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

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Robust Finite Time Fault Tolerant control of Uncertain Networked control systems via Markovian Jump Linear systems Approach

Robust Finite Time Fault Tolerant Control of Uncertain Netwo...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Bahreini, Mohsen Zarei, Jafar Razavi-Far, Roozbeh Saif, Mehrdad Shiraz Univ Technol Sch Elect & Elect Engn Shiraz Iran Univ Windsor Sch Elect & Comp Engn Windsor ON Canada

this paper concerns the problem of static output feedback (SOF) fault tolerant controller (FTC) design for uncertain networked control systems (NCSs) considering stochastic actuator faults. the NCSs in the presence of random delays and data packet dropouts are firstly modeled as Markovian jump linear systems (MJLSs) with partly unknown transition probabilities (TPs). Afterward, sufficient conditions are derived in terms of linear matrix inequalities (LMIs) to ensure finite time stochastic stability (FTSS) of the closed loop system. the Simulation results demonstrate the effectiveness and reliability of the controller. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault tolerant control Networked control systems (NCSs) Random delays Finite-time stochastic stability (FTSS) Linear matrix inequalities (LMIs) Static output feedback control

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Linear Parameter Varying Representation of a class of MIMO Nonlinear systems

Linear Parameter Varying Representation of a class of MIMO N...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Schoukens, Maarten Toth, Roland Eindhoven Univ Technol Control Syst Eindhoven Netherlands

Linear parameter-varying (LPV) models form a powerful model class to analyze and control a (nonlinear) system of interest. Identifying an LPV model of a nonlinear system can be challenging due to the difficulty of selecting the scheduling variable(s) a priori, especially if a first principles based understanding of the system is unavailable. Converting a nonlinear model to an LPV form is also non-trivial and requires systematic methods to automate the process. Inspired by these challenges, a systematic LPV embedding approach starting from multiple input multiple-output (MIMO) linear fractional representations with a nonlinear feedback block (NLFR) is proposed. this NLFR model class is embedded into the LPV model class by an automated factorization of the (possibly MIMO) static nonlinear block present in the model. As a result of the factorization, an LPV-LFR or an LPV state-space model with affine dependency on the scheduling is obtained. this approach facilitates the selection of the scheduling variable and the connected mapping of system variables. Such a conversion method enables to use nonlinear identification tools to estimate LPV models. the potential of the proposed approach is illustrated on a 2-DOF nonlinear mass-spring-damper example. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear systems Linear-Parameter Varying systems System Identification LPV Embedding Linear Fractional Representation MIMO

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Comparison of Parameter-Varying Decoupling Based control Schemes for a Quadrotor

Comparison of Parameter-Varying Decoupling Based Control Sch...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： van de Wiel, thomas T. R. Toth, Roland Kiriouchine, Vsevolod I. Eindhoven Univ Technol Eindhoven Netherlands

this paper presents and compares approaches to the design of flight controllers for quadrotor helicopters based on Linear Parameter-Varying (LPV) decoupling techniques. It is shown that parameter-varying decoupling makes it possible to use SISO LTI control design to address all degrees of motion freedom subject to high-speed maneuvers that require large pitch and roll angles. Specifically a decoupling method based on local linearizations (gain-scheduling decoupling) is compared to a global scheduling-dependent decoupling method inspired by computed-torque control, where the scheduling is based on the tilt angels of the drone. Based on an extensive simulation study, it is demonstrated that such a relatively simple control architecture can achieve significantly better performance than LTI control. Conceptually, the presented techniques can be used for the design of control schemes for aircraft and missiles. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Linear Parameter-Varying systems decoupling quadrotor

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Nonlinear H₂ and H_∞ control formulated in the Sobolev space for mechanical systems

Nonlinear H2 and H∞ con...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Cardoso, Daniel N. Raffo, Guilherme V. Esteban, Sergio Univ Fed Minas Gerais Grad Program Elect Engn BR-31270901 Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil Univ Seville Dept Aerosp Engn Seville 41092 Spain

Two important paradigms in control theory are the classic nonlinear H-2 and H-infinity control approaches. their background theory are well developed, and several applications have demonstrated their efficiency. Despite many advantages, they suffer from deficiencies such as minimum settling-time and minimum overshoot. An interesting approach to solve these limitations is the formulation of both controllers in the Sobolev space. thanks to the nature of the W - norm, the cost variable and its time derivatives are taken into account in the cost functional, leading to controllers with improved transient and steady-state performance. thus, aiming to deal with mechanical systems this work reformulates the H-2 and H-infinity controllers in the Sobolev space. It is shown that, for particular systems, the W-2 and W-infinity optimal controllers are equivalent. An optimal solution for the class of fully actuated mechanical systems is proposed. the controller is corroborated by numerical experiments conducted with a quadrotor UAV. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear systems H-2 control H-infinity control Sobolev space Robust control mechanical systems

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Robust control of Railway Traction System

Robust Control of Railway Traction System

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Dincel, Emre Nak, Handan Akkaya, Sirin Canevi, Mehmet Mutlu, Ilhan Soylemez, M. Turan Istanbul Tech Univ Istanbul Turkey

In this paper, a robust control strategy of a railway traction system with induction motor is proposed. the control problem is divided into sub-loops such as, current loop, acceleration loop, speed loop and position loop. A conventional PI controller is designed for the current loop, which is a very fast loop in comparison to the other mechanical loops. A nonlinear PI controller is used to control the acceleration loop. the speed and position loops are controlled via robust PI-PD controllers. the robustness problem is considered both as disturbance rejection, which arise due to resistive forces, and as robustness against uncertainties such as, the mass of the railway vehicle and the wheel diameter. the practical applicability of the method is emphasized via verification and validation steps with realistic constraints on acceleration, jerk, torque and power on a case study. Simulation results reveal that the proposed controller structure is quite effective for a railway traction system. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control Railways PID control Uncertain systems Ride Comfort Traction control

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H_∞ output-feedback control design for combustion systems using optical instrumentation

H∞ output-feedback control design for com...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Palma, Jonathan M. Garces, Hugo O. Rojas, Alejandro J. Morais, Cecilia F. Oliveira, Ricardo C. L. F. Univ Campinas UNICAMP Sch Elect & Comp Engn Campinas SP Brazil Univ Catolica Santisima Concepcion Dept Comp Sci Concepcion 4090541 Chile Univ Concepcion Dept Elect Engn Concepcion 4070386 Chile

this paper proposes a complete robust control design procedure for combustion systems, present in a wide range of important applications. Using a non-linear model identified through optical instrumentation, it is proposed a linear model around an operating condition. To ensure robustness with respect to variations on the operation condition and to deal with external disturbances, a state-space linear representation is further developed, introducing uncertain parameters and exogenous inputs affecting the plant (as non-laminar air flow), giving rise to a polytopic uncertain linear system. Finally, it is proposed a reduced-order H-infinity output-feedback control law for the resulting uncertain system, capable to assure closed-loop robust stability and performance in the whole uncertain domain A numerical experiment is presented to show the effectiveness of the designed reduced-order controller, that is robust against uncertainties and have a low cost of implementation. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Combustion systems Robust control Reduced-order output-feedback H-infinity control LMIs

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State assignment method for improvement of transient response caused by controller switching

State assignment method for improvement of transient respons...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Nakano, Kodai Sebe, Noboru Deguchi, Sae Suyama, Koichi Kyushu Inst Technol Fukuoka Fukuoka Japan Tokyo Univ Marine Sci & Technol Tokyo Japan

In this paper, the suppression of undesirable transient responses caused by controller switching is considered. In some cases, we switch the feedback and the observer gains in order to improve the control performance. However, such switching causes large disturbed transient response. To suppress such undesirable transient response, we propose to assign the state of the dynamical controller. this paper shows that it can be further suppressed by attaching an observer in order to suppress the transient response caused by switching, even in the case that all the states can be measured directly. the proposed assignment rule is based on the observability gramian of the post-switching closed loop system. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Switches state assignment step function responses servo systems observers control theory robust control observability gramian

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Information Distributed Kalman Filter Applied to Rendezvous Problems in Cooperative Robotic Teams

Information Distributed Kalman Filter Applied to Rendezvous ...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Salem, Feres A. Moreno, Ubirajara F. Castelan, Eugenio B. Univ Fed Santa Catarina Automat & Syst Dept Florianopolis SC Brazil

Rendezvous is a common cooperative task for a team of mobile robots and is widely studied in the literature. the most recent studies suggest distributed approaches to this technique. So, this paper proposes a distributed technique for the robots to achieve rendezvous using the information of their positions even if they have a high level of uncertainty in that. For this, the robots use a Kalman filter in the information form, carried out in a distributed way and using a consensus algorithm to fuse its neighbors' data. Several simulations were made and the discussion about the results is presented, choosing one particular case to expose more deeply. A comparison is made with a basic consensus algorithm and a predictive controller found in the literature. the results are promising in terms of computational cost, control effort and error in the information about the rendezvous point when dealing with higher levels of uncertainty in the information. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomous mobile robots networked robotic systems cooperative control Kalman filtering techniques consensus algorithm

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Trajectory tracking of AGVs by linear parameter-varying control: a case study

Trajectory tracking of AGVs by linear parameter-varying cont...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Jacobs, Laurens De Preter, Andreas Anthonis, Jan Swevers, Jan Pipeleers, Goele Katholieke Univ Leuven Dept Mech Engn MECO Res Team Leuven Belgium Flanders Make DMMS Lab Leuven Belgium Octin Bvba Leuven Belgium

this paper proposes a linear-parameter varying (LPV) controller design approach for trajectory tracking of an automated guided vehicle (AGV) based on a simple yet nonlinear kinematic model. By linearization of the model about a reference trajectory, an LPV model is readily obtained, which is then augmented with identified linear time-invariant actuator models. An appropriate parameter-dependent controller for the system is designed in an optimal way by specifying the control objectives in terms of H-infinity criteria. Its performance is assessed by means of experiments on the considered prototype of an autonomous platform. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： automated guided vehicles linear parameter-varying control feedback control computer-aided control system design experimental validation

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Relaxed LMI Conditions for the Design of Robust Static Output Feedback controllers

Relaxed LMI Conditions for the Design of Robust Static Outpu...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Sereni, B. Manesco, R. M. Assuncao, E. Teixeira, M. C. M. Sao Paulo State Univ UNESP Sch Engn Campus Ilha Solteira BR-15385000 Ilha Solteira SP Brazil

In this paper, we propose new sufficient conditions in terms of linear matrix inequalities (LMIs) for the design of robust static output feedback (SOF) controllers for linear time-invariant systems. With this approach, it is possible to deal with the practical problem of not having all state variables available to be directly measured. Additionally, this strategy considers systems subject to the presence of uncertain parameters in its structure. the proposed LMIs were obtained using the Finsler's Lemma. We also present the employment of two relaxation strategies to improve the feasibility region in the controller design. Moreover, this paper presents the results of a practical implementation in an active suspension system susceptible to a fault in the actuator control signal to evaluate the technique's efficiency. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Output feedback control Robust control Time-invariant systems Linear matrix inequalities (LMIs) Faults tolerant control Relaxations

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