Article
Engineering, Mechanical
Sevak Tahmasian, Craig A. Woolsey
Summary: This paper discusses the vibrational stabilization of a class of single-input, two degree-of-freedom mechanical systems. The attainable equilibrium positions for the unactuated coordinate are found to be identical regardless of the control formulation. However, the subset of stabilizable positions depends on the formulation. Generally, open-loop force-input can stabilize a larger set of equilibria than open-loop position-input, and the use of feedback further expands this set. The paper presents examples of the dynamic analysis, open- and closed-loop vibrational control, and stability mechanisms of two underactuated systems.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Jingjing Jiangand, Alessandro Astolfi
Summary: A novel method inspired by back-stepping, called underactuated back-stepping, is introduced to solve the stabilization problem for a class of nonlinear systems, specifically underactuated mechanical systems. The properties of resulting closed-loop systems are studied in detail, and case studies are provided to demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Honggui Han, Jiacheng Zhang, Ying Hou, Junfei Qiao
Summary: Optimal control methods have shown promising performance in nonlinear systems, but solving optimal reference trajectories in uncertain nonlinear systems with complex optimization objectives is difficult and often ignored. To address this issue, a double-closed-loop robust optimal control (DCL-ROC) method is proposed. The method divides the optimal control process into a closed-loop optimization process and a closed-loop control process, and improves the ability to solve uncertain optimization problems. Experimental results demonstrate that the proposed method outperforms other optimal control methods.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Mathematics
Constanza S. Fernandez De la Vega, Richard Moore, Mariana Ines Prieto, Diego Rial
Summary: In this study, we investigate an optimal internal control problem for the cubic nonlinear Schrodinger equation on the line. We establish the well-posedness of the problem and prove the existence of an optimal control. Additionally, we present first order optimality conditions and numerical simulations.
JOURNAL OF DIFFERENTIAL EQUATIONS
(2023)
Article
Engineering, Marine
Wenting Song, Shaocheng Tong
Summary: This paper investigates a reinforcement Q-learning fuzzy optimal tracking control method for nonlinear underactuated unmanned surface vehicles (USVs) with external disturbances. The motion dynamics of USVs are described using the Takagi-Sugeno (T-S) fuzzy discrete-time systems. The existence condition of optimal solutions is derived by applying the parallel distributed compensation (PDC) method and constructing a cost function. A Q-learning value iteration (VI) algorithm is developed to solve the solutions of the algebraic Riccati equations (AREs).
Article
Engineering, Mechanical
G. Rigatos
Summary: A nonlinear optimal control method is proposed for the dynamic model of double-pendulum overhead crane system. The method solves the control and stabilization problem by approximately linearizing the system at each time step and designing a stabilizing optimal feedback controller based on the linearized state-space model. The control gains are computed by solving an algebraic Riccati equation and the H-infinity Kalman filter is used for robust state estimation-based control.
JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES
(2023)
Article
Engineering, Marine
Hongbiao Zhao, Xiaowei Gao, Yujia Zhang, Xianku Zhang
Summary: In this study, an extended state observer was proposed to handle the uncertainty of ship models and estimate external disturbances. An improved dynamic virtual ship guidance algorithm and an energy-saving ship path following controller were developed by combining nonlinear feedback and adaptive backstepping. The proposed nonlinear control algorithms resulted in improved path following control, reducing the average ship output rudder angle by 17%, average steering power by 10%, Energy Efficiency Design Index (EEDI) by 2%, increasing the average ship speed by 0.3 knots, and reducing carbon dioxide emissions during general shipping by 32.45%. It is anticipated that the proposed algorithm will play an essential role in the process of decarbonization in shipping.
Article
Robotics
Gerasimos Rigatos, Nikolaos Zervos, Pierluigi Siano, Masoud Abbaszadeh, Jorge Pomares, Patrice Wira
Summary: This article proposes a nonlinear optimal control method for underactuated power-line inspection robots, achieving global stability through Lyapunov analysis and solving algebraic Riccati equations to determine feedback gains. The method improves the autonomy and operational capacity of robotic systems by minimizing energy dispersion and ensuring reliable functioning in underactuation conditions.
Article
Mathematics
Zixuan Li, Jingtao Shi
Summary: This paper discusses the stochastic linear-quadratic optimal control problem with Poisson jumps and introduces the concept of closed-loop strategies. The optimal closed-loop strategy is characterized by specific equations and demonstrated through a simple example.
Article
Automation & Control Systems
Manuel Lanchares, Wassim M. Haddad
Summary: This article explores the use of Lyapunov functions in evaluating nonquadratic cost functionals for Ito-type nonlinear stochastic difference equations, showing that the cost functional can be evaluated in closed-form when related to an underlying Lyapunov function ensuring asymptotic stability in probability. By analyzing discrete-time linear and nonlinear stochastic dynamical systems, as well as developing a stochastic optimal control framework, the study establishes connections between stochastic Lyapunov theory and stochastic Bellman theory to guarantee both stability and optimality in the closed-loop nonlinear system.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Tong Yang, Ning Sun, He Chen, Yongchun Fang
Summary: This article proposes an adaptive tracking controller for underactuated mechatronic systems, aiming to achieve accurate positioning/tracking control while minimizing control effort. By developing an auxiliary compensation term and a robust term, the proposed controller ensures convergence of both actuated and unactuated variables. The controller also incorporates an online approximation of the performance index function, making the stability analysis process more concise.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Electrical & Electronic
Renzo Vargas, Leonardo H. Macedo, Juan M. Home-Ortiz, Jose Roberto Sanches Mantovani, Ruben Romero
Summary: This article introduces a new mixed-integer second-order cone programming model for solving the restoration problem in active distribution systems with distributed generators, voltage regulators, on-load tap changers, and capacitor banks. Tests on a 53-node system show that the proposed approach outperforms radial configurations and that voltage control can lead to more efficient restoration schemes.
IEEE TRANSACTIONS ON SMART GRID
(2021)
Article
Engineering, Chemical
Tianpeng Fan, Zhengtao Ding
Summary: This paper investigates the optimal control of a switched nonlinear system with multiple subsystems and different dynamics. The goal is to minimize the cost function by establishing a switching law that determines the sequence of subsystems, switching time, and control input. The HJB equation for the switched system is derived, and Galerkin's spectral method is introduced for approximation. A numerical example of a continuous stirred tank reactor demonstrates the effectiveness of the proposed method in improving system performance. This paper is the first attempt to investigate the optimal control of switched CSTR systems.
CHEMICAL ENGINEERING SCIENCE
(2023)
Article
Statistics & Probability
Jingrui Sun, Jie Xiong, Jiongmin Yong
Summary: This paper explores a stochastic linear-quadratic optimal control problem in a finite time horizon, showing that convexity of the cost functional is necessary for the existence of an open-loop optimal control, while uniform convexity is sufficient. It also provides sufficient conditions for uniform convexity of the cost functional, which are more general than classical conditions.
ANNALS OF APPLIED PROBABILITY
(2021)
Article
Automation & Control Systems
Jianbo Cui, Shu Liu, Haomin Zhou
Summary: We study the optimal control formulation for the stochastic nonlinear Schrodinger equation (SNLSE) on a finite graph. By treating the SNLSE as a stochastic Wasserstein Hamiltonian flow on the density manifold, we prove the global existence of a unique strong solution for SNLSE with a linear drift control or a linear diffusion control on the graph. Additionally, we provide the gradient formula, the existence of the optimal control, and a description of the optimal condition through the forward and backward stochastic differential equations.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2023)
Article
Thermodynamics
Ahmet Kirli, Mehmet Selcuk Arslan
ADVANCES IN MECHANICAL ENGINEERING
(2016)
Article
Engineering, Multidisciplinary
M. Selcuk Arslan
MATHEMATICAL PROBLEMS IN ENGINEERING
(2017)
Article
Automation & Control Systems
Erhan Akdogan, Mehmet Emin Aktan, Ahmet Taha Koru, M. Selcuk Arslan, Murat Athhan, Banu Kuran
Article
Automation & Control Systems
M. Selcuk Arslan, Mert Sever
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2019)
Article
Engineering, Multidisciplinary
Mert Sever, Hasan Sefa Sendur, Hakan Yazici, Mehmet Selcuk Arslan
JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY
(2019)
Article
Engineering, Mechanical
Mert Sever, Namik Zengin, Ahmet Kirli, M. Selcuk Arslan
Summary: Passengers in autonomous vehicles are expected to be more occupied with in-vehicle activities, leading to decreased predictability of car motions and increased sensitivity to carsickness. Therefore, developing controllers for autonomous driving to improve passenger comfort and reduce carsickness is crucial, utilizing motion variables to minimize carsickness-related measures.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2021)
Article
Robotics
Efe Levent Oyman, Muhammed Yusuf Korkut, Cuneyt Ylmaz, Zeki Y. Bayraktaroglu, M. Selcuk Arslan
Summary: The design and control of a cable-driven rehabilitation robot allow for easily configuring exercises for different articulations without the need for orthosis. Three types of exercises – passive, active-assisted, and active-resisted – were implemented using impedance control. Experimental studies demonstrated the effectiveness of the proposed controller, achieving satisfactory closed-loop performances.
Article
Ophthalmology
Kubra Serefoglu Cabuk, Senay Asik Nacaroglu, Gamze Ozturk Karabulut, Korhan Fazil, Mehmet Selcuk Arslan, Mehmet Guray Guler, Muhittin Taskapili
Summary: The study compared the effectiveness of MMCR and ELA in unilateral ptosis and found that both procedures were equally effective in achieving symmetry, as demonstrated by strong correlations between objective and subjective measurements. ELA showed better outcomes in increasing MRD1 and POC, while statistically significant improvements were seen in both groups in terms of symmetry. POC may serve as a criterion for evaluating symmetry in ptosis.
EUROPEAN JOURNAL OF OPHTHALMOLOGY
(2022)
Proceedings Paper
Automation & Control Systems
Mahdi A. A. Elhag, Mehmet Selcuk Arslan
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
(2018)
Proceedings Paper
Automation & Control Systems
E. Levent Oyman, M. Selcuk Arslan
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
(2018)
Proceedings Paper
Automation & Control Systems
Mert Sever, Namik Zengin, Ahmet Kirli, M. Selcuk Arslanl
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
(2018)
Proceedings Paper
Automation & Control Systems
Mert Sever, M. Selcuk Arslan
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
(2018)
Proceedings Paper
Automation & Control Systems
Namik Zengin, Mert Sever, Ahmet Kirli, M. Selcuk Arslan
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
(2018)
Proceedings Paper
Automation & Control Systems
Ahmet Kirli, M. Selcuk Arslan
Article
Engineering, Marine
M. Selcuk Arslan
JOURNAL OF ETA MARITIME SCIENCE
(2018)