Cybernetics and Physics最新文献

{"title":"Iterative learning control design for a discrete-time system under delay along the sample trajectory and input backlash","authors":"Pavel Pakshin, Julia Emelianova, Mikhail Emelianov","doi":"10.35470/2226-4116-2023-12-2-136-144","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-2-136-144","url":null,"abstract":"Actuator components of gantry robots, such as reduction gears or clutches, typically have nonlinear characteristics such as dead zone, hysteresis, or backlash. Iterative learning control (ILC) is widely used to achieve the high accuracy of repetitive operations performed by such robots. These nonlinearities can severely limit the achievable accuracy. However, their impact on ILC is not well understood. This paper considers a discrete time system under a control delay along the sample trajectory and with input backlash. The method of vector Lyapunov functions for repetitive processes is applied to design an ILC law that ensures the convergence of the learning error. An example is given to demonstrate the effectiveness of the proposed ILC algorithm.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136343675","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}

{"title":"Nonlinear feedback control based on a coordinate transformation in multi-machine power systems","authors":"Xuecheng Wen, Igor B. Furtat","doi":"10.35470/2226-4116-2023-12-2-157-161","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-2-157-161","url":null,"abstract":"This paper proposes a novel nonlinear feedback control for multi-machine power systems with unknown parameters. There is no need for a state observer and knowledge of the system parameters. The implementation of the control system is therefore more simple. The proposed control algorithm maintains the power angle of each generator within a predetermined restriction for any time and enhances transient stability simultaneously. Simulation results illustrate the effectiveness of the proposed algorithm.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136343677","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}

{"title":"Load frequency control in three-area single unit power system considering non-linearities effect","authors":"Narender Saini, J. Ohri","doi":"10.35470/2226-4116-2023-12-1-60-69","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-60-69","url":null,"abstract":"Load frequency control is always a crucial aspect in delivering quality power in integrated power system. This paper proposes an optimally tuned Proportional-Integral-Derivative (PID) controller to remove frequency errors caused by unexpected load fluctuations while ensuring tie-line power exchange. Moreover, the threearea power system with non-linearities such as Generation Rate Constraint and Governor Dead Band has been investigated. For tuning the parameters of PID controller Improved Grey Wolf Optimization (IGWO) has been used. The dynamic response of optimized PID controller have been compared with the result obtained from Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Sine Cosine Algorithm (SCA).","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41505356","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}

{"title":"Design of optimal-robust control of step motors with partially unknown parameters and disturbances","authors":"I. Furtat, Y. Zhukov, S. Matveev","doi":"10.35470/2226-4116-2023-12-1-23-27","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-23-27","url":null,"abstract":"The paper describes the design of a novel control law for step motor under participially unknown parameters and bounded external disturbances. The unknown parameters and disturbances are related to the motor torque, the rotor moment of inertia, the viscous friction, the resistance and the load torque. The design of a novel control law is based on feedback linearization and linear robust control. The gain of a linear control law is calculated by solving the linear matrix inequality and some optimization problems. The simulations illustrate the efficiency of the proposed scheme in comparison with classical PID-controller and adaptive control law.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46907117","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}

{"title":"Frequency-independent smartphone peripherals energy consumption estimation","authors":"Ilya Kuznetsov, V. Miroshnikov, Stanislav Sartasov","doi":"10.35470/2226-4116-2023-12-1-42-50","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-42-50","url":null,"abstract":"The power consumption of mobile devices is a hot topic these days, and it is important to address it when developing applications. One of the most popular ways to measure it is accessing internal sensors using Android Debug Bridge (ADB). We discovered that measurement frequency may skew the power readings. Based on this approach we propose our own algorithm for calculating smartphone energy consumption constants — the power in milliamperes at nominal voltage for different peripherals states. Our algorithm takes measurement frequency bias into account, and its results are compared with the method previously published in literature as well as the baseline data from power profile. We conclude that the developed approach provides better estimation.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43960285","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}

{"title":"Controllability properties for multi-agent linear systems. A geometric approach","authors":"M. I. García-Planas","doi":"10.35470/2226-4116-2023-12-1-28-33","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-28-33","url":null,"abstract":"This work addresses the controlability of a class of multi-agent linear systems that they are interconnected via communication channels. Multiagent systems have attracted much attention because they have great applicability in multiple areas, such as power grids, bioinformatics, sensor networks, vehicles, robotics and neuroscience, for example. Consequently, they have been widely studied by scientists in different fields specially in the field of control theory. Recently has taken interest to analyze the control properties as consensus controllability of multi-agent dynamical systems motivated by the fact that the architecture of communication network in engineering multi-agent systems is usually adjustable. In this paper, the control condition is analyzed under geometrical\u0000point of view. in the case of multiagent linear systems that can be described by k agents with dynamics x''_i = A_i x_i + B_i u_i, i = 1, . . . , k.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48381272","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}

{"title":"Greedy and branches-and-boundaries methods for the optimal choice of a subset of vertices in a large communication network","authors":"B. Melnikov, Y. Terentyeva","doi":"10.35470/2226-4116-2023-12-1-51-59","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-51-59","url":null,"abstract":"The problems of the proposed paper are generated by the actual tasks of communication networks. The development of communication resources is accompanied by an increase in the dimension of existing communication networks, for which the usual tools for solving network problems are becoming increasingly ineffective.At the same time, the spectrum of communication network problems covers both classical graph theory problems and specialized problems linking them with mathematical models of various fields of mathematics, including optimization theory, dynamic programming, probability theory and the theory of heuristic algorithms. This paper is devoted to the study of the problem of optimal allocation of a certain resource on the objects of the communication network. In this case, a complete set of specialized equipment at the nodes of the communication network is considered as a resource. It is necessary to optimize the number of pieces of equipment with the condition that all fiber-optic communication lines of the network are under the control of installed reflectometers. To solve this problem, variants of two methods were described: the greedy algorithm and the method of branches and boundaries. On the basis of the described algorithms, the computer programs were implemented and computational experiments were carried out; in the latter, the dimension of the communication network was chosen high enough to guarantee the legality of using the selected variants of algorithms for real communication networks. A representative series of experiments has shown that it is more expedient to use variants of the greedy heuristic algorithm for the group of problems under consideration, this paper contains a detailed argumentation\u0000of the result obtained. The considered problem can also be transferred to cases of optimal placement of other resources on the objects of the communication network. At the same time, if there is a specific objective function, there will be another formalization of restrictions. But the approaches to choosing the optimum may be identical, which makes the results obtained in the paper more important due to their participation in potential generalizations of the problem.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47926156","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}

{"title":"Stability analysis of nonstationary mechanical systems with time delay via averaging method","authors":"A. Aleksandrov","doi":"10.35470/2226-4116-2023-12-1-5-10","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-5-10","url":null,"abstract":"A linear mechanical system with constant matrix of dissipative forces and continuous and bounded matrices of positional forces is studied. It is assumed that there are a large positive multiplier at the vector of dissipative forces and a constant delay in positional forces. The case is considered where the associated delay-free averaged system is asymptotically stable. With the aid of the Lyapunov direct method and the averaging method, conditions are derived under which neither delay nor timevarying perturbations with zero mean values disturb the asymptotic stability. The developed approach is used in the problem of monoaxial stabilization of a rigid body.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46813431","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}

{"title":"Partially observed distributed optimization under unknown-but-bounded disturbances","authors":"V. Erofeeva, Natalia Kizhaeva","doi":"10.35470/2226-4116-2023-12-1-16-22","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-16-22","url":null,"abstract":"In this paper, we consider non-stationary distributed optimization with partially observed parameters with acceleration based on the estimate sequence proposed by Y. Nesterov. We formulate this partial observability as time-varying communication matrix defined for each parameter separately. We propose the new distributed algorithm combining the accelerated Simultaneous Perturbation Stochastic Approximation (SPSA) and the described communication scheme as well as show its theoretical properties. The simulation validates the proposed algorithm in multi-sensor multi-target tracking problem over delayed channels.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43177511","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}

{"title":"Lev Meerovich Bregman","authors":"A. Fradkov, Natalia Naumova","doi":"10.35470/2226-4116-2023-12-1-93-96","DOIUrl":"https://doi.org/10.35470/2226-4116-2023-12-1-93-96","url":null,"abstract":"In the paper, a brief history of life and work of celebrated Russian mathematician Lev Meerovich Bregman (the author of Bregman divergence and Bregman method) is exposed. The list of Bregman’s main publications is given.","PeriodicalId":37674,"journal":{"name":"Cybernetics and Physics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49100755","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}