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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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Selection of the estimation model for robust observer-based controller against plant uncertainties 10th

Selection of the estimation model for robust observer-based ...

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10th ifac symposium on Robust control Design (ROCOND)

作者： Shikada, Kana Sebe, Noboru Sato, Masayuki Kyushu Inst Technol Kitakyushu Fukuoka Japan Japan Aerosp Explorat Agcy Chofu Tokyo Japan

this paper is concerned with the design of robust controllers with observers. In general, the nominal model is selected as the state-space model for the observer to estimate the states even if the plant has uncertainties. However, the properness of this strategy is ambiguous. this paper evaluates the properness of selecting the nominal model for state estimation of the plant with uncertainties. Sato (2018a) proposed a new type of controller so-called observer-structured controller. the controller introduces additional freedom for selecting the state-space model used for the state estimation. With this type of controller, this paper demonstrates that the adequate selection of estimation model improves the closed-loop control performance through numerical examples. Copyright (C) 2022 the Authors.

关键词： Robust estimation Observer for linear systems Robust control

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Stochastic model predictive control for linear systems affected by correlated disturbances 10th

Stochastic model predictive control for linear systems affec...

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10th ifac symposium on Robust control Design (ROCOND)

作者： Chaouach, Lotf Mustapha Fiacchini, Mirko Alamo, Teodoro Delft Ctr Syst & Control NL-2628 CD Delft Netherlands Grenoble INP CNRS GIPSA Lab F-38000 Grenoble France Univ Seville Dept Syst Engn & Automat Seville 41092 Spain

In this paper, the problem of stability, recursive feasibility and convergence conditions of stochastic model predictive control for linear discrete-time systems affected by a large class of correlated disturbances is addressed. A stochastic model predictive control that guarantees convergence, average cost bound and chance constraint satisfaction is developed. the results rely on the computation of probabilistic reachable and invariant sets using the notion of correlation bound. this control algorithm results from a tractable deterministic optimal control problem with a cost function that upper-bounds the expected quadratic cost of the predicted state trajectory and control sequence. the proposed methodology only relies on the assumption of the existence of bounds on the mean and the covariance matrices of the disturbance sequence. Copyright (C) 2022 the Authors.

关键词： Stochastic MPC Probabilistic reachability Probabilistic invariance

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Cryptographic switching functions for multiplicative watermarking in cyber-physical systems 11th

Cryptographic switching functions for multiplicative waterma...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Gallo, Alexander J. Ferrari, Riccardo M. G. Delft Univ Technol Delft Ctr Syst & Control Mech Maritime & Mat Engn Delft Netherlands

In this paper we present a novel switching function for multiplicative watermarking systems. the switching function is based on the algebraic structure of elliptic curves over finite fields. the resulting function allows for both watermarking generator and remover to define appropriate system parameters, sharing only limited information, namely a private key. We prove that the resulting watermarking parameters lead to a stable watermarking scheme. Copyright (C) 2022 the Authors.

关键词： Boolean functions

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Observer-based design for Fault Diagnosis and Fault Tolerant control of bilinear-systems: Application to HVAC systems 11th

Observer-based design for Fault Diagnosis and Fault Tolerant...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Jarrou, Abderrahmane Sauter, Dominique Hamelin, Frederic Aubrun, Christophe Univ Lorraine Ctr Rech Automat Nancy CNRS UMR 7039 Nancy France

In this paper seminal approaches for FDI introduced by Frank (Frank, 1990) are revisited in a bilinear setting. the proposed developments, including Fault Tolerant control (Noura et al, 2000) are applied to Building Heating Ventilation and Air Conditioning (HVAC) systems. that is, the control system parameters and objective functions are adapted/reconfigured in the presence of a fault or performance deviation by means of an intermediate reconfigurable control layer. It allows maintaining building and HVAC operation within its specified energy and comfort performance requirements when a mechanical or operational fault takes place, until the fault is corrected. An integrated design, composed of two levels, respectively fault diagnosis and reconfiguration mechanism is proposed to recover performances after fault occurrence. this approach is applied to a two-zones building and simulation results are given to show its effectiveness. Copyright (C) 2022 the Authors.

关键词： Fault diagnosis Fault Tolerant control Bilinear systems HVAC control

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Wrench Estimation and Impedance-based control applied to a Flying Parallel Robot Interacting with the Environment 11

Wrench Estimation and Impedance-based Control applied to a F...

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11th ifac symposium on Intelligent Autonomous Vehicles (IAV)

作者： Liu, Shiyu Fantoni, Isabelle Chriette, Abdelhamid Six, Damien Ecole Cent Nantes Lab Sci Numer Nantes LS2N 1 Rue Noe F-44321 Nantes France Ctr Natl Rech Sci LS2N 1 Rue Noe F-44321 Nantes France

Multi-vehicle aerial robots present great potential in accomplishing manipulation tasks, because of their high payload capacity and full manipulability in 3-dimensional space. Belonging to this class of aerial robots, the Flying Parallel Robot (FPR) is an architecture where a moving platform is supported collectively by a team of quadrotors with passive kinematic chains. While the modelling and control of the FPR in free space has been studied in the previous work, there is lack of consideration in robot-environment interaction, which is however significant to develop the industrial applications of such robots. In this paper, we implement an external wrench estimator and an impedance-based controller with force tracking capability to achieve the disturbance rejection and the physical interaction with the environment. Extensive experimental validations have shown the FPR capable of hovering in presence of additional payload and strong wind perturbations, and performing contact-based interaction tasks. Copyright (C) 2022 the Authors. this is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/)

关键词： Aerial systems: Mechanics and control Impedance control Multi-vehicle systems

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Distributed Observer-based Fault-tolerant Leader-following control of Multi-agent systems 11th

Distributed Observer-based Fault-tolerant Leader-following C...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Trejo, Jesus A. . Vazquez Ponsart, Jean Christophe Adam-Medina, Manuel Palomo, Guillermo Valencia Trejo, Juan A. . Vazquez Teilliol, Didier TecNM Ctr Nacl Deinvest & Desarrollo Tecnol CENIDE Elect Engn Dept Cuernavaca 62490 Morelos Mexico Univ Lorraine Ctr Rech Automat Nancy CRAN UMR CNRS 7039 F-54506 Nancy France IT Hermosillo Tecnol Nacl Mexico Ave Tec & Poniente S-N Hermosillo 83170 Mexico

this paper presents a fault-tolerant observer-based leader-following control for multi-agent systems subject to actuator faults. the stability of the observer and the controller under actuator faults is proved using the Lyapunov theory. the observer and controller gain matrices solution is expressed by means of linear matrix inequalities. the effectiveness of the proposed approach is illustrated using a numerical example associated with a virtual leader-following consensus problem of an aircraft fleet under actuator faults. Copyright (C) 2022 the Authors.

关键词： Distributed fault-tolerant control Multi-agent systems Estimation and fault detection Actuator faults Linear systems

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LPV control design based on ultra-local model for trajectory tracking problem 10th

LPV control design based on ultra-local model for trajectory...

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10th ifac symposium on Robust control Design (ROCOND)

作者： Hegedus, Tamas Fenyes, Daniel Szabo, Zoltan Nemeth, Balazs Gaspar, Peter Inst Comp Sci & Control SZTAKI Eotvos Lorand Res Network ELKH Kende U 13-17 H-1111 Budapest Hungary

Model Free control (MFC) is a novel technique to overcome some modeling and control challenges of highly nonlinear systems. the MFC control strategy consists of two parts, i.e., ultra-local model-based control and state feedback control. this paper proposes the robust Linear Parameter-Varying (LPV) method for design the state feedback control part of the strategy. In the design of robust LPV control the effect of the ultra-local model, formed as a disturbance, is involved. the contribution of this extension to the original concept of MFC design is that a desired performance of the closed-loop system can be achieved. the effectiveness of the presented control strategy is demonstrated through a trajectory tracking problem of autonomous vehicles using the high-fidelity simulation software, IPG CarMaker. Copyright (C) 2022 the Authors.

关键词： ultra-local model trajectory tracking autonomous vehicles LPV control

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Low-Sample-Size Data-Driven Re-stabilization of Gene Network systems 10th

Low-Sample-Size Data-Driven Re-stabilization of Gene Network...

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10th ifac symposium on Robust control Design (ROCOND)

作者： Shen, Xun Morishita, Masahide Jun-ichi, Imura Oku, Makito Aihara, Kazuyuki Tokyo Inst Technol Tokyo Japan Univ Toyama Toyama Japan Univ Tokyo Tokyo Japan

During the progression of complex diseases caused by qualitative shifts in gene networks, the deteriorations may be abrupt and cause a critical transition from a healthy state to a disease state. We define a pre-disease state as a state just before the imminent critical transition. Medical treatment in the pre-disease state should be more efficient than in the disease state. this paper proposes a data-driven method to design an input assignment and a stabilizing controller to avoid this kind of qualitative shift. the proposed method only requires a small number of data samples on the steady pre-disease state. We show numerical examples to validate the effectiveness of the proposed method. Copyright (C) 2022 the Authors.

关键词： Data driven control ultra-early medical treatment eigenvalue shift matrix perturbation input assignment

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Sensitivity Analysis and Fisher-Information Matrix for a Dynamic Model of a Turntable Ladder 9

Sensitivity Analysis and Fisher-Information Matrix for a Dyn...

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9th ifac symposium on Mechatronic systems (MECHATRONICS) / 16th International Conference on Motion and Vibration control (MoViC)

作者： Mueller, Bernd Rolle, Bernhard Sawodny, Oliver Univ Stuttgart Inst Syst Dynam Stuttgart Germany

A digital twin for turntable ladders increases the efficiency of the development process and especially the parameterization of the already established active damping control. therefore, the goal of this paper is to derive a precise dynamic model of a turntable ladder. Large forces acting on the vehicle cause flexible deformation like twisting of the chassis. A multibody system representing the chassis and support structure of the vehicle is considered and the dynamics are derived by using the Lagrange formalism. the conducted sensitivity analysis reveals that not all parameters can be identified with the measurable outputs of that system. Hence, the Fisher-Information Matrix (FIM) is used to determine less sensitive parameters. By several assumptions, the amount of different parameters is reduced yielding a modified dynamic system with identifiable parameter set. Copyright (C) 2022 the Authors.

关键词： Dynamic modelling Sensitivity analysis Fisher-Information Matrix Digital twin

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Learning Stochastic Parametric Differentiable Predictive control Policies 10th

Learning Stochastic Parametric Differentiable Predictive Con...

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10th ifac symposium on Robust control Design (ROCOND)

作者： Drgona, Jan Mukherjee, Sayak Tuor, Aaron Halappanavar, Mahantesh Vrabie, Draguna Pacific Northwest Natl Lab Richland WA 99352 USA

the problem of synthesizing stochastic explicit model predictive control policies is known to be quickly intractable even for systems of modest complexity when using classical control-theoretic methods. To address this challenge, we present a scalable alternative called stochastic parametric differentiable predictive control (SP-DPC) for unsupervised learning of neural control policies governing stochastic linear systems subject to nonlinear chance constraints. SP-DPC is formulated as a deterministic approximation to the stochastic parametric constrained optimal control problem. this formulation allows us to directly compute the policy gradients via automatic differentiation of the problem's value function, evaluated over sampled parameters and uncertainties. In particular, the computed expectation of the SP-DPC problem's value function is backpropagated through the closed-loop system rollouts parametrized by a known nominal system dynamics model and neural control policy which allows for direct model-based policy optimization. We demonstrate the computational efficiency and scalability of the proposed policy optimization algorithm in three numerical examples, including systems with a large number of states or subject to nonlinear constraints. Copyright (C) 2022 the Authors.

关键词： Stochastic explicit model predictive control offline model-based policy optimization deep neural networks differentiable programming parametric programming

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