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Multiobjective robust discrete dynamic output-feeback control synthesis based on closed-loop reference model

Multiobjective robust discrete dynamic output-feeback contro...

引用

ieee international symposium on computer aided control system design (cacsd)

作者： Wagner Eustáquio Gomes Bachur Eduardo Nunes Gonçalves Valter Júnior de Souza Leite Reinaldo Martinez Palhares Department of Electrical Engineering Centro Federal de Educação Tecnológica de Minas Gerais Belo Horizonte Minas Gerais Brazil Department of Electrical Engineering Centro Federal de EducaçÄƒo Tecuólogica de Minas Gerais Belo Horizonte MG Brazil Campus Divinópolis Centro Federal de Educação Tecnológica de Minas Gerais R. Ñlvares Azevedo 400 Divinópolis - Brazil Department of Electronic Engineering Universidade Federal de Minas Gerais Belo Horizonte MG Brazil

This paper presents a new strategy for robust dynamic output-feedback control synthesis for uncertain discrete-time linear time-invariant systems represented by polytopic models. It is proposed a multiobjective optimization problem to guarantee tracking response specifications, disturbance rejection, and noise attenuation. The novelty is to consider as an additional objective function the minimization of the H ∞ -norm of the error between the closed-loop transfer function from the reference signal to the controlled output and a reference model to attain the tracking response specifications. It is applied a two step iterative procedure to solve the bilinear matrix inequality problem. A numeric example is presented to illustrate the effectiveness of combining the closed-loop reference model together with other control objectives.

关键词： Noise Robustness Transfer functions Attenuation Optimization Robust control Computational modeling

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LFT-free μ-analysis of LTI/LPTV systems

LFT-free μ-analysis of LTI/LPTV systems

引用

ieee international symposium on computer aided control system design (cacsd)

作者： Yun-Bo Zhao Jongrae Kim Declan G. Bates Biomedical Engineering University of Glasgow Glasgow UK Centre for Systems Dynamics and Control College of Engineering Mathematics and Physical Sciences University of Exeter Exeter UK

μ-analysis has for many years been the de facto standard robustness analysis tool in a wide variety of control applications. To use μ-analysis, the uncertain system must be cast in the form of a linear fractional transformation (LFT). Once it is appropriately transformed, a variety of algorithms are available to calculate the upper and the lower bounds on μ. Several difficulties arise during this process. Firstly, the uncertainties in the system must appear as polynomial fractions - if they do not, then some approximation steps must be applied in order to write the system as an LFT. Secondly, symbolic manipulations are required in general in order to obtain linear fractional transformation automatically. Finally, for problems involving real parametric uncertainties calculating the lower bound is a well known NP(Non-deterministic Polynomialtime)-hard problem. Therefore, there will always be some conservatism introduced in the bound or else the computation time will increase exponentially with the number of uncertain parameters. We present an efficient algorithm to overcome these issues by combining a randomisation approach and a geometric interpretation of the robustness analysis problem. The uncertainty is re-defined by a subtraction between the uncertain system and the nominal system. Thus the procedure does not require that the uncertain parameters are actually decoupled from the system (as with LFT's) but only requires the evaluation of the difference between the nominal system and the perturbed system. Here, we illustrate the application of the proposed approach to the robustness analysis of uncertain linear periodically time-varying systems, and in particular to magnetic torquer controlled spacecraft attitude dynamics.

关键词： Robustness Algorithm design and analysis Uncertainty Polynomials Space vehicles Heuristic algorithms Upper bound

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Visualizing work progress information of construction project by web and VR application

Visualizing work progress information of construction projec...

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Asia Modelling symposium 2011: 5th Asia international Conference on Mathematical Modelling and computer Simulation, AMS 2011

作者： Kang, Leen-Seok Moon, Hyoun-Seok Kim, Hyun-Seoung Choi, Gwang-Ryul Park, Nam-Jin Kim, Chang-Hak Dept. of Civil Eng. Gyeongsang National University Jinju Korea Republic of

ISBN: (纸本)9780769544144

The demand for visualizing schedule management information of construction work, which used to be comprised of numerical data is increasing by the web application and virtual reality (VR) technology. Web application with telepresence tool can project construction site using Internet in real time and 4D CAD can continually simulate 3D appearance of construction site by day or week unit. If telepresence tool is linked with 4D CAD system, project manager can check real construction site by web camera and virtual construction site by 4D CAD in an integrated progress control system. This study attempts to develop a prototype of an integrated progress control system that 4D CAD is linked with telepresence tool. The developed system will be used for visualizing construction progress status by comparing two site images. © 2011 ieee.

关键词： computer aided design

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control of biological clock in crassulacean acid metabolism using nullcline design

Control of biological clock in crassulacean acid metabolism ...

引用

ieee/SICE international symposium on system Integration

作者： Akira Goto Yusuke Totoki Haruo Suemitsu Takami Matsuo Department of Architecture and Mechatronics Oita University Dannoharu Oita Japan

The nonlinear dynamical behavior of the crassulacean acid metabolism is discussed from the control theoretical viewpoint. The state-variables of the nonlinear dynamic equations are an internal CO 2 concentration, a malate concentration in the cytoplasm, a malate concentration in the vacuole, and an order of the tonoplast membrane. The input variables are an external CO 2 concentration, a light intensity and a temperature. We have recently presented a dynamic estimator of the tonoplast order and a fuzzy identifier of the nonlinear function in the dynamics of the tonoplast order. In this paper, we propose two types of the feedback controllers of the CAM model using the external CO 2 concentration and the light intensity as an input.

关键词： Mathematical model computer aided manufacturing Equations Rhythm Manifolds Adaptive control Input variables

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Single Network Adaptive Critic aided nonlinear dynamic inversion for suboptimal command tracking

Single Network Adaptive Critic aided nonlinear dynamic inver...

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ieee international symposium on Intelligent control (ISIC)

作者： Geethalakshmi S. Lakshmikanth Radhakant Padhi John M. Watkins James E. Steck Department of Electrical Engineering and Computer Science Wichita State University Wichita KS USA Department of AeroSpace Engineering Indian Institute of Science Bangalore India Department of AeroSpace Engineering Wichita State University Wichita KS USA

Using the Approximate Dynamic Programming (ADP) approach, nonlinear optimal control problems can be solved by using a dual neural network architecture called the Adaptive Critic (AC). A Single Network Adaptive Critic (SNAC) architecture has been shown to have much faster convergence than AC. Even though the SNAC offers a systematic optimal control design method for optimal state regulation for a class of nonlinear control systems, it lacks the generality necessary for command tracking as it is practically difficult to anticipate a proper training domain in state space when the command sequence is not known a priori. Dynamic Inversion (DI), on the other hand, is a very popular nonlinear control design method for both output regulation and command tracking that offers a closed form expression for control. However, it lacks the interpretation and advantages of optimal control design. In this paper we propose a systematic technique for selecting the DI gains with the help of a pre-synthesized SNAC network in order that the resulting DI solution closely mimics the SNAC solution for output regulation and can be extended to command tracking problems. Moreover, it retains all the benefits of DI design. The potential of this new methodology of near-optimal dynamic inversion design is demonstrated in this paper by considering a benchmark nonlinear system.

关键词： Optimal control Equations Nonlinear systems Mathematical model Cost function control design Training

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Sliding mode controller design for systems with mismatched uncertainties described using polytopic models

Sliding mode controller design for systems with mismatched u...

引用

ieee international symposium on computer-aided control system design

作者： Andrade-Da Silva, J.M. Edwards, C. Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom

ISBN: (纸本)9781424453542

A sliding mode controller for uncertain systems is proposed in this paper. The class of system considered has matched and mismatched uncertainties. The design framework involves linear matrix inequality methods and polytopic models. A design study considering a DC motor with matched and mismatched uncertainties illustrates the synthesis methodology and demonstrates the effectiveness of the proposed controller. © 2010 ieee.

关键词： DC motors

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Estimation theory and tracking of deformable objects

Estimation theory and tracking of deformable objects

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ieee international symposium on computer-aided control system design

作者： Vela, Patricio A. Ndiour, Ibrahima J. School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332-0250 United States

ISBN: (纸本)9781424453542

This paper provides a summary of several recently detailed recursive, filtering strategies as applied to the task of tracking deformable objects from a video sequence. Estimation theory provides the foundation for filtering objects based on presumed dynamics and (partial) uncertain measurements. All of the methods seek to arrive at an accurate contour signal in spite of measurement and prediction errors. They differ fundamentally in the state definition and in the estimation approaches. © 2010 ieee.

关键词： Deformation

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Numerical iterative methods solving three-phase multilevel voltage converter

Numerical iterative methods solving three-phase multilevel v...

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ieee international symposium on computer-aided control system design

作者： Kujan, Petr Department of Control Engineering Academy of Sciences of the Czech Republic Czech Technical University in Prague Czech Republic

ISBN: (纸本)9781424453542

The main aim of this paper is to improve and further develop numerical iterative methods for calculating the optimum sequence of switching angles for the multilevel converter of direct to alternating voltage in the three-phase system. Advantages and disadvantages of numerical iterative methods and their application for finding a solution for multilevel converter with a higher number of DC sources are discussed. To solve the problem it is fundamental to choose the initial conditions suitably and deal with divergence of numerical iterative algorithms. © 2010 ieee.

关键词： Iterative methods

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Multilevel control under communication constraints

Multilevel control under communication constraints

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ieee international symposium on computer-aided control system design

作者： Grega, Wojciech Department of Automatics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland

ISBN: (纸本)9781424453542

The performance of distributed control systems, apart from the sampling period, depends on many parameters, such as the control loop execution time, jitter and communication parameters of data transmission channels. Limited throughput of transmission channels, combined with non-optimized hardware and software components introduce non-determinism in the real-time control system. Additionally, some control loops can be handle not only by local, device - level controllers, but also by the supervisory controllers in a multilevel, vertical control hierarchy. In this paper we propose a design method for a networked, multilevel control system, which can be used to select proper values of the of the design parameters. In the paper some control techniques improving the temporal robustness of networked control systems are analysed. © 2010 ieee.

关键词： Distributed parameter control systems

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Robust adaptive flocking control of nonlinear multi-agent systems

Robust adaptive flocking control of nonlinear multi-agent sy...

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ieee international symposium on computer-aided control system design

作者： Yu, Wenwu Chen, Guanrong Department of Electronic Engineering City University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781424453542

This paper studies robust adaptive flocking control of multi-agent systems with nonlinear dynamics. In this setting, the coupling weights, perturbed by asymmetric uncertain parameters, are dynamically updated while the network topology for velocity is fixed. By designing the coupling weights according to the distributed local information on the linked nodes, flock formation can be reached if the network is connected. It is found that flock formation can be achieved if the topology of the updated coupling weights forms a spanning tree. A simulation example is given to illustrate the theoretical analysis. © 2010 ieee.

关键词： Multi agent systems

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