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control of Discrete-Time Piecewise Affine Probabilistic systems using Reachability Analysis

Control of Discrete-Time Piecewise Affine Probabilistic Syst...

引用

ieee Conference on computer aided control system design (cacsd) Part of ieee Multi-Conference on systems and control

作者： Asselborn, Leonhard Stursberg, Olaf Univ Kassel Control & Syst Theory Dept Elect Engn & Comp Sci Kassel Germany

ISBN: (纸本)9781509007592

This paper proposes an algorithmic approach to synthesize stabilizing control laws for discrete-time piecewise affine probabilistic (PWAP) systems based on computations of probabilistic reachable sets. The considered class of systems contains probabilistic components (with Gaussian distribution) modeling additive disturbances and state initialization. The probabilistic reachable state sets contain all states that are reachable with a given confidence level under the effect of time-variant control laws. The control synthesis uses principles of the ellipsoidal calculus, and it considers that the system parametrization depends on the partition of the state space. The proposed algorithm uses LMI-constrained semi-definite programming (SDP) problems to compute stabilizing controllers, while polytopic input constraints and transitions between regions of the state space are considered. The formulation of the SDP is adopted from a previous work in [1] for switched systems, in which the switching of the continuous dynamics is triggered by a discrete input variable. Here, as opposed to [1], the switching occurs autonomously and an algorithmic procedure is suggested to synthesis a stabilizing controller. An example for illustration is included.

关键词： Calculations

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controlled contractive sets for low-complexity constrained control

Controlled contractive sets for low-complexity constrained c...

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ieee Conference on computer aided control system design (cacsd) Part of ieee Multi-Conference on systems and control

作者： Munir, Sarmad Hovd, Morten Sandou, Guillaume Olaru, Sorin Norwegian Univ Sci & Technol Engn Cybernet Dept N-7491 Trondheim Norway Supelec Dept Automat Control 3 Rue Joliot Curie F-91192 Gif Sur Yvette France

ISBN: (纸本)9781509007592

The design of explicit constrained control is relatively simple when a controlled contractive set is available. However, the complexity of the explicit controller will depend on the complexity of the controlled contractive set. The ability to design a low complexity controlled contractive set is therefore desirable. Most methods for finding controlled contractive sets either assume the use of a constant linear state feedback, or exploit reachable set computations. In the first case, the assumption of a constant linear state feedback is restrictive (as controllers for constrained linear systems, such as MPC, are typically piecewise affine), while in the second case the complexity of the controlled contractive set may be very high. Initial results on the construction of low complexity controlled contractive sets without assuming linear state feedback were reported in the recent literature. The present paper extends these results, including the ability to handle more general classes of system dynamics. The paper develops a method for finding a controlled contractive set of a specified complexity, allowing for a trade-off between the complexity of the set and its volume.

关键词： controllers

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SAT-based Distributed Reactive control Protocol Synthesis for Boolean Networks

SAT-based Distributed Reactive Control Protocol Synthesis fo...

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ieee Conference on computer aided control system design (cacsd) Part of ieee Multi-Conference on systems and control

作者： Sahin, Yunus Emre Ozay, Necmiye Univ Michigan Dept Elect Engn & Comp Sci Ann Arbor MI 48109 USA

ISBN: (纸本)9781509007592

This paper considers the synthesis of distributed reactive control protocols for a Boolean network in a distributed manner. We start with a directed acyclic graph representing a network of Boolean subsystems and a global contract, given as an assumption-guarantee pair. Assumption captures the environment behavior, and guarantee is the requirements to be satisfied by the system. Local assumption-guarantee contracts, together with local control protocols ensuring these local contracts, are computed recursively for each subsystem based on the partial order structure induced by the directed acyclic graph. By construction, implementing these local control protocols together guarantees the satisfaction of the global assumption-guarantee contract. Moreover, local control protocol synthesis reduces to quantified satisfiability (QSAT) problems in this setting. We also discuss structural properties of the network that affect the completeness of the proposed algorithm. As an application, we show how an aircraft electric power system can be represented as a Boolean network, and we synthesize distributed control protocols from a global assumption-guarantee contract. The assumptions capture possible failures of the system components, and the guarantees capture safety requirements related to power distribution.

关键词： Distributed parameter control systems

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An LMI approach for H₂ dynamic output feedback control of discrete-time Markov systems with uncertain probabilities

An LMI approach for <i>H</i><sub>2</sub> dynamic output feed...

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ieee Conference on computer aided control system design (cacsd) Part of ieee Multi-Conference on systems and control

作者： Morais, Cecilia F. Braga, Marcio F. Oliveira, Ricardo C. L. F. Peres, Pedro L. D. Univ Estadual Campinas Sch Elect & Comp Engn Albert Einstein 400 BR-13083852 Campinas SP Brazil Univ Ouro Preto UFOP Inst Exact & Appl Sci Dept Elect Engn BR-35931008 Joao Monlevade MG Brazil

ISBN: (纸本)9781509007592

This paper is concerned with the problem of H-2 dynamic output feedback control for discrete-time Markov jump linear systems (MJLS) whose transition probability matrix is affected by uncertainties. A two step procedure based on linear matrix inequality (LMI) conditions is used to solve the problem. In the first step, a stabilizing parameter-dependent state feedback gain is computed. The gain, not implementable, is used as an input in the second step, where sufficient LMI conditions provide an H-2 guaranteed cost dynamic output feedback controller for the MJLS. Reduced order and mode-independent controllers can be readily obtained from the conditions, due to the fact that the matrices of the controller realization are constructed only in terms of decision variables. As illustrated by an example, less conservative controllers with more accurate estimates of the H-2 norm bound can be obtained through the proposed methodology. Moreover, lower H-2 bounds can be guaranteed at the price of searching for a scalar parameter and increasing the degrees of the polynomial decision variables involved in the optimization process.

关键词： Linear matrix inequalities

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Event-triggered control co-design for discrete-time systems subject to actuator saturation

Event-triggered control co-design for discrete-time systems ...

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2016 ieee Conference on computer aided control system design, cacsd 2016

作者： Groff, L.B. Moreira, L.G. Da Silva, J. M. Gomes Department of Automation and Energy and Pos-Graduation Program in Electrical Engineering UFRGS av. Osvaldo Aranha 103 Porto-Alegre-RS90035-190 Brazil

ISBN: (纸本)9781509007592

In this paper we present a method to simultaneously design a static state feedback gain and the trigger function to stabilize discrete-time LTI systems subject to actuator saturation under an event-triggered strategy. We derive LMI-based conditions that ensure local (or global, when possible) asymptotic stability of the origin based on the Lyapunov theory. To tune the parameters, we propose convex optimization problems aiming at reducing the sampling activity. The efficiency of the proposed method is illustrated by numerical examples. © 2016 ieee.

关键词： Asymptotic stability

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Real-time control platform based on free software and USB communication

Real-time control platform based on free software and USB co...

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2016 ieee Conference on computer aided control system design, cacsd 2016

作者： Serna, Juan Manuel Fory, Carlos Gonzalez-Vargas, Andres M. Soria-Lopez, Alberto Universidad Santiago de Cali Calle 5 #62-00 Santiago de Cali Valle del Cauca Colombia Universidad Autónoma de Occidente Cll 25#115-85 Km 2 Vía Cali-Jamundi. Cali Colombia Departamento de Control Automático Centro de Investigación y de Estudios Avanzados Del IPN Av. IPN 2508 México D.F. Mexico

ISBN: (纸本)9781509007592

Hardware-in-the-Loop (HIL) and Rapid control Prototyping (RPC) are extensively used techniques for the design of control systems. Matlab-based commercial tools for HIL and RPC usually are not cost-effective for most universities in developing countries, where research is limited and their purpose is mostly educational. With that in mind, in this paper we propose a low-cost high-performance control platform that features a DC motor servomechanism, high speed USB interface and Linux-based free software Scilab/XCos with real-time capabilities via RTAI. © 2016 ieee.

关键词： DC motors

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A software to design decentralized controllers for time-delay systems

A software to design decentralized controllers for time-dela...

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

作者： S. Mert Özer Gizem Gülmez Altuğ İftar Department of Electrical and Electronics Engineering Anadolu University Eskisşehir Turkey

A new MATLAB based software package which, besides analysis, can be used to design centralized or decentralized controllers to stabilize time-delay systems is introduced.

关键词： Stability analysis design methodology control systems Software packages Linear systems Optimization

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Lyapunov function synthesis — Algorithm and software

Lyapunov function synthesis — Algorithm and software

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

作者： Tobias Leth Christoffer Sloth Rafał Wisniewski Department of Electrical Engineering section of Automation & Control University of Aalborg Aalborg East Denmark

In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewise-polynomial defined on simplices, which compose a collection of simplices. The algorithm is elaborated and crucial features are explained in detail. The strengths and weaknesses of the algorithm are exemplified and a new way of sub-dividing the simplices is presented.

关键词： Lyapunov methods Face Algorithm design and analysis Software algorithms Two dimensional displays Asymptotic stability Power system stability

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On the computation of Lyapunov functions for interconnected systems

On the computation of Lyapunov functions for interconnected ...

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

作者： Christoffer Sloth Section for Automation & Control Aalborg University Aalborg East Denmark

This paper addresses the computation of additively separable Lyapunov functions for interconnected systems. The presented results can be applied to reduce the complexity of the computations associated with stability analysis of large scale systems. We provide a necessary and sufficient condition for the existence of an additively separable Lyapunov function; subsequently, sparsity conditions are given for finding additively separable polynomial Lyapunov functions for both local and global stability of polynomial systems.

关键词： Lyapunov methods Interconnected systems Stability analysis Optimization Asymptotic stability Nonlinear systems Topology

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control synthesis using the fully probabilistic design

Control synthesis using the fully probabilistic design

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

作者： Aleš Lebeda John Leth Department of Control and Instrumentation Brno University of Technology Brno Czech Republic Department of Electronic Systems Aalborg University Aalborg Denmark

This paper focus on stochastic control design in the Kullback-Leibler sense. The technique is called the Fully Probabilistic design (FPD) and consist in essence of finding a stochastic control law, given in terms of a probability density function (pdf), minimizing the Kullback-Liebler distance between pdfs describing a given closed loop system and a desired closed loop system. This paper demonstrate that the FPD method can 1) be used in a Model Predictive control strategy, and 2) be used for control of the pneumatic valve which represents a nonlinear system.

关键词： Valves Nonlinear systems Probabilistic logic Cost function control systems Stochastic processes Noise measurement

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