相关论文: Design of a Supervisory Control System for Autonom…

To advance the paradigm of autonomous operation for nuclear power plants, a data-driven machine learning approach to control is sought. Autonomous operation for next-generation reactor designs is anticipated to bolster safety and improve…

Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…

This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop…

We present the design, implementation and experimental validation of a supervisory predictive control approach for an electrical heating system featuring a phase change slurry as heat storage and transfer medium. The controller optimizes…

Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…

This paper develops a Nearly Autonomous Management and Control (NAMAC) system for advanced reactors. The development process of NAMAC is characterized by a three layer-layer architecture: knowledge base, the Digital Twin (DT) developmental…

Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…

We present an explainable AI-enhanced supervisory control framework for multi-agent robotics that combines (i) a timed-automata supervisor for safe, auditable mode switching, (ii) robust continuous control (Lyapunov-based controller for…

Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic…

Electromechanical switching devices such as relays, solenoid valves, and contactors offer several technical and economic advantages that make them widely used in industry. However, uncontrolled operations result in undesirable…

We present a modular and thermodynamically consistent modeling framework for simulating steady-state and transient behavior in fixed-bed reactors. Accurate simulation of dynamic reactor behavior is essential for enabling flexible operation…

Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article…

This work presents a hierarchical architecture for the optimal management of an ensemble of steam generators, which needs to jointly sustain a common load. The coordination of independent subsystems is provided by a multi-layer control…

A hierarchical architecture for the optimal management of an ensemble of steam generators is presented. The subsystems are coordinated by a multilayer scheme for jointly sustaining a common load. The high level optimizes the load allocation…

In this paper, a complete industrial validation of a recently published scheme for on-line adaptation of the control updating period in Model Predictive Control is proposed. The industrial process that serves in the validation is a…

The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending…

Reducing operation and maintenance costs is a key objective for advanced reactors in general and microreactors in particular. To achieve this reduction, developing robust autonomous control algorithms is essential to ensure safe and…

Thermal management is vital for the efficient and safe operation of alkaline electrolysis systems. Traditional alkaline electrolysis systems use simple proportional-integral-differentiation (PID) controllers to maintain the stack…

This paper explores some variations of a hierarchical control framework that has been recently proposed. The framework is dedicated to control a network of interconnected subsystems such as the ones describing cryogenic processes or power…

Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…