Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828219
Jie Zhang, Wanyue Jiang, S. Ge
This paper addresses the control problem of uncertain nonlinear systems with full state constraints and unknown control direction. In the system, different orders of system states are required to remain in their predefined set. Conventional Barrier Lypunov Functions are designed based on error dynamics and have certain limitations, whereas the introduced Integral Barrier Lyapunov Function is designed directly on the state constraint. In order to deal with the unknown control direction problem, the Nussbaum function based technique is adopted and an adaptive controller is proposed. Moreover, a neural network is constructed to estimate the uncertainties in the system. Integrating the integral barrier Lypunov function, the Nussbaum technique, and the neural network, the proposed method is able to stabilize the system without violating the state constraints. Rigorous mathematical analysis is presented to verify the controller. Finally, a simulation example illustrates the effectiveness of the proposed control method.
{"title":"Integral Barrier Lyapunov Functions-Based Adaptive Control of Uncertain Nonlinear Systems with Unknown Control Directions and State Constraints","authors":"Jie Zhang, Wanyue Jiang, S. Ge","doi":"10.23919/ascc56756.2022.9828219","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828219","url":null,"abstract":"This paper addresses the control problem of uncertain nonlinear systems with full state constraints and unknown control direction. In the system, different orders of system states are required to remain in their predefined set. Conventional Barrier Lypunov Functions are designed based on error dynamics and have certain limitations, whereas the introduced Integral Barrier Lyapunov Function is designed directly on the state constraint. In order to deal with the unknown control direction problem, the Nussbaum function based technique is adopted and an adaptive controller is proposed. Moreover, a neural network is constructed to estimate the uncertainties in the system. Integrating the integral barrier Lypunov function, the Nussbaum technique, and the neural network, the proposed method is able to stabilize the system without violating the state constraints. Rigorous mathematical analysis is presented to verify the controller. Finally, a simulation example illustrates the effectiveness of the proposed control method.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125221885","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828337
Hamed Toubar, Umer Hameed Shah, I. Hussain
This paper presents an innovative design of a hybrid compliant-rigid underwater manipulator that is capable of performing intervention operations underwater with high safety and precision by instantly shifting it’s joint-compliance. To analyze the responses of the said system, a mathematical model of the system is developed, which is used to simulate the system’s responses for different loading conditions. A PD control law is developed to maintain the position of the link at a desired value and to suppress its vibrations under the influence of hydrodynamic forces and environmental disturbances. Simulations are performed to analyze the safety and precision performance of the proposed manipulator system for compliant and rigid joint configurations.
{"title":"A Compliant-Rigid Underwater Manipulator for Enhanced Safety and Precision Performance","authors":"Hamed Toubar, Umer Hameed Shah, I. Hussain","doi":"10.23919/ascc56756.2022.9828337","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828337","url":null,"abstract":"This paper presents an innovative design of a hybrid compliant-rigid underwater manipulator that is capable of performing intervention operations underwater with high safety and precision by instantly shifting it’s joint-compliance. To analyze the responses of the said system, a mathematical model of the system is developed, which is used to simulate the system’s responses for different loading conditions. A PD control law is developed to maintain the position of the link at a desired value and to suppress its vibrations under the influence of hydrodynamic forces and environmental disturbances. Simulations are performed to analyze the safety and precision performance of the proposed manipulator system for compliant and rigid joint configurations.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116979513","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828116
KyungSu Lee
A security function is an essential element in an autonomous vehicle system that is connected to the outside. Because security threats on autonomous vehicle systems are increasing day by day. An easy and effective way for a hacker to hack ECU(Electronic Control Unit) in vehicle is to physically connect it through the debug interface. The connection method through the debug interface is a threatening method that can cause malfunction of the system by hacking the entire system code. Therefore, in order to prevent unauthorized access from external tool to the ECU, many vehicle manufacturers apply a protection mechanism that locks the debug interface to protect the system operation and code.In general, the protection mechanism for the debug interface is implemented based on password. Because vehicle manufacturers need to connect external tool in order to analyze the ECU due to the occurrence of defects in the vehicle after mass production. A method of permanently blocking the debug interface can also be applied, but since it is difficult to analyze the system when an ECU fault occurs, the password-based method is preferred. However, since the password-based method has a limited length of password, it can be hacked in the same way as a password cracking even if it takes some time.In this paper, in order to strengthen the security of the password-based debug interface protection mechanism, we propose a method for preventing and responding to hacking attempts in the system by counting invalid password access and limiting the number of invalid password access attempts.
{"title":"Enhanced password protection mechanism for debug interface connection on ECU","authors":"KyungSu Lee","doi":"10.23919/ascc56756.2022.9828116","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828116","url":null,"abstract":"A security function is an essential element in an autonomous vehicle system that is connected to the outside. Because security threats on autonomous vehicle systems are increasing day by day. An easy and effective way for a hacker to hack ECU(Electronic Control Unit) in vehicle is to physically connect it through the debug interface. The connection method through the debug interface is a threatening method that can cause malfunction of the system by hacking the entire system code. Therefore, in order to prevent unauthorized access from external tool to the ECU, many vehicle manufacturers apply a protection mechanism that locks the debug interface to protect the system operation and code.In general, the protection mechanism for the debug interface is implemented based on password. Because vehicle manufacturers need to connect external tool in order to analyze the ECU due to the occurrence of defects in the vehicle after mass production. A method of permanently blocking the debug interface can also be applied, but since it is difficult to analyze the system when an ECU fault occurs, the password-based method is preferred. However, since the password-based method has a limited length of password, it can be hacked in the same way as a password cracking even if it takes some time.In this paper, in order to strengthen the security of the password-based debug interface protection mechanism, we propose a method for preventing and responding to hacking attempts in the system by counting invalid password access and limiting the number of invalid password access attempts.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121118238","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828090
K. Feng, Mei Liu
This paper studies negative imaginary (NI) theorems and the dynamic output feedback (DOF) H∞ control synthesis problems of descriptor systems based on state-space symmetric model. First, two lemmas are developed to characterize NI properties of descriptor state-space symmetric systems, without minimality assumptions. Then, a sufficient condition is derived for the DOF controller design, such that the resulting descriptor closed-loop system satisfies NI and H∞ performance. Finally, two examples are used to illustrate the developed results of this paper.
{"title":"On Negative Imaginariness and H∞ Control of Descriptor State-space Symmetric Systems without Minimality Assumptions","authors":"K. Feng, Mei Liu","doi":"10.23919/ascc56756.2022.9828090","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828090","url":null,"abstract":"This paper studies negative imaginary (NI) theorems and the dynamic output feedback (DOF) H∞ control synthesis problems of descriptor systems based on state-space symmetric model. First, two lemmas are developed to characterize NI properties of descriptor state-space symmetric systems, without minimality assumptions. Then, a sufficient condition is derived for the DOF controller design, such that the resulting descriptor closed-loop system satisfies NI and H∞ performance. Finally, two examples are used to illustrate the developed results of this paper.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114165761","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828262
Cong Minh Ho, Cong-Hung Nguyen, K. Ahn
In this study, an observer-based adaptive fuzzy controller is proposed for a quarter pneumatic active suspension considering the actuator failure and unknown dead zone of the air spring. To approximate the uncertain parameters, unmodeled dynamics, and unknown masses of passengers, fuzzy logic systems are employed. Besides, the system states are considered unmeasurable as the real suspension application which affects the control performance. To solve this problem, a fuzzy state observer is proposed to estimate the system states for the control design. Then, an adaptive command filtered control is developed to compensate for the effect of actuator imperfections and induce the issue of complexity problem. Furthermore, the tracking error of chassis movement is ensured by the prescribed performance. The system stability is analyzed by the Lyapunov theorem. Finally, the effectiveness of the designed control is justified by numerical simulation examples.
{"title":"Observer-Based Adaptive Fuzzy Controller for Pneumatic Active Suspension with Displacement Constraint and Actuator Failures","authors":"Cong Minh Ho, Cong-Hung Nguyen, K. Ahn","doi":"10.23919/ascc56756.2022.9828262","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828262","url":null,"abstract":"In this study, an observer-based adaptive fuzzy controller is proposed for a quarter pneumatic active suspension considering the actuator failure and unknown dead zone of the air spring. To approximate the uncertain parameters, unmodeled dynamics, and unknown masses of passengers, fuzzy logic systems are employed. Besides, the system states are considered unmeasurable as the real suspension application which affects the control performance. To solve this problem, a fuzzy state observer is proposed to estimate the system states for the control design. Then, an adaptive command filtered control is developed to compensate for the effect of actuator imperfections and induce the issue of complexity problem. Furthermore, the tracking error of chassis movement is ensured by the prescribed performance. The system stability is analyzed by the Lyapunov theorem. Finally, the effectiveness of the designed control is justified by numerical simulation examples.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122047175","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828333
Zeming Hao, Haifeng Hu, Yong He, Huifeng Li
This paper focuses on the onboard generation of reachable-orbit-domain for launch vehicles. We solve a series of optimal control problem to generate the max-volume inscribed polyhedron to approximate the reachable domain for the launch vehicle, by using convex optimization algorithm.
{"title":"Reachable-Orbit-Domain for Launch Vehicles Based on Polyhedron Approximation Method","authors":"Zeming Hao, Haifeng Hu, Yong He, Huifeng Li","doi":"10.23919/ascc56756.2022.9828333","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828333","url":null,"abstract":"This paper focuses on the onboard generation of reachable-orbit-domain for launch vehicles. We solve a series of optimal control problem to generate the max-volume inscribed polyhedron to approximate the reachable domain for the launch vehicle, by using convex optimization algorithm.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"259 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129848132","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}
Considering the incomplete types of samples collected by a single photovoltaic (PV) station, a new fault diagnosis framework based on federated learning (FL) is designed to improve the accuracy and generalization of the model. This framework makes full use of data from multiple PV stations to achieve joint fault diagnosis. Each PV station trains the model based on its local data, and the local model is uploaded to the server to aggregate the global model, which enables multiple PV stations to learn fault features from others without sharing original data. To reduce the communication overhead and training time, an asynchronous aggregation algorithm is designed to dynamically update the global model. Numerical experiments verify the effectiveness of the proposed method.
{"title":"A PV Fault Diagnosis Framework Based on Asynchronous Federated Learning","authors":"Qi Liu, Bo-Jun Yang, Zhaojian Wang, Xinyi Wang, Dafeng Zhu, Xinping Guan","doi":"10.23919/ascc56756.2022.9828106","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828106","url":null,"abstract":"Considering the incomplete types of samples collected by a single photovoltaic (PV) station, a new fault diagnosis framework based on federated learning (FL) is designed to improve the accuracy and generalization of the model. This framework makes full use of data from multiple PV stations to achieve joint fault diagnosis. Each PV station trains the model based on its local data, and the local model is uploaded to the server to aggregate the global model, which enables multiple PV stations to learn fault features from others without sharing original data. To reduce the communication overhead and training time, an asynchronous aggregation algorithm is designed to dynamically update the global model. Numerical experiments verify the effectiveness of the proposed method.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130677046","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828144
Junaid Saeed, Liuping Wang, N. Fernando
This paper presents a resonant finite control set model predictive control (RFCS-MPC) of a single-phase boost rectifier with an embedded resonant mode in the stationary frame. The current control system is realised in a cascade structure where the inner-loop control problem is formulated using the conventional unit prediction horizon FCS-MPC. Then the boost rectifier and its FCS-MPC loop are modelled as a unit delay. The resonant mode in then introduced using a digital resonant shift operator. Following the current control design, a proportional integral (PI) controller is designed in the outermost loop for the DC-link voltage control. It is shown through several simulation results that, unlike the conventional FCS-MPC, the proposed RFCS-MPC approach maintains zero steady-state error with reasonable robustness in the presence of disturbances and parameter mismatches in the current control loop.
{"title":"Resonant Finite Control Set Model Predictive Control of Single Phase Boost Rectifier in Stationary Reference Frame","authors":"Junaid Saeed, Liuping Wang, N. Fernando","doi":"10.23919/ascc56756.2022.9828144","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828144","url":null,"abstract":"This paper presents a resonant finite control set model predictive control (RFCS-MPC) of a single-phase boost rectifier with an embedded resonant mode in the stationary frame. The current control system is realised in a cascade structure where the inner-loop control problem is formulated using the conventional unit prediction horizon FCS-MPC. Then the boost rectifier and its FCS-MPC loop are modelled as a unit delay. The resonant mode in then introduced using a digital resonant shift operator. Following the current control design, a proportional integral (PI) controller is designed in the outermost loop for the DC-link voltage control. It is shown through several simulation results that, unlike the conventional FCS-MPC, the proposed RFCS-MPC approach maintains zero steady-state error with reasonable robustness in the presence of disturbances and parameter mismatches in the current control loop.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"2015 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121399453","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}
Pub Date : 2022-05-04DOI: 10.23919/ascc56756.2022.9828093
Ge Yu, Zixiao Zhang, Xi Zhang
In various real-world cases, the streaming data is sequentially collected over time. It means the distributions could change due to the non-stationary and uncertain environments over time, which is, the concept drift. To handle concept drift, in this paper, we propose a novel concept drift adaptation method SCD-CA, which conducts the adaption models from historical data to forecast the future unseen data. Our method can take a correlation alignment to alleviate the bias caused by fake correlations among variables. In particular, we design an analyzable optimization process to find optimal parameters for unseen streaming data forecasting. Experimental results validate the superiority of our method in wind field dataset, showing it is feasible and promising.
{"title":"SCD-CA: Stable Concept Drift Learning Based on Correlation Alignment for Streaming Data Forecasting","authors":"Ge Yu, Zixiao Zhang, Xi Zhang","doi":"10.23919/ascc56756.2022.9828093","DOIUrl":"https://doi.org/10.23919/ascc56756.2022.9828093","url":null,"abstract":"In various real-world cases, the streaming data is sequentially collected over time. It means the distributions could change due to the non-stationary and uncertain environments over time, which is, the concept drift. To handle concept drift, in this paper, we propose a novel concept drift adaptation method SCD-CA, which conducts the adaption models from historical data to forecast the future unseen data. Our method can take a correlation alignment to alleviate the bias caused by fake correlations among variables. In particular, we design an analyzable optimization process to find optimal parameters for unseen streaming data forecasting. Experimental results validate the superiority of our method in wind field dataset, showing it is feasible and promising.","PeriodicalId":285559,"journal":{"name":"2022 13th Asian Control Conference (ASCC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124157160","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}
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