Article
Computer Science, Information Systems
Wenbo Fu, Xiaoming Yuan, Yongquan Li, Lijie Zhang
Summary: This paper investigates the energy efficiency and action coordination of negative control excavators and proposes a secondary control circuit of the main valve and two control strategies. The study shows that these strategies can effectively reduce overflow and improve energy saving and manipulation performance.
Article
Construction & Building Technology
Taerang Jung, Henrique Raduenz, Petter Krus, Victor J. De Negri, Jangmyung Lee
Summary: This paper proposes and evaluates a fuel recovery hydraulic system and its controller for an excavator. By using only electronically controlled hydraulic components and defining different operation modes, the system aims to improve performance, efficiency, or a balance between the two. Mathematical analysis and experimental verification on a Volvo 30-ton class excavator demonstrate that the system can increase working cycle speed and reduce fuel consumption.
AUTOMATION IN CONSTRUCTION
(2022)
Article
Computer Science, Artificial Intelligence
Tenglong Huang, Jue Wang, Huihui Pan
Summary: This article proposes a novel preview suspension control method from adaptive nonlinear control perspectives, which reduces computational burden and is more realistic compared to optimization-based works or existing linear state-space models-based results that neglected nonlinear terms. The X-shaped bio-inspired dynamics derived from animal or insect skeleton structures are introduced to reduce energy consumption utilizing beneficial geometrical nonlinearities. An optimal velocity planning approach is investigated to balance vehicle passage time, vibration suppression, and longitudinal comfort by solving a multi-objective optimization problem with the aid of road preview information. Acceleration constraint reduces search space and computing requirements while ensuring planned velocity optimality. Simulation and experiment results demonstrate the effectiveness and advantages of the constructed energy-saving adaptive preview control framework with constrained velocity planning.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2023)
Review
Construction & Building Technology
Guangxu Liu, Qingfeng Wang, Tao Wang, Bingcheng Li, Xiangshuo Xi
Summary: This paper explores the applications and future trends of vision-based manipulator pose measurement in hydraulic excavators through literature review and quantitative analysis, emphasizing the relevant challenges involved.
AUTOMATION IN CONSTRUCTION
(2024)
Article
Green & Sustainable Science & Technology
Jing Yang, Yingjie Gao, Rui Guo, Qingshan Gao, Jingyi Zhao
Summary: This study proposes a multi-segment mixed interpolation method using different higher-order polynomials to optimize the tooth tip trajectory of an excavator. It addresses the issues of discontinuity and jitter during autonomous excavator operation, resulting in a smoother trajectory. Comparative analysis and experimental investigation demonstrate high tracking accuracy, minimal displacement deviation, and smooth operation with minimal impact and vibration.
Article
Automation & Control Systems
Hao Feng, Jinye Jiang, Xiaodan Chang, Chenbo Yin, Donghui Cao, Hongfu Yu, Chunbiao Li, Jiaxue Xie
Summary: A fuzzy adaptive sliding mode controller is proposed to enhance the trajectory tracking accuracy and robustness of a heavy electro-hydraulic position system. The controller utilizes a potential-like function to design a new sliding surface with a non-linear integral term. An adaptive controller is employed to approximate the equivalent controller in sliding mode control.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2023)
Article
Engineering, Electrical & Electronic
Joseph T. Jose, J. Das, Santosh Kr. Mishra
Summary: This study proposes a gain scheduled Model Predictive Controller for the dynamic performance enhancement of an excavator boom. By isolating the transient part of pressure signals and using it to counteract actuator vibrations, significant reductions in cost function and vibration levels have been achieved with the proposed controller.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Electrical & Electronic
Shaohua Cui, Yongjie Xue, Maolong Lv, Baozhen Yao, Bin Yu
Summary: This paper proposes a cooperative constrained control algorithm for autonomous vehicles (AVs) to reduce inter-vehicle spacing errors, avoid high acceleration, and prevent vehicle collisions. The algorithm considers input quantization and inter-vehicle collision avoidance, and constructs position trajectories of consecutive AVs as collision-free constraints.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Alessandro di Gaeta, Carlos Ildefonso Hoyos Velasco, Veniero Giglio
Summary: This paper presents the mathematical modelling of an Electro-Hydraulic Valve Actuator (EHVA) prototype and its application to the design of cycle-by-cycle Valve Lift Control. The focus is on parameter identification and the development of a predictive simulation model for valve parameters, as well as the design of a cycle-by-cycle controller for maximum valve lift tuning.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Engineering, Electrical & Electronic
Yuhang Zhang, Weida Wang, Wei Wang, Chao Yang, Yuanbo Zhang
Summary: This paper proposes an adaptive constrained path following control scheme considering the influence of parametric uncertainty for autonomous electric vehicles. By utilizing adaptive feedback control law, designing a constraint function, and proving the closed-loop stability, the proposed scheme achieves effective driving safety and accurate path following.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Jing Yan, Zhiwen Guo, Xian Yang, Xiaoyuan Luo, Xinping Guan
Summary: This article focuses on the finite-time tracking control issue for AUV in a HOTL system, utilizing a cooperative tracking network with operator, buoys, AUV, and sensors. It includes a buoy-assisted localization estimator and a fast terminal sliding mode observer for finite-time velocity estimation, along with an adaptive-nonsingular fast terminal sliding mode tracking controller for driving AUV to the target point in finite time. The proposed solution improves convergence speed and reduces chattering by using signum and differential functions together.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Automation & Control Systems
Ruqi Ding, Min Cheng, Lai Jiang, Guoliang Hu
Summary: This article proposes an active fault-tolerant control system for independent metering valve faults, deriving analytical redundancy through the coordinated control of other fault-free valves to adapt to unmodeled fault dynamics, reducing degradation in motion tracking and energy-saving performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Zhouhua Peng, Chen Wang, Yong Yin, Jun Wang
Summary: This article proposes a safety-aware constrained anti-disturbance control method for the automatic berthing of maritime autonomous surface ships (MASSs) in a constrained water region. The method incorporates a line-of-sight guidance scheme and an extended state observer to achieve position-heading stabilization and compensate for ocean disturbances. Simulation results demonstrate the effectiveness of the proposed control law in ensuring the input-to-state safety of MASSs.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Marine
Jia-Bin Wu, Li Li, Yong-Kang Yan, Pin-Jian Wang, Wei Wei
Summary: This research proposed a variable pump pressure control strategy and a variable gain PID algorithm to optimize the energy efficiency and control accuracy of the deep-sea VCHCS, achieving lower energy consumption and improved performance at different working depths.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Thermodynamics
Mingde Gong, Yue Zhang, Zhong Jin, Wenbin Liu, Chengyang Ji
Summary: This paper studies the motion control strategy of a certain autonomous excavator manipulator and proposes a control method based on a dynamic model, effectively improving the accuracy and efficiency of the excavator. The simulation and test results demonstrate significant reductions in tracking errors and average errors.
ADVANCES IN MECHANICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Xiaoyu Luo, Chengcheng Zhao, Chongrong Fang, Jianping He
Summary: This paper investigates the problem of false data injection attacks in multi-agent dynamical systems and proposes FDI attack set selection algorithms to maximize the convergence error by finding the optimal subset of compromised agents.
Article
Automation & Control Systems
Nitin K. Singh, Abhisek K. Behera
Summary: In this paper, a twisting observer is proposed for robustly estimating the states of a second-order uncertain system. The observer approximates the unknown sign term for the non-measurable state with a delayed output-based switching function, and achieves the desired steady-state accuracy by controlling the delay parameter. The application of the observer to output feedback stabilization is also discussed.
Article
Automation & Control Systems
Alexander Aleksandrov
Summary: This paper investigates the absolute stability problem for positive Persidskii systems with delay, proposes a special construction method for diagonal Lyapunov-Krasovskii functionals, and derives a criterion for the existence of such functionals guaranteeing the absolute stability, as well as obtaining sufficient conditions for a family of time-delay Persidskii systems to construct a common diagonal Lyapunov-Krasovskii functional. The efficiency of the developed approaches is demonstrated through four examples.
Article
Automation & Control Systems
Noureddine Toumi, Roland Malhame, Jerome Le Ny
Summary: This paper addresses large multi-agent dynamic discrete choice problems using a linear quadratic mean field games framework. The model incorporates the features where agents have to reach a predefined set of possible destinations within a fixed time frame and running costs can become negative to simulate crowd avoidance. An upper bound on the time horizon is derived to prevent agents from escaping to infinity in finite time. The existence of a Nash equilibrium for infinite population and its epsilon-Nash property for a large but finite population are established. Simulations are conducted to explore the model behavior in various scenarios.
Article
Automation & Control Systems
Philippe Schuchert, Vaibhav Gupta, Alireza Karimi
Summary: This paper presents the design of fixed-structure controllers for the As2 and Asw synthesis problem using frequency response data. The minimization of the norm of the transfer function between the exogenous inputs and performance outputs is approximated through a convex optimization problem involving Linear Matrix Inequalities (LMIs). A general controller parametrization is used for continuous and discrete-time controllers with matrix transfer function or state-space representation. Numerical results show that the proposed data-driven method achieves performance equivalent to model-based approaches when a parametric model is available.
Correction
Automation & Control Systems
Zhijun Guo, Gang Chen
Article
Automation & Control Systems
Matteo Della Rossa, Thiago Alves Lima, Marc Jungers, Raphael M. Jungers
Summary: This paper presents new stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. The study focuses on two specific settings: the robust case with completely unknown and unobservable active mode, and the mode-dependent case with controller depending on the current active switching mode. The technical developments are based on graph-theory tools and path-complete Lyapunov functions framework, enabling the design of robust and mode-dependent piecewise linear state-feedback controllers using directed and labeled graphs.
Article
Automation & Control Systems
Elena Petri, Romain Postoyan, Daniele Astolfi, Dragan Nesic, W. P. M. H. (Maurice) Heemels
Summary: This study investigates a scenario where a perturbed nonlinear system transmits its output measurements to a remote observer via a packet-based communication network. By designing both the observer and the local transmission policies, accurate state estimates can be obtained while only sporadically using the communication network.
Article
Automation & Control Systems
Jonas Krook, Robi Malik, Sahar Mohajerani, Martin Fabian
Summary: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. The approach constructs a finite-state abstraction of the original system and synthesises a controller for the abstraction. It introduces the robust stutter bisimulation relation to account for disturbances and uncertainty, ensuring that related states have similar effects under the same controller. The paper demonstrates that the existence of a controller for the abstracted system implies the existence of a controller for the original system enforcing the linear temporal logic formula.
Article
Automation & Control Systems
Clement Chahbazian, Karim Dahia, Nicolas Merlinge, Benedicte Winter-Bonnet, Aurelien Blanc, Christian Musso
Summary: The paper derives a recursive formula of the Fisher information matrix on Lie groups and applies it to nonlinear Gaussian systems on Lie groups for testing. The proposed recursive CRLB is consistent with state-of-the-art filters and exhibits representative behavior in estimation errors. This paper provides a simple method to recursively compute the minimal variance of an estimator on matrix Lie groups, which is fundamental for implementing robust algorithms.
Article
Automation & Control Systems
Yiheng Fu, Pouria Ramazi
Summary: This study investigates the characteristics of decision fluctuations in heterogeneous populations and explores the uncertainties in imitation behavior. The findings are important for understanding the bounded rationality nature of imitation behaviors.
Article
Automation & Control Systems
Lars A. L. Janssen, Bart Besselink, Rob H. B. Fey, Nathan van de Wouw
Summary: This paper introduces a mathematical relationship between the accuracy of reduced-order linear-time invariant subsystem models and the stability and accuracy of the resulting reduced-order interconnected linear time-invariant model. This result can be used to directly translate the accuracy characteristics of the reduced-order subsystem models to the accuracy properties of the interconnected reduced-order model, or to translate accuracy requirements on the interconnected system model to accuracy requirements on subsystem models.
Article
Automation & Control Systems
Piyush Gupta, Vaibhav Srivastava
Summary: We study the optimal fidelity selection for a human operator servicing tasks in a queue, considering the trade-off between high-quality service and penalty due to increased queue length. By modeling the operator's cognitive dynamics and task fidelity, we determine the optimal policy and value function numerically, and analyze the structural properties of the optimal fidelity policy.
Article
Automation & Control Systems
Lukas Schwenkel, Alexander Hadorn, Matthias A. Mueller, Frank Allgoewer
Summary: In this work, the authors study economic model predictive control (MPC) in periodic operating conditions. They propose a method to achieve optimality by multiplying the stage cost by a linear discount factor, which is easy to implement and robust against online changes. Under certain assumptions, they prove that the resulting linearly discounted economic MPC achieves optimal asymptotic average performance and guarantees practical asymptotic stability of the optimal periodic orbit.
Article
Automation & Control Systems
Taher Ebrahim, Sankaranarayanan Subramanian, Sebastian Engell
Summary: We propose a robust nonlinear model predictive control algorithm for dynamic systems with mixed degrees of freedom. This algorithm optimizes both continuous and discrete manipulated variables, enhancing closed-loop performance. Our approach relies on a computationally efficient relaxation and integrality restoration strategy and provides sufficient conditions to establish recursive feasibility and guarantee robust closed-loop stability. The effectiveness of the approach is demonstrated through two nonlinear simulation examples.