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检索条件"任意字段=5th IFAC Symposium on Modelling and Control in Biomedical Systems"

共 781 条记录，以下是161-170 订阅

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Time Domain control for Passive Variable Motion and Force Scaling in Delayed Teleoperation 15th

Time Domain Control for Passive Variable Motion and Force Sc...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Panzirsch, M. Balachandran, R. German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany

Scaling of motion and forces has always been of high relevance in teleoperation setups since it allows the adaptation of workspaces of master and slave devices or to increase precision. Teleoperation setups are often affected by a delay in the communication channel. Most state of the art control approaches that guarantee stability despite delay are based on the passivity criterion which is highly restrictive to standard scaling methods. this paper proposes different time domain control concepts that regulate the motion or force scaling based on the energy flow in delayed teleoperation systems. the approach focuses on setups with motion down-scaling and is applicable to variable motion and impedance scaling. the scaling control is integrated in a state of the art time delay control concept and its performance is analyzed in experiments. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Scaling Time Delay Teleoperation Time Domain control

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modelling and observer design for a methane bioconversion process 12

Modelling and observer design for a methane bioconversion pr...

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12th International-Federation-of-Automatic-control (ifac) symposium on Dynamics and control of Process systems including Biosystems (DYCOPS)

作者： Michiels, Koen Waldherr, Steffen Katholieke Univ Leuven Dept Chem Engn Leuven Belgium

Methane is currently an emerging alternative feedstock for biological processes. In this paper, we study a particular methane bioconversion process based on the bacterium Methylomicrobium buryatense 5GB1, with the aim of improving accessibility of the process to state estimation and control. First, a non-linear unsegregated, unstructured model, consisting of 8 dynamic mass flow balance equations and 8 state variables, is constructed and implemented as a dynamic simulator in MATLAB and Simulink. Second, an observability analysis is performed with the aim of finding suitable sensor configurations for state estimation, and the resulting observable configurations are further evaluated by checking the performance of linear Kalman filters for each configuration. this evalution shows that including a biomass sensor in the measurements for the Kalman filter may have conflicting effects on estimation accuracy. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： bioprocess methanotroph observability Kalman filter

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Suboptimal control of Nonlinear Dynamic System with Unlimited Transition Process Time 7

Suboptimal Control of Nonlinear Dynamic System with Unlimite...

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7th ifac symposium on System Structure and control (SSSC) jointly held with the 15th ifac Workshop on Time Delay systems (TDS)

作者： Presnova, Anna P. Afanas'ev, Valery N. Natl Res Univ Higher Sch Econ Moscow Inst Elect & Math Moscow Russia

In this paper, we consider the issue of synthesizing optimal control of nonlinear dynamic systems in case of a problem with an unspecified time of the transition process. To solve this problem, an algorithmic method for constructing a suboptimal control is suggested. the basis of this method is the behavior of the Hamiltonian on the optimal trajectory, which corresponds to the required condition of the optimal system. For the synthesis of suboptimal control, the original nonlinear model is replaced by an equivalent model with a linear structure with state-dependent parameters. the use of the quadratic quality functional allows to make the transition from solving the Hamilton-Jacobi-Bellman equation to the Riccati-type equation with state-dependent parameters. A computer simulation of a simple nonlinear system, for which the Riccati equation with state-dependent parameters can be solved, has been carried out. Also, for this system a suboptimal control was created with the use of a new algorithmic parametric optimization method. the simulation results confirm the effectiveness of the method. In addition, the constructed suboptimal control is close to the control obtained by solving the Riccati equation. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Linearization based control of nonlinear systems robust control and analysis suboptimal control

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Development of Pilot Mathematical Model in the Preview Manual control Task 14th

Development of Pilot Mathematical Model in the Preview Manua...

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14th International-Federation-of-Automatic-control (ifac) symposium on Analysis, Design, and Evaluation of Human Machine systems (HMS)

作者： Efremov, Aleksandr, V Irgaleev, Iliyas Kh Tjaglik, Mikhail S. Moscow Aaviat Inst Moscow Russia

the model for perception of the preview target trajectory is being proposed. the model is a weighted sum of the slopes of the preview target trajectory elements. A procedure for the selection of the weighting coefficients as well as other pilot adaptation parameters is proposed. the results of the mathematical modelling of the pilot-aircraft system corresponding to the preview tracking and ground based simulation are compared. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： manual control pilot model preview control pilot-aircraft system predictive display

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Design and Analysis of Several State-Feedback Fault-Tolerant control Strategies for Semi-Active Suspensions 7

Design and Analysis of Several State-Feedback Fault-Tolerant...

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7th ifac symposium on System Structure and control (SSSC) jointly held with the 15th ifac Workshop on Time Delay systems (TDS)

作者： Morato, Marcelo Menezes Sename, Olivier Dugard, Luc Univ Fed Santa Catarina DAS Florianopolis SC Brazil Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France

the design of State-Feedback Fault Tolerant control for Semi-Active Suspension systems is considered in this work, that exploits diverse simple-to-implement approaches. the suspension damper is assumed to undergo multiplicative (time-varying) faults, that can be estimated by (four) modular fault estimation observers. With these fault estimations, active fault tolerant control (FTC) schemes can be synthesized, based on the reconfiguration of nominal State-Feedback policies. Seven approaches are discussed: i) Direct fault compensation;ii) Pole placement compensation;iii) Fault-dependent pole placement;iv) Linear-fault-dependent Linear Quadratic Regulator (LQR) design;v) Polynomially-fault-dependent LQR parameters;vi) LQR with Fault-dependent controlled outputs;vii) Heuristic (vehicle-oriented) fault-dependent LQR synthesis. the performances of these methods are analysed and compared through realistic and high-fidelity simulations. Results show the overall good operation of the latter approaches to compensate fault events and maintain performances. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Semi-Active Suspensions State-Feedback Fault Estimation FTC LQR

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On lower-bound estimates of the Lyapunov dimension and topological entropy for the Rossler systems 15th

On lower-bound estimates of the Lyapunov dimension and topol...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Kuznetsov, N., V Mokaev, T. N. Kudryashova, E., V Kuznetsova, O. A. Danca, M. -F St Petersburg State Univ Fac Math & Mech St Petersburg Russia Univ Jyvaskyla Dept Math Informat Technol Jyvaskyla Finland Inst Problems Mech Engn RAS St Petersburg Russia Romanian Inst Sci & Technol Cluj Napoca Romania

In this paper, on the example of the Rossler systems, the application of the Pyragas time-delay feedback control technique for verification of Eden's conjecture on the maximum of local Lyapunov dimension, and for the estimation of the topological entropy is demonstrated. To this end, numerical experiments on computation of finite-time local Lyapunov dimensions and finite-time topological entropy on a Rossler attractor and embedded unstable periodic orbits are performed. the problem of reliable numerical computation of the mentioned dimension-like characteristics along the trajectories over large time intervals is discussed. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： chaos hidden and self-excited attractors Lyapunov dimension Lyapunov exponents unstable periodic orbit time-delay feedback control

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the Tuning of a Model-Free controller for an Anaerobic Digestion Process using ADM1 as Virtual Plant 7

The Tuning of a Model-Free Controller for an Anaerobic Diges...

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7th ifac symposium on System Structure and control (SSSC) jointly held with the 15th ifac Workshop on Time Delay systems (TDS)

作者： Condrachi, Larisa Vilanova, Ramon Ceanga, Emil Barbu, Marian Dunarea de Jos Univ Galati Galati Romania Univ Autonoma Barcelona Bellaterra Spain

In this paper, it was considered the control of the effluent quality from an anaerobic digestion process using the Model-Free control approach. the authors specify the procedure for the assessment of the parameters of the control law and propose a solution to ensure the stable operation of the control system, at the wide modification of the operation regime of the process. In this framework, there are used the qualitative information on the static and the dynamic properties of the process, derived from the ADM1 model, considered as a "virtual plant". Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Anaerobic digestion process Intelligent controller Model-Free control controller tuning Effluent quality

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Model Predictive control Of Diesel Engine Air Path With Actuator Delays 15th

Model Predictive Control Of Diesel Engine Air Path With Actu...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Kekik, Betul Akar, Mehmet AVL Res & Engn Istanbul Turkey Bogazici Univ Dept Elect & Elect Engn Istanbul Turkey

Existing results show that Model Predictive control (MPC) can satify the desired settling time, zero steady-state error, and overshoot criteria for the MIMO control of the Diesel Engine Air Path (DEAP) system. However, the effect of actuator delay that considerably affects system performance, is not addressed sufficiently. In this study, MPC of DEAP is extended with a delay term added to the actuators Exhaust Gas Recirculation valve and Variable Geometry Turbocharger valve on the plant model. A linear state-space model of the plant is obtained by using system identification techniques and the states of the identified model are extended due to delay term. It is shown that MPC performs better when the delay is taken into account in the algorithm. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Model predictive control Diesel engine air path control Actuator time delay

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Structured observer-based controller for delayed systems with two unstable poles and minimum phase zeros 15th

Structured observer-based controller for delayed systems wit...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Daniel Vazquez, Carlos Novella, David del Muro, Basilio Sename, Olivier Dugard, Luc Francisco Marquez, Juan Inst Politecn Nacl Unidad Culhuacan Escuela Super Ingn Mecan & Elect Santa Ana 1000 Mexico City 04430 DF Mexico Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France

this paper analyses the problem of control and stabilization of a particular class of Linear Time Invariant (LTI) systems. the system under consideration has two unstable poles, n real stable poles, m minimum phase zeros plus time delay. An observer based controller with four tunable gains is proposed as a control strategy in order to ensure a stable behaviour of the closed-loop system. Sufficient conditions for the existence of the proposed scheme are obtained in terms of the upper limit of time delay size and the poles and zeros position. the controller parameters are tuned using a non-smooth H-infinity optimization method. the proposed control strategy is applied to an unstable linearized model of a continuously stirred tank reactor (CSTR) in order to show the effectiveness of the proposed design scheme. Numerical results are presented. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Stability and stabilization Output feedback control under I/O-delays control design

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Algebraic modelling of Logistical systems Equipped by Wireless Monitoring Devices

Algebraic Modelling of Logistical Systems Equipped by Wirele...

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IEEE International symposium on Wireless systems (IDAACS-SWS)

作者： Oleksandr Letychevskyi Serhii Horbatiuk Viktor Horbatiuk Glushkov Institute of Cybernetic of NAS of Ukraine Akademika Glushkova Ave 40 Kyiv

ISBN: (数字)9781728199603

ISBN: (纸本)9781728199610

International and internal service logistics are advancing at a tremendous pace in a modern life, and future forecasts for this area are optimistic. For this reason, a task in the control appears, optimisation and safety and security checking of complex logistical systems with many internal agents working in a changing environment. the paper aims to show how mathematical modelling, especially behaviour algebra, can provide an opportunity for predicting the behaviour and stability of logistics environments and checking their safety and security properties. the agents are equipped by wireless devices that monitor current state of agent like coordinates, temperature etc. the procedure of modelling is a part of the model-driven development of complex software systems like logistics systems.

关键词： Algebra Safety Unified modeling language Mathematical model Fuels Databases Logistics

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