arXiv - EE - Systems and Control最新文献

Hook-Based Aerial Payload Grasping from a Moving Platform 从移动平台抓取基于挂钩的空中有效载荷

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11788

Péter Antal, Tamás Péni, Roland Tóth

引用次数: 0

Model-Free Generic Robust Control for Servo-Driven Actuation Mechanisms with Experimental Verification 伺服驱动执行机制的无模型通用鲁棒控制与实验验证

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11828

Mehdi Heydari Shahna, Jouni Mattila

{"title":"Model-Free Generic Robust Control for Servo-Driven Actuation Mechanisms with Experimental Verification","authors":"Mehdi Heydari Shahna, Jouni Mattila","doi":"arxiv-2409.11828","DOIUrl":"https://doi.org/arxiv-2409.11828","url":null,"abstract":"To advance theoretical solutions and address limitations in modeling complex\u0000servo-driven actuation systems experiencing high non-linearity and load\u0000disturbances, this paper aims to design a practical model-free generic robust\u0000control (GRC) framework for these mechanisms. This framework is intended to be\u0000applicable across all actuator systems encompassing electrical, hydraulic, or\u0000pneumatic servomechanisms, while also functioning within complex interactions\u0000among dynamic components and adhering to control input constraints. In this\u0000respect, the state-space model of actuator systems is decomposed into smaller\u0000subsystems that incorporate the first principle equation of actuator motion\u0000dynamics and interactive energy conversion equations. This decomposition\u0000operates under the assumption that the comprehensive model of the servo-driven\u0000actuator system and energy conversion, uncertainties, load disturbances, and\u0000their bounds are unknown. Then, the GRC employs subsystem-based adaptive\u0000control strategies for each state-variant subsystem separately. Despite control\u0000input constraints and the unknown interactive system model, the GRC-applied\u0000actuator mechanism ensures uniform exponential stability and robustness in\u0000tracking desired motions. It features straightforward implementation,\u0000experimentally evaluated by applying it to two industrial applications.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264109","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

Revolutionizing Pharmaceutical Manufacturing: Advances and Challenges of 3D Printing System and Control 革命性的医药制造：三维打印系统与控制的进步与挑战

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11712

Rahul Kumar, Vikram Singh, Priya Gupta

引用次数: 0

Data-Efficient Quadratic Q-Learning Using LMIs 利用 LMI 进行数据高效的二次 Q 学习

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11986

J. S. van Hulst, W. P. M. H. Heemels, D. J. Antunes

引用次数: 0

Anticipating Oblivious Opponents in Stochastic Games 在随机博弈中预测被忽视的对手

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11671

Shadi Tasdighi Kalat, Sriram Sankaranarayanan, Ashutosh Trivedi

{"title":"Anticipating Oblivious Opponents in Stochastic Games","authors":"Shadi Tasdighi Kalat, Sriram Sankaranarayanan, Ashutosh Trivedi","doi":"arxiv-2409.11671","DOIUrl":"https://doi.org/arxiv-2409.11671","url":null,"abstract":"We present an approach for systematically anticipating the actions and\u0000policies employed by emph{oblivious} environments in concurrent stochastic\u0000games, while maximizing a reward function. Our main contribution lies in the\u0000synthesis of a finite emph{information state machine} whose alphabet ranges\u0000over the actions of the environment. Each state of the automaton is mapped to a\u0000belief state about the policy used by the environment. We introduce a notion of\u0000consistency that guarantees that the belief states tracked by our automaton\u0000stays within a fixed distance of the precise belief state obtained by knowledge\u0000of the full history. We provide methods for checking consistency of an\u0000automaton and a synthesis approach which upon successful termination yields\u0000such a machine. We show how the information state machine yields an MDP that\u0000serves as the starting point for computing optimal policies for maximizing a\u0000reward function defined over plays. We present an experimental evaluation over\u0000benchmark examples including human activity data for tasks such as cataract\u0000surgery and furniture assembly, wherein our approach successfully anticipates\u0000the policies and actions of the environment in order to maximize the reward.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264199","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

Modeling and Simulation of a Fully Autonomous Electric Vehicle (AEV) 全自动电动汽车 (AEV) 的建模与仿真

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11641

Qasim Ajao, Lanre Sadeeq

{"title":"Modeling and Simulation of a Fully Autonomous Electric Vehicle (AEV)","authors":"Qasim Ajao, Lanre Sadeeq","doi":"arxiv-2409.11641","DOIUrl":"https://doi.org/arxiv-2409.11641","url":null,"abstract":"With continuous advancements in science and technology, there is increasing\u0000focus on environmental sustainability, leading to heightened interest in\u0000autonomous electric vehicles (AEVs). AEVs hold significant potential for\u0000enhancing electric mobility, energy efficiency, environmental preservation, and\u0000driving capabilities. They offer numerous advantages that could revolutionize\u0000transportation and urban lifestyles, notably by improving road safety through\u0000the reduction of human error, a leading cause of accidents. This paper presents\u0000a comprehensive simulation of an AEV by developing and integrating models for\u0000the driving system, battery, motor, transmission, and vehicle body within the\u0000MATLAB/Simulink environment. Each component is configured and interconnected to\u0000create a pure vehicle model. The simulation is conducted under UDDS cycle\u0000conditions to evaluate the vehicle's performance in speed maintenance, driving\u0000distance, acceleration capabilities, and battery state-of-charge (SoC)\u0000dynamics. The results demonstrate that the vehicle exhibits strong output\u0000characteristics. Furthermore, the driver model incorporates an energy brake\u0000recovery function, which, when set to a 50% recovery efficiency, increases the\u0000driving distance by 25% compared to a vehicle without this function.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264247","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 novel pedestrian road crossing simulator for dynamic traffic light scheduling systems 用于动态交通灯调度系统的新型行人过马路模拟器

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11623

Dayuan Tan, Mohamed Younis, Wassila Lalouani, Shuyao Fan, Guozhi Song

{"title":"A novel pedestrian road crossing simulator for dynamic traffic light scheduling systems","authors":"Dayuan Tan, Mohamed Younis, Wassila Lalouani, Shuyao Fan, Guozhi Song","doi":"arxiv-2409.11623","DOIUrl":"https://doi.org/arxiv-2409.11623","url":null,"abstract":"The major advances in intelligent transportation systems are pushing societal\u0000services toward autonomy where road management is to be more agile in order to\u0000cope with changes and continue to yield optimal performance. However, the\u0000pedestrian experience is not sufficiently considered. Particularly, signalized\u0000intersections are expected to be popular if not dominant in urban settings\u0000where pedestrian density is high. This paper presents the design of a novel\u0000environment for simulating human motion on signalized crosswalks at a\u0000fine-grained level. Such a simulation not only captures typical behavior, but\u0000also handles cases where large pedestrian groups cross from both directions.\u0000The proposed simulator is instrumental for optimized road configuration\u0000management where the pedestrians' quality of experience, for example, waiting\u0000time, is factored in. The validation results using field data show that an\u0000accuracy of 98.37 percent can be obtained for the estimated crossing time.\u0000Other results using synthetic data show that our simulator enables optimized\u0000traffic light scheduling that diminishes pedestrians' waiting time without\u0000sacrificing vehicular throughput.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264248","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

From exponential to finite/fixed-time stability: Applications to optimization 从指数稳定性到有限/固定时间稳定性：优化应用

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11713

Ibrahim K. Ozaslan, Mihailo R. Jovanović

引用次数: 0

Physics-Informed Building Occupancy Detection: a Switching Process with Markov Regime 物理信息型建筑物占用检测：马尔可夫机制的切换过程

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11743

Amir-Mohammad Esmaieeli-Sikaroudi, Boris Goikhman, Dmitri Chubarov, Hung Dinh Nguyen, Michael Chertkov, Petr Vorobev

{"title":"Physics-Informed Building Occupancy Detection: a Switching Process with Markov Regime","authors":"Amir-Mohammad Esmaieeli-Sikaroudi, Boris Goikhman, Dmitri Chubarov, Hung Dinh Nguyen, Michael Chertkov, Petr Vorobev","doi":"arxiv-2409.11743","DOIUrl":"https://doi.org/arxiv-2409.11743","url":null,"abstract":"Energy efficiency of buildings is considered to be one of the major means of\u0000achieving the net-zero carbon goal around the world. The big part of the energy\u0000savings are supposed to be coming from optimizing the operation of the building\u0000heating, ventilation, and air conditioning (HVAC) systems. There is a natural\u0000trade-off between the energy efficiency and the indoor comfort level, and\u0000finding an optimal operating schedule/regime requires knowing the occupancy of\u0000different spaces inside of the building. Moreover, the COVID-19 pandemic has\u0000also revealed the need to sustain the high quality of the indoor air in order\u0000to reduce the risk of spread of infection. Occupancy detection from indoor\u0000sensors is thus an important practical problem. In the present paper, we\u0000propose detection of occupancy based on the carbon dioxide measurements inside\u0000the building. In particular, a new approach based on the, so-called, switching\u0000auto-regressive process with Markov regime is presented and justified by the\u0000physical model of the carbon dioxide concentration dynamics. We demonstrate the\u0000efficiency of the method compared to simple Hidden Markov approaches on\u0000simulated and real-life data. We also show that the model is flexible and can\u0000be generalized to account for different ventilation regimes, simultaneously\u0000detecting the occupancy and the ventilation rate.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264112","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

On the Stability of Consensus Control under Rotational Ambiguities 论旋转模糊条件下共识控制的稳定性

arXiv - EE - Systems and Control Pub Date : 2024-09-18 DOI: arxiv-2409.11979

Zhonggang Li, Changheng Li, Raj Thilak Rajan

引用次数: 0