Abstract: A system for controlling an operation of an air-conditioning system including a heat exchanger is provided. The system comprises a processor that executes a neural network trained to simulate an operation of the heat exchanger for a test control input, to produce an output of the simulation based on historical data defining a state of the heat exchanger. The historical data includes a sequence of historical control inputs provided to the heat exchanger and a sequence of historical outputs of the operation of the heat exchanger corresponding to the sequence of historical control inputs. The processor determines a control command to the air-conditioning system based on the predicted test output of the simulation of the operation of the heat exchanger for the test control input and transmits the determined control command to an actuator of the air-conditioning system.

Abstract: A controller for controlling a motor comprises a processor and a memory having instructions stored thereon that, when executed by the processor, cause the controller to collect a feedback signal indicative of the current state of an operation of the motor and determine current constraints on parameters of the operation of the motor using model of dynamics of the motor connecting the current state of the motor with the current constraints on the operation. The processor is further configured to determine a control trajectory of the operation of the motor based on the current constraints on parameters of the operation of the motor using a parametrized estimation agnostic to the dynamics of the motor and control the operation of the motor according to the control trajectory.

Abstract: A method for controlling an electric vehicle (EV) comprises obtaining a set of models corresponding to functional components, mobility components, and thermal components of the EV. Physical state data of the EV and a driver command input corresponding to a functional component is collected. The method further comprises generating driving cycle data for the EV, based on the physical state data and determining operating points of at least one mobility component, based on the driving cycle data. Each operating point of the plurality of operating points is parameterized by a desired torque and speed of the EV. The method further comprises generating a set of control commands for the functional component, based on the plurality of operating points, the set of models stored in the memory, and the driver command input and controlling the functional component, based on the set of control commands.

Abstract: An engineering system comprises a memory having instructions stored thereon and at least one processor configured to execute the instructions to cause the system to collect a plurality of tasks for a manipulator actuated by a motor. Structural parameters of the motor, a plurality of reference trajectories of the motor for actuating the manipulator to perform the plurality of tasks, and parameters of a feedback control policy for the manipulator are jointly determined to increase overlap between a probability distribution of values of operational data of the motor operating according to different real trajectories from a plurality of real trajectories and an efficiency map of the motor defined in a domain of the operational data of the motor. The structural parameters of the motor, the plurality of reference trajectories, and the feedback control policy are output for performing the plurality of tasks.

Abstract: A magnetic flux mapping system for reconstructing a magnetic flux map efficiently from random measurements of a magnetic flux of an electric motor. The system first generates an intermediate reconstructed flux map dataset by performing a zero-padding method for the measurements of the magnetic flux, and then iteratively updates the flux map by FFT, soft-thresholding, inverse FFT, and data consistency steps until convergence. The flux map is used in motor control system to generate desired motor current, voltage, and speed to drive load.

Abstract: A control system for controlling movement of a vehicle, is disclosed. The control system is configured to construct a graph having multiple nodes defining states of the vehicle. The multiple nodes comprise an initial node defining initial state and a target node defining target state. Each pair of nodes is connected by an edge defined by collision-free motion primitives where the nodes comprise motion cusps. Multiple nodes connected through edges form a first path. A first number of motion cusps in the first path is determined and the graph is expanded to add new nodes until a termination condition is met on determining that the first number of motion cusps is above a threshold. The expansion of the graph is subjected to a constraint associated with a total number of motion cusps. Further a second path is determined having lesser motion cusps than the first path.

Abstract: Provided herein is a method for controlling a manipulator, comprising accepting an initial pose of a load and a task for moving the load and retrieving using a mapping function, an identification trajectory corresponding to the initial pose of the load and controlling a plurality of actuators of the manipulator to move the load according to the retrieved identification trajectory and obtaining measured motion data and estimated motion data of the load each corresponding to motion of the load. The method further comprises estimating parameters of the load based on the measured motion data and the estimated motion data, obtaining a model of the manipulator having the load with the estimated parameters, and determining a performance trajectory to move the load according to the task based on the obtained model of the manipulator. The method further comprises controlling the actuators to move the load according to the performance trajectory.

Abstract: A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.

Abstract: The present disclosure provides a system and a method for controlling a motion of a robot from a starting point to a target point within a bounded space with a floorplan including one or multiple obstacles. The method includes solving for an electric potential in a bounded virtual space formed by scaling the floorplan of the bounded space with the one or multiple obstacles and applying charge to at least one bound of the bounded virtual space while treating the scaled obstacles as metallic surfaces with a constant potential value, wherein the electric potential provides multiple equipotential curves within the bounded virtual space. The method further includes selecting an equipotential curve with a potential value different from a potential value of an obstacle equipotential curve, determining a motion path based on the selected equipotential curve, and controlling the motion of the robot based on the determined motion path.

Abstract: A cascaded controller for controlling a kinetic three-phase synchronous machine comprises a current control circuitry and an active power control circuitry operatively coupled with the current controller circuitry. The current control circuitry is configured to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine by producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine. The active power control circuitry is configured to produce a second voltage control signal to reduce the active power to zero, based on the first voltage control signal. The second voltage control signal controls a phase angle of the inrush stator current such that the stator current vector is oriented to align with a magnet axis of the rotor.

Abstract: The present disclosure discloses a controller and a method for controlling an electric motor. The controller comprises a feedback controller configured to generate a reference voltage vector, a hybrid flux observer configured to estimate a flux error vector based on a difference between a first stator flux linkage observed and a second stator flux linkage, and a position observer configured to estimate a position of a rotor of the electric motor based on a projection of the flux error vector in a direction orthogonal to a direction of a voltage error vector shifted with a phase of dynamics of the hybrid flux observer. The controller further comprises a state estimator configured to estimate a value of a state of operation of the electric motor based on the estimated position of the rotor, thereby closing a feedback control loop of the feedback controller.

Abstract: A controller is provided for operating a system under admissible states. The controller includes an interface configured to connect the system storing a set of measured system states, a set of reference inputs and a set of system parameters in a storage arranged inside or outside the system, a memory storing measured system states, admissible reference inputs and admissible parameter sets and computer-executable programs including a parameter estimator and an adaptive reference governor (ARG), a processor, in connection with the memory. The processor is configured to perform the ARG and the parameter estimator. The parameter estimator extracts a pair of a reference input and the system state and compute a system parameter estimate based on the reference input and system state.

Abstract: The present disclosure provides a system and a method for parking an autonomous ego-vehicle in a dynamic environment of a parking area. The method includes collecting measurements of a state of the dynamic environment, a state of one or multiple stationary vehicles and one or multiple obstacle vehicles moving in the parking area. The method further includes executing a path planner configured to produce a trajectory based on the state of the dynamic environment and executing an environment predictor configured to predict a path and a mode of motion for each of the obstacle vehicles. The method further includes determining a safety constraint for each of the obstacle vehicles based on the path and the mode of motion for each of the obstacle vehicles and parking the autonomous ego-vehicle based on the trajectory for parking and the safety constraint for each of the obstacle vehicles.

Abstract: A cascaded controller for controlling a kinetic three-phase synchronous machine comprises a current control circuitry and an active power control circuitry operatively coupled with the current controller circuitry. The current control circuitry is configured to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine by producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine. The active power control circuitry is configured to produce a second voltage control signal to reduce the active power to zero, based on the first voltage control signal. The second voltage control signal controls a phase angle of the inrush stator current such that the stator current vector is oriented to align with a magnet axis of the rotor.

Abstract: A liquid-washing air purifying and disinfecting device comprises a water storage body, the water storage body is filled with water at the bottom, a first air outlet is arranged on the upper part of its sidewall, and an air inlet is arranged on the middle part of its sidewall; a circulating water device comprises a water pump and an outlet pipe, the water pump is arranged at the center of the bottom of the water storage body, the outlet pipe is vertically arranged, and its bottom is connected to the water pump, the water outlet of the outlet pipe extends upward into the middle of the water storage body; a filtering device comprises multiple annular filter layers, the annular filter layers are located above the water surface, the air inlet is arranged below the annular filter layers and above the water surface.

Abstract: The present disclosure discloses a controller and a method for controlling an electric motor. The controller comprises a feedback controller configured to generate a reference voltage vector, a hybrid flux observer configured to estimate a flux error vector based on a difference between a first stator flux linkage observed and a second stator flux linkage, and a position observer configured to estimate a position of a rotor of the electric motor based on a projection of the flux error vector in a direction orthogonal to a direction of a voltage error vector shifted with a phase of dynamics of the hybrid flux observer. The controller further comprises a state estimator configured to estimate a value of a state of operation of the electric motor based on the estimated position of the rotor, thereby closing a feedback control loop of the feedback controller.

Abstract: The present disclosure discloses a system and a method for controlling a permanent magnet synchronous motor to optimally track a reference torque. The method comprises reformulating a model of the permanent magnet synchronous motor based on one or more unknown parameters of the model, and the reference torque, determining an initial feedback control policy and an initial feedforward control policy, based on priori knowledge of parameters of the reformulated model of the permanent magnet synchronous motor, and executing iteratively a gain tuning algorithm, until a termination condition is met, to determine an optimal feedback gain and an optimal feedforward gain. The method further comprises determining a control command based on the optimal feedback gain and the optimal feedforward gain, and controlling the permanent magnet synchronous motor based on the determined control command to optimally track the reference torque.

Abstract: A system for controlling an operation of an air-conditioning system including a heat exchanger is provided. The system comprises a processor that executes a neural network trained to simulate an operation of the heat exchanger for a test control input, to produce an output of the simulation based on historical data defining a state of the heat exchanger. The historical data includes a sequence of historical control inputs provided to the heat exchanger and a sequence of historical outputs of the operation of the heat exchanger corresponding to the sequence of historical control inputs. The processor determines a control command to the air-conditioning system based on the predicted test output of the simulation of the operation of the heat exchanger for the test control input and transmits the determined control command to an actuator of the air-conditioning system.

Abstract: A system for controlling an operation of an air-conditioning system including a heat exchanger is provided. The system comprises a processor that executes a neural network trained to simulate an operation of the heat exchanger for a test control input, to produce an output of the simulation based on historical data defining a state of the heat exchanger. The historical data includes a sequence of historical control inputs provided to the heat exchanger and a sequence of historical outputs of the operation of the heat exchanger corresponding to the sequence of historical control inputs. The processor determines a control command to the air-conditioning system based on the predicted test output of the simulation of the operation of the heat exchanger for the test control input and transmits the determined control command to an actuator of the air-conditioning system.

Abstract: A control system for controlling movement of a vehicle, is disclosed. The control system is configured to construct a graph having multiple nodes defining states of the vehicle. The multiple nodes comprise an initial node defining initial state and a target node defining target state. Each pair of nodes is connected by an edge defined by collision-free motion primitives where the nodes comprise motion cusps. Multiple nodes connected through edges form a first path. A first number of motion cusps in the first path is determined and the graph is expanded to add new nodes until a termination condition is met on determining that the first number of motion cusps is above a threshold. The expansion of the graph is subjected to a constraint associated with a total number of motion cusps. Further a second path is determined having lesser motion cusps than the first path.