and other satellites. We work with a number of \"local\" costs of maximin type, transform each of them to standard terminal cost by introducing undefined scalar variable and linear state constraint and then use the convolution with weights to work with \"general\" cost.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114327934","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
Predictive Functional Control for Difficult Second-Order Dynamics with a Simple Pre-compensation Strategy 基于简单预补偿策略的二阶困难动力学预测函数控制
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781367
Muhammad Saleheen Aftab, J. Rossiter, G. Panoutsos
{"title":"Predictive Functional Control for Difficult Second-Order Dynamics with a Simple Pre-compensation Strategy","authors":"Muhammad Saleheen Aftab, J. Rossiter, G. Panoutsos","doi":"10.1109/Control55989.2022.9781367","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781367","url":null,"abstract":"Predictive functional control (PFC) is a fairly straightforward model-based technique for controlling stable and monotonically convergent dynamics in a systematic fashion. However, owing to simplified design assumptions, the control performance generally degrades with oscillatory or unstable processes. This paper focuses on pre-stabilising such difficult dynamics, represented as second-order prediction models, before implementing the PFC. In this proposal, the pre-compensator is designed with a root locus method that shifts the undesirable open-loop poles to the stable break-in/breakaway position by varying compensator gain. It has been highlighted that such dynamics transformation enables PFC application in the standard manner by preserving design simplicity and intuitiveness in terms of parameter tuning and constraint handling. Two simulation examples are included to study the pros and cons of the proposal against the conventional PFC algorithm.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133519967","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
Phase limitations of generalised OZF multipliers: further results 广义OZF乘法器的相位限制:进一步的结果
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781445
W. Heath, J. Carrasco
{"title":"Phase limitations of generalised OZF multipliers: further results","authors":"W. Heath, J. Carrasco","doi":"10.1109/Control55989.2022.9781445","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781445","url":null,"abstract":"We present phase limitations for multipliers that preserve the positivity of nonlinearities with memoryless and monotone bounds. The phase limitations are tighter than those previously reported. For discrete-time multipliers specific phase limitaions can be found at each frequency that is a rational multiple of π. For continuous-time multipliers phase limitations can be found at pairs of frequencies that are rational multiples of each other. Both cases lead to insightful graphical interpretation.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132453092","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
A H∞ control solution for space debris removal missions using robotic arms: the ESA e.Deorbit case 机械臂空间碎片清除任务的H∞控制解决方案:ESA e.Deorbit案例
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781461
M. Faure, D. Henry, J. Cieslak, P. Colmenarejo, F. Ankersen
{"title":"A H∞ control solution for space debris removal missions using robotic arms: the ESA e.Deorbit case","authors":"M. Faure, D. Henry, J. Cieslak, P. Colmenarejo, F. Ankersen","doi":"10.1109/Control55989.2022.9781461","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781461","url":null,"abstract":"This paper is an application-oriented paper about space active debris removal. It discusses the design of a robust H∞ control solution for the ESA’s e.Deorbit mission, whose aim is to remove the Envisat defunct satellite from the low earth orbit protected zone. The solution pertains to a particular technological mean that involves a spacecraft equipped with a robotic manipulator, being operated in tight coordination with the spacecraft platform motion. The proposed solution is based jointly on the H∞ mixed sensitivity approach and the H∞ normalized coprime factor loop-shaping control theory. It is demonstrated in the paper, how uncertainties in the system can be efficiently managed. Simulation results conducted with the ESA’s e.Deorbit mission simulator, demonstrates the efficiency of the proposed control solution.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122132805","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
Global stabilization of a continuous tank reactor with Monod kinetics and amplitude-velocity bounded control 基于Monod动力学和幅速有界控制的连续槽式反应器的全局稳定
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781459
J. Solís-Daun, Juan Ramón González Álvarez
{"title":"Global stabilization of a continuous tank reactor with Monod kinetics and amplitude-velocity bounded control","authors":"J. Solís-Daun, Juan Ramón González Álvarez","doi":"10.1109/Control55989.2022.9781459","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781459","url":null,"abstract":"The problem of globally asymptotically stabilizing (GAS) a single-input two-state bioreactor, affine in the control and with Monod growth rate, by means of amplitude-derivative bounded nonlinear state feedback (SF) control is addressed within a control Lyapunov function (CLF) framework which exploits the dynamical characteristics of the open-loop (OL) reactor. The combination of notions and tools from CLF, dissipativeness, and chemical reactor engineering leads to a constrained damping-like controller with: (i) CLF constructed on the basis of the geometry of the OL dynamics, (ii) explicit formula representation, and (iii) assurance of closed-loop (CL) global robust (structurally stable) monostability, and control bounds as design degree of freedom.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127178581","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
Optimal investment in a market with borrowing and unbounded random coefficients 具有借贷和无界随机系数的市场中的最优投资
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781439
Abdullah Aljalal, Bujar Gashi
{"title":"Optimal investment in a market with borrowing and unbounded random coefficients","authors":"Abdullah Aljalal, Bujar Gashi","doi":"10.1109/Control55989.2022.9781439","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781439","url":null,"abstract":"We consider the problem of optimal investment in a market with borrowing and random coefficients. We assume that the bond interest rate, the borrowing interest rate, the appreciation rate and the volatility of stock, are random and possibly unbounded. Due to the possibility of borrowing, the formulated optimal investment problem is an optimal stochastic control problem with nonlinear system dynamics and possibly unbounded coefficients. Explicit closed-form solutions in terms of a linear backward stochastic differential equation are obtained for the power and logarithmic utility from terminal wealth. The optimal controls turn out to be of a linear state-feedback form.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122862335","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: 3
Extended Abstract: Supervisory Intelligent Operator/Scheme for optimal shared control authority between human-vessel cooperation for increased autonomy 基于监督智能操作员/方案的人船合作最优共享控制权限，提高自主性
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781464
S. Rajendran, M. Nordin, Salil Sharma, A. Khan, M. Gianni, R. Sutton
{"title":"Extended Abstract: Supervisory Intelligent Operator/Scheme for optimal shared control authority between human-vessel cooperation for increased autonomy","authors":"S. Rajendran, M. Nordin, Salil Sharma, A. Khan, M. Gianni, R. Sutton","doi":"10.1109/Control55989.2022.9781464","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781464","url":null,"abstract":"It is challenging to optimize the human-machine control authority allocation for an autonomous marine vessel in general. It is crucial to establish an effective scheme which achieves an optimal coordination between the human operator/crew and the vessel countering any threats to crew or vessel, sensory faults and other hostile operating conditions. An intelligent scheme which in cooperates the potential threats via learning-based modelling which could forecast the restrictions on navigation and control based on redundant sources to execute different level of shared control authority (between a human operator either on-bard or on-shore station and the vessel) with respect to International Maritime Organization (IMO) classification on degrees of autonomy. The scheme systematically constructs a decision-based smooth control allocation based on the potential sensor vulnerabilities (spoofing, interference, GNSS segment errors, jamming, scintillation, solar activity etc.,) and the factors of human-error which causes collision as per the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). Hence, this paper presents a scheme that establishes a topology for shared control authority for marine vessels considering the fact that still standards and regulations regarding marine autonomy still lack clarity and evolving. Hence, this would facilitate integration of existing Collision Avoidance Systems with an intelligent operator which regulates the intervention of human-operator in the loop for increased autonomy, safety and optimal cooperation.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192291","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
An Intelligent Aerial Manipulator for Wind Turbine Inspection and Repair 一种用于风力机检修的智能空中机械手
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781451
Basaran Bahadir Kocer, Lachlan Orr, B. Stephens, Y. F. Kaya, Tetiana Buzykina, A. Khan, M. Kovač
{"title":"An Intelligent Aerial Manipulator for Wind Turbine Inspection and Repair","authors":"Basaran Bahadir Kocer, Lachlan Orr, B. Stephens, Y. F. Kaya, Tetiana Buzykina, A. Khan, M. Kovač","doi":"10.1109/Control55989.2022.9781451","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781451","url":null,"abstract":"This study proposes aerial robots utilizing repair operations at height for wind turbines. It is aimed to decrease the risks for human health for a repair operation in risky environments. We address the wind turbine repair problem by proposing a new aerial manipulator that can leverage online detection and decision making. Our proposed system can help to reduce the time and costs for infrastructure maintenance when autonomous aerial robots are deployed intelligently.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129827220","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
Optimal Control of Volterra Difference Equations of the First Kind 第一类Volterra差分方程的最优控制
2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI: 10.1109/Control55989.2022.9781441
M. Alharthi, Tim Hughes, Markus Mueller
{"title":"Optimal Control of Volterra Difference Equations of the First Kind","authors":"M. Alharthi, Tim Hughes, Markus Mueller","doi":"10.1109/Control55989.2022.9781441","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781441","url":null,"abstract":"We consider optimal control for Volterra Difference Equations of the formbegin{equation*}x(n + 1) = sumlimits_{i = 0}^n B (i)x(n - i) + Cu(n),quad n in {mathbb{Z}^ + }.tag{1}end{equation*}We show that the optimal control problem can be solved via a Riccati equation or alternatively, and computationally less involved, by solving a linear equation. We consider an application from epidemiology where the optimal control problem admits an optimal solution using the theoretical result. However, the optimal control does not necessarily satisfy constraints of the system?s biology, i.e. non-negativity of the state.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131295403","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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