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Optimization of the Smoothed Spectral Abscissa for Retarded Type systems 15th

Optimization of the Smoothed Spectral Abscissa for Retarded ...

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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： Gomez, Marco A. Michiels, Wim Katholieke Univ Leuven Dept Comp Sci B-3001 Leuven Belgium

We introduce a new robust stability measure for retarded type systems, which is called smoothed spectral abscissa. the main characteristics of the smoothed spectral abscissa are that it is smooth with respect to the system parameters, and it provides a trade-off between the spectral abscissa and the H-2 norm of a transfer matrix related with the system. It is given by an implicit relation with the H-2 norm of an auxiliary system, and its computation is based on the delay Lyapunov matrix. We show that these features make the smoothed spectral abscissa suitable for the design of robust controllers by using standard gradient-based optimization techniques. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Smoothed spectral abscissa H-2 norm optimization robust control delay Lyapunov matrix

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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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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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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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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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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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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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Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient control 15th

Preserving the Physical Coupling in Teleoperation despite Ti...

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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： Singh, Harsimran Panzirsch, Michael Ryu, Jee-Hwan German Aerosp Ctr DLR Inst Robot & Mechatron Wessling Germany Korea Univ Technol & Educ Sch Mech Engn Cheonan South Korea

In recent past, a variety of control approaches were proposed that serve the stabilization of coupled network systems despite time delay. Especially in teleoperation setups, where the input device displays the interaction forces and torques of the remote coupled robot with its environment to a human operator. this force feedback should represent the physical behavior of a coupling at zero time delay. However, most control approaches aim to limit the force feedback for the sake of stability which does not necessarily lead to a reasonable presentation of the the remote side impedances. Recently, Singh et al. (2019) proposed an observer-based gradient controller to eliminate the force jittering on the master side. It rectified the delayed feedback force by removing the undesired increase in force which is generated by the delay in communication channel. the stability of the system was assured via the Time Domain Passivity Approach which leads to an undesired position drift. In this work the observer-based gradient approach is modified to increase it's force transparency and implemented to another recently developed position-drift free Time Domain Passivity Approach, Panzirsch et al. (2019). the new amalgamated approach is validated and compared to the state-of-the-art in experiments. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Delayed Coupled Network systems Teleoperation Transparency Time Delay

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Water Hammer Stability in a Hydroelectric Plant with Surge Tank and throttling 15th

Water Hammer Stability in a Hydroelectric Plant with Surge T...

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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： Danciu, Daniela Popescu, Dan Rasvan, Vladimir Univ Craiova Dept Automat Control & Elect AI Cuza 13 RO-200585 Craiova Romania

there is considered the dynamics of a hydroelectric power plant with two conduits - the tunnel and the hydraulic turbine penstock - and a surge tank with throttling. the water hammer phenomenon is considered under the assumption that the hydraulic turbine is shut down. Under the standard assumptions of water hammer computations, both the dynamic head and the Darcy-Weisbach losses are neglected. the consequence of all aforementioned assumptions is a model described by linear hyperbolic partial differential equations with linear non-standard boundary conditions. Further, considering the Riemann invariants of the problem along the characteristics, a system of functional differential equations with deviated argument of neutral type is associated to the basic model. this system displays two rationally independent delays. Its stability is studied using the Lyapunov functional approach and taking into account the dissipativeness of the boundary conditions. Copyright (C) 2019. the Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Water hammer Neutral functional differential equations Stability Lyapunov functional

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