A new MATLAB based software package which, besides analysis, can be used to design centralized or decentralized controllers to stabilize time-delay systems is introduced.
A new MATLAB based software package which, besides analysis, can be used to design centralized or decentralized controllers to stabilize time-delay systems is introduced.
In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewise-polynomial defined on simplices, which compose a...
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In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewise-polynomial defined on simplices, which compose a collection of simplices. The algorithm is elaborated and crucial features are explained in detail. The strengths and weaknesses of the algorithm are exemplified and a new way of sub-dividing the simplices is presented.
This paper focus on stochastic controldesign in the Kullback-Leibler sense. The technique is called the Fully Probabilistic design (FPD) and consist in essence of finding a stochastic control law, given in terms of a...
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This paper focus on stochastic controldesign in the Kullback-Leibler sense. The technique is called the Fully Probabilistic design (FPD) and consist in essence of finding a stochastic control law, given in terms of a probability density function (pdf), minimizing the Kullback-Liebler distance between pdfs describing a given closed loop system and a desired closed loop system. This paper demonstrate that the FPD method can 1) be used in a Model Predictive control strategy, and 2) be used for control of the pneumatic valve which represents a nonlinear system.
This paper addresses the computation of additively separable Lyapunov functions for interconnected systems. The presented results can be applied to reduce the complexity of the computations associated with stability a...
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This paper addresses the computation of additively separable Lyapunov functions for interconnected systems. The presented results can be applied to reduce the complexity of the computations associated with stability analysis of large scale systems. We provide a necessary and sufficient condition for the existence of an additively separable Lyapunov function; subsequently, sparsity conditions are given for finding additively separable polynomial Lyapunov functions for both local and global stability of polynomial systems.
This paper is concerned with the filter design problem for linear parameter varying (LPV) discrete-time systems with nonlinearities described by integral quadratic constraints. The LPV system is considered to have an ...
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This paper is concerned with the filter design problem for linear parameter varying (LPV) discrete-time systems with nonlinearities described by integral quadratic constraints. The LPV system is considered to have an arbitrary dependence on the time-varying parameters, not necessarily rational. The filter designed assures a bound to the worst case gain from the disturbance input to the filtering error. The development of the proposed approach is based on the existence of a quadratic storage function. The conditions are given in terms of linear matrix inequalities and are derived through congruence transformations and change of variables. Numerical examples illustrate the applicability and performance of the proposed method.
For the optimal point-to-point control of a discrete-time linear system in a time varying non-convex environment, this paper investigates how such problems can be handled online. An illustrative example is that of ste...
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For the optimal point-to-point control of a discrete-time linear system in a time varying non-convex environment, this paper investigates how such problems can be handled online. An illustrative example is that of steering a robotic end-effector from an initial to a final state, while executing the motion free of collision in the presence of a human worker. The challenge is to obtain a solution with low effort, to be online applicable, while maintaining a close to optimal solution. The proposed method consists of first computing a range of trajectories, homotopic to the optimal unconstrained solution offline. Then, upon detection of an obstacle which may block the currently executed trajectory, an offline synthesized controller steers the system quickly to a desired homotopic trajectory. The resulting trajectory is free of collision and is determined by a fast iterative procedure.
In this paper we present a method to simultaneously design a static state feedback gain and the trigger function to stabilize discrete-time LTI systems subject to actuator saturation under an event-triggered strategy....
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In this paper we present a method to simultaneously design a static state feedback gain and the trigger function to stabilize discrete-time LTI systems subject to actuator saturation under an event-triggered strategy. We derive LMI-based conditions that ensure local (or global, when possible) asymptotic stability of the origin based on the Lyapunov theory. To tune the parameters, we propose convex optimization problems aiming at reducing the sampling activity. The efficiency of the proposed method is illustrated by numerical examples.
In this paper the problem of H 2 filtering for uncertain time-invariant discrete-time systems is investigated. The proposed filter has a structure that makes use of auxiliary past output measurements from the system,...
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In this paper the problem of H 2 filtering for uncertain time-invariant discrete-time systems is investigated. The proposed filter has a structure that makes use of auxiliary past output measurements from the system, yielding a filter of higher order. A new convex design procedure to synthesize H 2 guaranteed cost filters is proposed in terms of Linear Matrix Inequality relaxations. Numerical examples show that the proposed structure produces filters with improved performance when compared to existing methods.
A number of Linear Matrix Inequality (LMI) conditions for the design of gain-scheduled quadratic H ∞ output-feedback controllers can be found in the literature under a variety of assumptions on both the system as we...
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A number of Linear Matrix Inequality (LMI) conditions for the design of gain-scheduled quadratic H ∞ output-feedback controllers can be found in the literature under a variety of assumptions on both the system as well as the controller structure. The first contribution of the present paper is to provide a catalog of such conditions, including some new conditions, which cover most practical applications. In each setup, LMI conditions allowing implicit and explicit computation of the controller matrices are provided. As a second contribution, we illustrate how to use these conditions and compare their performance using a numerical example which allows us to exercise the controller design procedure in the various scenarios covered.
According to the requirement of coordinated manipulation, a high real-time performance controlsystem for dual-arm robot is designed. Based on the idea of modularization, the system is composed of task management modu...
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ISBN:
(纸本)9781467386449
According to the requirement of coordinated manipulation, a high real-time performance controlsystem for dual-arm robot is designed. Based on the idea of modularization, the system is composed of task management module, communication scheduling module, path planning module, force control module, data management module and 3D visualization module. The architecture of the system proposed in this paper uses a PC as upper computer to send control instructions and two pieces of FPGA with multi-core as lower computer to calculate related algorithms. Finally, the effectiveness and feasibility of the system is verified by a simulation experiment of coordinated moving a rigid object.
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