Frontiers in control engineering最新文献_第6页

Robust Feedback Control for Discrete-Time Systems Based on Iterative LMIs with Polytopic Uncertainty Representations Subject to Stochastic Noise 随机噪声下基于多主题不确定性表示迭代LMI的离散系统鲁棒反馈控制

Frontiers in control engineering Pub Date : 2022-02-09 DOI: 10.3389/fcteg.2021.786152

Robert Dehnert, Michelle Damaszek, Sabine Lerch, A. Rauh, B. Tibken

{"title":"Robust Feedback Control for Discrete-Time Systems Based on Iterative LMIs with Polytopic Uncertainty Representations Subject to Stochastic Noise","authors":"Robert Dehnert, Michelle Damaszek, Sabine Lerch, A. Rauh, B. Tibken","doi":"10.3389/fcteg.2021.786152","DOIUrl":"https://doi.org/10.3389/fcteg.2021.786152","url":null,"abstract":"This paper deals with the design of linear observer-based state feedback controllers with constant gains for a class of nonlinear discrete-time systems in the form of a quasi-linear representation in presence of stochastic noise. For taking into account nonlinearities in the design of linear observer-based state feedback controllers, a polytopic modeling approach is investigated. An optimization problem is formulated to reduce the sensitivity of the controlled system towards stochastic input, state, and output noise with a predefined covariance. Due to the nonlinearities, the separation principle does not hold, thus, the controller and the observer have to be designed simultaneously. For this purpose, a Lyapunov-based method is used, which provides, in addition to the controller and observer gains, a stability proof for the nonlinear closed loop in a predefined polytopic domain. In general, this leads to nonlinear matrix inequalities. To solve these nonlinear matrix inequalities efficiently, we propose an approach based on linear matrix inequalities (LMIs) with a superposed iteration rule. When using this iterative LMI approach, a minimization task can be solved additionally, which desensitizes the closed loop to stochastic noise. The proposed method additionally enables the consideration of different linear closed loop structures by a unified Lyapunov-based framework. The efficiency of the proposed approach is demonstrated and compared with a classical LQG approach for a nonlinear overhead traveling crane.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41566070","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: 4

Path Planning for a Jumping Rover Team With a Charging Station in Multi-Waypoints Visiting Missions 带充电站的跳跃式漫游者团队在多航路点访问任务中的路径规划

Frontiers in control engineering Pub Date : 2022-02-04 DOI: 10.3389/fcteg.2022.803468

Myungjin Jung , Kai Chuen Tan , R. Dai

{"title":"Path Planning for a Jumping Rover Team With a Charging Station in Multi-Waypoints Visiting Missions","authors":"Myungjin Jung , Kai Chuen Tan , R. Dai","doi":"10.3389/fcteg.2022.803468","DOIUrl":"https://doi.org/10.3389/fcteg.2022.803468","url":null,"abstract":"This paper demonstrates an innovative group of robots, consisting of jumping rovers and a charging station, improved traversability and extended energy endurance when traveling to multiple target locations. By employing different jumping rovers with distinct energy consumption characteristics and jumping capabilities, we focus on searching for the most energy-efficient path of each jumping rover in a multi-waypoints visiting mission with obstacles. As jumping rovers can jump onto or over some obstacles without navigating around them, they have the potential to save energy by generating alternative paths to overcome obstacles. Moreover, due to the energy demands for the multi-waypoints mission and the limited battery capacity, a charging station is considered to provide extra energy for enhanced endurance during the mission. We first apply a refined rapidly-exploring random tree star (RRT∗) algorithm to find energy-efficient paths between any two target locations. Then, the genetic algorithm (GA) is applied to select the most profitable combination of paths to visit all targets with energy constraints. Finally, we verify the improved mobility and energy efficiency in both virtual simulation and experimental tests using a group of customized jumping rovers with a charging station and the proposed path planning and task allocation method.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42999678","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

Quantification of Fractional Dynamical Stability of EEG Signals as a Bio-Marker for Cognitive Motor Control 量化脑电信号的分数动态稳定性作为认知运动控制的生物标记

Frontiers in control engineering Pub Date : 2022-02-01 DOI: 10.3389/fcteg.2021.787747

Emily A. Reed, Paul C Bogdan, S. Pequito

引用次数: 2

Proportional Predictive Control of Networked Linear Switched Reluctance Machine System With Time-Varying Delay 具有时变时滞的网络化线性开关磁阻电机系统的比例预测控制

Frontiers in control engineering Pub Date : 2022-01-21 DOI: 10.3389/fcteg.2021.771857

L. Qiu, Tao Deng, Xiaomei Yang, Marzieh Najariyan, Jian-fei Pan, Chengxiang Liu

引用次数: 0

Event-Based Resilient Control of Multi-Agent Systems in Non-Ideal Communication Networks 非理想通信网络中多Agent系统基于事件的弹性控制

Frontiers in control engineering Pub Date : 2022-01-17 DOI: 10.3389/fcteg.2021.786318

Jianting Lyu, Lianghui Sun, Xin Wang, Dai Gao

引用次数: 0

A Submodular Receding Horizon Control Strategy to Distributed Persistent Monitoring 分布式持续监测的子模块后向时域控制策略

Frontiers in control engineering Pub Date : 2022-01-11 DOI: 10.3389/fcteg.2021.786877

Xiaohu Zhao, Yuanyuan Zou, Shaoyuan Li

引用次数: 0

Inference of regulatory networks through temporally sparse data. 基于时间稀疏数据的调节网络推理。

Frontiers in control engineering Pub Date : 2022-01-01 DOI: 10.3389/fcteg.2022.1017256

Mohammad Alali, Mahdi Imani

{"title":"Inference of regulatory networks through temporally sparse data.","authors":"Mohammad Alali, Mahdi Imani","doi":"10.3389/fcteg.2022.1017256","DOIUrl":"https://doi.org/10.3389/fcteg.2022.1017256","url":null,"abstract":"A major goal in genomics is to properly capture the complex dynamical behaviors of gene regulatory networks (GRNs). This includes inferring the complex interactions between genes, which can be used for a wide range of genomics analyses, including diagnosis or prognosis of diseases and finding effective treatments for chronic diseases such as cancer. Boolean networks have emerged as a successful class of models for capturing the behavior of GRNs. In most practical settings, inference of GRNs should be achieved through limited and temporally sparse genomics data. A large number of genes in GRNs leads to a large possible topology candidate space, which often cannot be exhaustively searched due to the limitation in computational resources. This paper develops a scalable and efficient topology inference for GRNs using Bayesian optimization and kernel-based methods. Rather than an exhaustive search over possible topologies, the proposed method constructs a Gaussian Process (GP) with a topology-inspired kernel function to account for correlation in the likelihood function. Then, using the posterior distribution of the GP model, the Bayesian optimization efficiently searches for the topology with the highest likelihood value by optimally balancing between exploration and exploitation. The performance of the proposed method is demonstrated through comprehensive numerical experiments using a well-known mammalian cell-cycle network.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9795458/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10470625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Observer-Based Control of LPV Systems with Input Delay and Saturation and Matched Disturbances via a Generalized Sector Condition 广义扇区条件下具有输入延迟、饱和和匹配扰动的LPV系统观测器控制

Frontiers in control engineering Pub Date : 2021-12-10 DOI: 10.3389/fcteg.2021.710388

Saeed Salavati, Karolos Grigoriadis , Matthew Franchek

{"title":"Observer-Based Control of LPV Systems with Input Delay and Saturation and Matched Disturbances via a Generalized Sector Condition","authors":"Saeed Salavati, Karolos Grigoriadis , Matthew Franchek ","doi":"10.3389/fcteg.2021.710388","DOIUrl":"https://doi.org/10.3389/fcteg.2021.710388","url":null,"abstract":"This paper examines the control design for parameter-dependent input-delay linear parameter-varying (LPV) systems with saturation constraints and matched input disturbances. A gain-scheduled dynamic output feedback controller, coupled with a disturbance observer to cancel out input disturbance effects, was augmented with an anti-windup compensator to locally stabilize the input-delay LPV system under saturation, model uncertainty, and exogenous disturbances. Sufficient delay-dependent conditions to asymptotically stabilize the closed-loop system were derived using Lyapunov-Krasovskii functionals and a modified generalized sector condition to address the input saturation nonlinearity. The level of disturbance rejection was characterized via the closed-loop induced L 2 -norm of the closed-loop system in the form of linear matrix inequality (LMI) constraints. The results are examined in the context of the mean arterial pressure (MAP) control in the clinical resuscitation of critical hypotensive patients. The MAP variation response to the injection of vasopressor drugs was modeled as an LPV system with a varying input delay and was susceptible to model uncertainty and input/output disturbances. A Bayesian filtering method known as the cubature Kalman filter (CKF) was used to estimate the instantaneous values of the parameters. The varying delay was estimated via a multiple-model approach. The proposed input-delay LPV control was validated in closed-loop simulations to demonstrate its merits and capabilities in the presence of drug administration constraints.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41747085","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

Planar Formation Control of a School of Robotic Fish: Theory and Experiments 一类机器鱼的平面编队控制：理论与实验

Frontiers in control engineering Pub Date : 2021-12-03 DOI: 10.3389/fcteg.2021.782121

D. Paley, A. A. Thompson, A. Wolek, Paul Ghanem

{"title":"Planar Formation Control of a School of Robotic Fish: Theory and Experiments","authors":"D. Paley, A. A. Thompson, A. Wolek, Paul Ghanem","doi":"10.3389/fcteg.2021.782121","DOIUrl":"https://doi.org/10.3389/fcteg.2021.782121","url":null,"abstract":"This paper presents a nonlinear control design for the stabilization of parallel and circular motion in a school of robotic fish actuated with internal reaction wheels. The closed-loop swimming dynamics of the fish robots are represented by the canonical Chaplygin sleigh. They exchange relative state information according to a connected, undirected communication graph to form a system of coupled, nonlinear, second-order oscillators. Prior work on collective motion of constant-speed, self-propelled particles serves as the foundation of our approach. However, unlike a self-propelled particle, the fish robots follow limit-cycle dynamics to sustain periodic flapping for forward motion with time-varying speed. Parallel and circular motions are achieved in an average sense without feedback linearization of the agents’ dynamics. Implementation of the proposed parallel formation control law on an actual school of soft robotic fish is described, including system identification experiments to identify motor dynamics and the design of a motor torque-tracking controller to follow the formation torque control. Experimental results demonstrate a school of four robotic fish achieving parallel formations starting from random initial conditions.","PeriodicalId":73076,"journal":{"name":"Frontiers in control engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41611534","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

Broad Learning Aided Model Predictive Control With Application to Continuous Stirred Tank Heater 广义学习辅助模型预测控制及其在连续搅拌槽加热器中的应用

Frontiers in control engineering Pub Date : 2021-11-30 DOI: 10.3389/fcteg.2021.788492

Mo Tao, Tianyi Gao, Xianling Li, Kuan Li

引用次数: 0