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Asynchronous networked control of linear systems via L₂-gain-based transformations: analysis and synthesis

IET CONTROL theory AND applications 2011年第4期5卷 647-654页

作者： Cano, J. M. Lopez-Martinez, M. Rubio, F. R. Univ Seville Dept Ingn Sistemas & Automat Escuela Tecn Super Ingenieros Seville 41092 Spain

This study presents a method to analyse the stability of the feedback interconnection of a class of systems, when the signals associated with the feedback interconnection are sampled asynchronously. A transformation based on L-2-gain is designed and introduced on both sides of the interconnection. This transformation enlarges the maximum sampling time such that the interconnection remains stable. The transformation is designed in such a way that both systems have finite L-2-gain and verifies the small-gain theorem. This design method makes easier the migration of wired continuous-time control loops to unwired asynchronous ones by just adding this transformation to both sides of the interconnection. The analysis is performed by using the concept of maximum sampling time that preserves small gain (MASG), starting from the continuous-time definition of the property. Finally, a synthesis method is included to obtain the transformation, assuming that the minimum sampling time available in the communication channel is given as a constraint. The synthesis method follows an iterative procedure and solves a set of matrix inequalities. We report on real experiments applied to the remote control of the rotor speeds of a quadrotor.

关键词： quadrotor Other topics in statistics remote control gain-based transformation minimum sampling time asynchronous networked control maximum sampling time iterative procedure wired continuous-time control loop stability Stability in control theory rotor speed continuous-time definition networked control systems linear systems communication channel linear algebra (numerical analysis) sampling methods continuous time systems linear matrix inequalities matrix inequalities linear system

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H_∞ filter design for delta operator formulated systems with low sensitivity to filter coefficient variations

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IET CONTROL theory AND applications 2011年第15期5卷 1677-1688页

作者： Guo, X. -G. Yang, G. -H. Northeastern Univ Coll Informat Sci & Engn Shenyang 110004 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Liaoning Peoples R China

The problem of designing H-infinity filters for delta operator formulated systems with low sensitivity to filter coefficient variations is investigated. The delta operator provides a theoretically unified formulation of continuous-time and discrete-time systems and also has the advantage of better numerical properties at high sampling rates. In addition to the standard H-infinity criterion, the H-infinity norm of the sensitivity function is introduced in order to improve the designed filter's insensitivity to the filter coefficient variations. Finsler's Lemma is used to derive novel sufficient conditions which are adapted to treat this multiplicative objective optimisation problem in a potentially less conservative framework. linear matrix inequality conditions are obtained for the existence of admissible filters with respect to additive/multiplicative coefficient variations based on two different types of sensitivity measures. Finally, the effectiveness of the proposed method is illustrated by a numerical example. It is shown that the delta operator approach offers better coefficient sensitivity than the traditional shift operator approach when the sampling rate is high.

关键词： H∞ control Signal processing theory Optimisation techniques shift operator approach filtering theory H∞ filter design Finsler lemma sensitivity function additive-multiplicative coefficient variations linear matrix inequality Control system analysis and synthesis methods linear algebra (numerical analysis) sensitivity analysis continuous time systems Optimal control linear matrix inequalities Discrete control systems multiplicative objective optimisation problem optimisation filter coefficient variations discrete time systems delta operator formulated systems

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Delay-dependent L₂-L_∞ filter design for stochastic time-delay systems

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IET CONTROL theory AND applications 2011年第1期5卷 1-8页

作者： Yang, R. Gao, H. Shi, P. Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Peoples R China Univ Glamorgan Fac Adv Technol Pontypridd CF37 1DL M Glam Wales Victoria Univ Sch Sci & Engn Melbourne Vic 8001 Australia

This study considers the problem of delay-dependent L-2-L-infinity filter design for a class of stochastic time-delay systems. Attention is focused on the design of an L-2-L-infinity filter to guarantee a prescribed energy-to-peak performance for the filtering error system. Both full-order and reduced-order filter design approaches are obtained in terms of linear matrix inequalities. Finally, a numerical example is provided to illustrate the effectiveness and improvement of the proposed filter design methods over some existing results.

关键词： Time-varying control systems energy-to-peak performance control system synthesis filtering error system stochastic time-delay systems delays linear algebra (numerical analysis) stochastic systems reduced-order filter design approach Control system analysis and synthesis methods Distributed parameter control systems delay-dependent L2-L∞ filter design reduced order systems linear matrix inequalities full-order filter design approach

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Spectrum-based stability analysis and stabilisation of systems described by delay differential algebraic equations

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IET CONTROL theory AND applications 2011年第16期5卷 1829-1842页

作者： Michiels, W. Katholieke Univ Leuven Dept Comp Sci Louvain Belgium

An eigenvalue-based framework is developed for the stability analysis and stabilisation of coupled systems with time-delays, which are naturally described by delay differential algebraic equations. The spectral properties of these equations are analysed and a numerical method for computing characteristic roots and stability assessment is presented, thereby taking into account the effect of small delay perturbations on stability. Subsequently, the design of stabilising controllers with a prescribed structure or order is addressed, based on a direct optimisation approach. The effectiveness of the approach is illustrated with numerical examples. All algorithms have been implemented in publicly available software.

关键词： stability assessment differential algebraic equations delay perturbation control system synthesis stability Stability in control theory Control system analysis and synthesis methods numerical analysis eigenvalues and eigenfunctions delay differential algebraic equation linear algebra (numerical analysis) delays direct optimisation approach coupled system stabilisation spectrum based stability analysis numerical method eigenvalue based framework time delay Distributed parameter control systems

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Fault-tolerant synthesis controller design for a flight-tracking system

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IET CONTROL theory AND applications 2011年第11期5卷 1243-1254页

作者： Liu, C. -S. Jiang, B. Zhang, S. -J. Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing 210016 Peoples R China

This study presents a fault-tolerant synthesis controller design scheme for a class of non-linear systems with minimised performance index. A radial basis function (RBF) neural network with the online-updated centre and the width vector of Gaussian function is utilised to approximate the unknown non-linear dynamics. An updating rule is designed to estimate actuator failure. Based on estimated non-linear function and fault knowledge, a synthesis controller is developed with an optimal control action and a sliding-mode control action that is used to eliminate the effect of neural network approximation error. The sufficient condition for the optimal performance is given in terms of non-linear fault-dependent quadratic matrix inequality. Then, the solution of matrix inequality is reduced to solve off-line a fault-free Riccati equation. The feasibility of proposed method is demonstrated by a spacecraft model.

关键词： radial basis function neural network nonlinear systems Other topics in statistics sliding mode control fault free Riccati equation Multivariable control systems actuator failure flight tracking system space vehicles Aerospace control variable structure systems control system synthesis Control system analysis and synthesis methods spacecraft model Nonlinear control systems Actuating and final control devices Gaussian processes unknown nonlinear dynamics minimised performance index linear algebra (numerical analysis) fault tolerance fault tolerant synthesis controller design Neurocontrol nonlinear fault dependent quadratic matrix inequality Optimal control nonlinear dynamical systems optimal control Riccati equations radial basis function networks actuators Gaussian function

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Optimal anti-windup digital redesign of multi-input multi-output control systems under input constraints

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IET CONTROL theory AND applications 2011年第3期5卷 447-464页

作者： Tsai, J. S. -H. Du, Y. -Y. Zhuang, W. -Z. Guo, S. -M. Chen, C. -W. Shieh, L. -S. Natl Cheng Kung Univ Dept Elect Engn Control Syst Lab Tainan 701 Taiwan Natl Cheng Kung Univ Dept Comp Sci & Informat Engn Tainan 701 Taiwan Kao Yuan Univ Dept Mech & Automat Engn Kaohsiung 821 Taiwan Univ Houston Dept Elect & Comp Engn Houston TX 77204 USA

In this study, a novel optimal anti-windup control scheme is proposed to resolve the input constraint problem for multi-input multi-output (MIMO) systems, without losing the good tracking performance as possible. Avoiding complex numerical calculation, the proposed optimal control scheme can systematically compress a huge control input within the range of the required restriction by adjusting well-designed weighted matrices for linear constrained systems. Combining a conventional linear quadratic analogue tracker (LQAT) with the proposed scheme, the anti-windup-based optimal analogue tracker not only possesses the advantage of the conventional LQAT, good tracking performance, but also effectively resolves the input saturation problem. For practical consideration, the proposed LQAT is implemented by adopting the prediction-based digital redesign technique to design an effective digital control of linear MIMO sampled-data systems under input constraints.

关键词： digital control control nonlinearities optimal anti-windup digital redesign Multivariable control systems linear MIMO sampled-data systems control system synthesis Control system analysis and synthesis methods Nonlinear control systems MIMO systems input constraint problem matrix algebra multiinput multioutput control systems algebra linear quadratic analogue tracker Optimal control input saturation problem Discrete control systems optimal control weighted matrices optimal anti-windup control sampled data systems

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Accelerating Sparse linear algebra Using Graphics Processing Units

Accelerating Sparse Linear Algebra Using Graphics Processing...

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conference on Modeling and Simulation for Defense Systems and applications VI

作者： Spagnoli, Kyle E. Humphrey, John R. Price, Daniel K. Kelmelis, Eric J. EM Photon Inc Newark DE 19711 USA

ISBN: (纸本)9780819486349

The modern graphics processing unit (GPU) found in many standard personal computers is a highly parallel math processor capable of over 1 TFLOPS of peak computational throughput at a cost similar to a high-end CPU with excellent FLOPS-to-watt ratio. High-level sparse linear algebra operations are computationally intense, often requiring large amounts of parallel operations and would seem a natural fit for the processing power of the GPU. Our work is on a GPU accelerated implementation of sparse linear algebra routines. We present results from both direct and iterative sparse system solvers. The GPU execution model featured by NVIDIA GPUs based on CUDA demands very strong parallelism, requiring between hundreds and thousands of simultaneous operations to achieve high performance. Some constructs from linear algebra map extremely well to the GPU and others map poorly. CPUs, on the other hand, do well at smaller order parallelism and perform acceptably during low-parallelism code segments. Our work addresses this via hybrid a processing model, in which the CPU and GPU work simultaneously to produce results. In many cases, this is accomplished by allowing each platform to do the work it performs most naturally. For example, the CPU is responsible for graph theory portion of the direct solvers while the GPU simultaneously performs the low level linear algebra routines.

关键词： graphics processing unit GPU accelerated linear algebra parallel computing sparse linear algebra finite element methods

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Exponential stability of static neural networks with time delay and impulses

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IET CONTROL theory AND applications 2011年第8期5卷 943-951页

作者： Wu, S. L. Li, K-L Huang, T. Z. Univ Elect Sci & Technol China Sch Math Sci Chengdu 611731 Sichuan Peoples R China Sichuan Univ Sci & Engn Sch Sci Zigong 643000 Sichuan Peoples R China Univ Elect Sci & Technol China Sch Appl Math Chengdu 610054 Sichuan Peoples R China

In this study, the authors investigate the problem of global exponential stability of static neural networks with time delay and impulses. Three types of impulses are studied: the impulses are input disturbances;the impulses are 'neutral' type, that is, they are neither helpful for stability of neural networks nor destabilising;and the impulses are stabilising. For each type of impulses, by using Lyapunov function and Razumikhin-type techniques, sufficient conditions for global exponential stability are established in terms of linear matrix inequalities with respect to suitable classes of impulse time sequences. The new sufficient conditions can explicitly reveal the effects of time delay, impulses etc., on the stability. numerical results are given to show the less conservatism of the obtained criteria compared with the existing ones.

关键词： algebra static neural networks neural network time delay delays Lyapunov methods neural network impulse Neural nets linear matrix inequalities Razumikhin-type technique Lyapunov function asymptotic stability neural nets global exponential stability

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High-order accuracy: Monotonicity and non-linear methods

High-order accuracy: Monotonicity and non-linear methods

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International conference on numerical methods for Hyperbolic Equations - theory and applications

作者： Toro, E. F. Univ Trento Lab Appl Math Trento Italy

ISBN: (纸本)9780203590621;9780415683883

These lecture notes are exclusively concerned with numerical methods for scalar homogeneous hyperbolic equations in one space dimension. We study monotonicity and some other basic properties of numerical methods. We state and prove Godunov's theorem and then go on to construct two classes of non-linear methods to circumvent it, TVD and ENO methods. Two examples of non-linear methods are given: the MUSCL-Hancock method, second order, and the ADER method, of arbitrary order.

关键词： numerical methods

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L₂-optimal identification of errors-in-variables models based on normalised coprime factors

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IET CONTROL theory AND applications 2011年第11期5卷 1235-1242页

作者： Geng, L. -H. Xiao, D. -Y. Zhang, T. Song, J-Y. Che, Y-Q Tianjin Univ Technol & Educ Sch Automat & Elect Engn Tianjin 300222 Peoples R China Tianjin Key Lab Informat Sensing & Intelligent Co Tianjin Peoples R China Tsinghua Univ Dept Automat Beijing 100084 Peoples R China

A frequency-domain method is proposed to cope with errors-in-variables model (EIVM) identification when the input and output noises are bounded by a certain upper bound. Based on normalised coprime factor model (NCFM) description, L-2-optimal approximate models for an EIVM are first established, which consist of a system NCFM and its complementary inner factor model (CIFM) characterising the noises. Then the v-gap metric criterion is minimised to optimise a system coprime factor model, from which the system NCFM can be obtained by normalisation. During the optimisation, a priori information on the system poles can be fully used to reduce the overfitting effect caused by the noises. The associated noise CIFM can be readily constructed from the resulting estimated system NCFM by a model transformation. Compared with related identification methods, the system model can be effectively solved by linear matrix inequalities and the associated noise model can then be directly built. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method.

关键词： v-gap metric criterion Optimisation techniques frequency-domain analysis numerical simulations frequency-domain method normalisation complementary inner factor model algebra errors-in-variables model identification errors-in-variables models normalised coprime factor model Control system analysis and synthesis methods identification optimisation Simulation, modelling and identification linear matrix inequalities normalised coprime factors L2-optimal identification

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