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检索条件"任意字段=Proceedings of the 2nd IFAC Symposium on Nonlinear Control Systems Design"

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design of consensus controller for multi-agent systems with noncontinuous information transmission and second-order nonlinear dynamics 38

Design of consensus controller for multi-agent systems with ...

引用

38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Du, Zailin Zhuang, Jiaojiao Yang, Zhimin Li, Zhenxing Lyu Dept. of Mech. Linyi China Lyu Dept. of Veh. Eng. Linyi China Lyu Dept. of Auto. Linyi China

ISBN: (纸本)9798350303636

In this paper, consensus controller that doesn't depend on continuous information transmission for 2nd-order nonlinear multi-agent systems (MASs) is given to deal with event-triggered control problem. So as to remove dependence of continuous information transmission, both dynamic event-triggered mechanism and state observer are employed to design consensus controller. Each agent constructs state observers for its neighbor agents, and uses observers' states to design controller for consensus object and dynamic event-trigger mechanism for event instant decision. We also proved that MASs can reach consensus with noncontinuous information transmission, and no Zeno-behavior occurs. In the end, the given consensus protocol is applied to an example to show the effectiveness. © 2023 IEEE.

关键词： Consensus control Dynamic Event-trigger Multi-Agent nonlinearity

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The control of a Gimbal Stabilization Platform based on the improved Radial Basis Function Fuzzy Neural Network PID Algorithm 2

The control of a Gimbal Stabilization Platform based on the ...

引用

2nd International symposium on Computer Applications and Information systems, ISCAIS 2023

作者： Tan, Zheng Peng, Xiao-Le Zou, Wei Wang, Jia-Nan Norla Institute of Technical Physics No.7 Section 4 Renmin Nan Lu Wuhou District Sichuan Province Chengdu City China

ISBN: (纸本)9781510666665

To ensure the stability of image guiding head control, an improved genetic and particle swarm hybrid algorithm optimized RBF fuzzy neural network tuned PID control strategy was proposed for the correction of the image guiding head stable loop. According to the kinematics and dynamics of the image guiding head, combined with the RBF fuzzy neural network PID control algorithm, a simulation model of the image guiding head stable loop was established. The simulation results showed that after the image guiding head stable loop adopted the RBF fuzzy neural network tuned PID controller optimized by the improved hybrid algorithm, its dynamic performance was better than the traditional PID controller, and the established simulation model could well eliminate the nonlinear disturbance and improve the robustness of the stable loop, which could provide certain reference in engineering application. © 2023 SPIE.

关键词： Stabilization

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design and Analysis of a Wall-Climbing Robot for Large Generator Stator Surface Cleaning 2

Design and Analysis of a Wall-Climbing Robot for Large Gener...

引用

2nd International symposium on control Engineering and Robotics, ISCER 2023

作者： Zhong, Bo Wang, Xu Zhang, Fulin Huang, Xiuhua Xu, Yonghui Lian, Wencong Lei, Yong Chn Energy Wan'an Hydropower Plant Wan'an Jiangxi China Zhejiang University State Key Laboratory of Fluid Power & Mechatronic Systems Hangzhou China

ISBN: (纸本)9798350336405

Aiming at the problems of low efficiency and difficulties in cleaning of the surface and ventilation holes on the large generator stator wall, this paper proposes a wall-climbing cleaning robot which can operate on the unique stator wall surface and perform cleaning operations on the ventilation holes of the large generator's cylinder stator wall. The overall structure of the robot is composed of an adsorption moving chassis and an automatic cleaning platform. The adsorption moving chassis can adapt to the wall surfaces with different curvatures by integration of specially hinge structure and ferromagnetic adsorption wheels, and can provide stable adsorbing force on the stator wall where the ferromagnetic wall surface is interlaced with plaster cable covers. Automatic cleaning tool is consisted of cleaning brushes, distance adjusting structure, feeding unit structure, and vision system to identify and locate and clean the holes sequentially. Prototype robot cleaning system is constructed and the field test results show that robot can cross plastic covers on the wall successfully, and the designed cleaning tool can adapt differences between the ventilation stator holes. © 2023 IEEE.

关键词： Ventilation

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Multivariable L1 Adaptive Depth and Attitude control of MEROS Underwater Robot With Real-Time Experiments 13

Multivariable L1 Adaptive Depth and Attitude Control of MERO...

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13th ifac symposium on Robot control (SYROCO)

作者： Chikh, L. Chemori, A. Wang, S. TECNALIA FRANCE 950 Rue St Priest F-34090 Montpellier France Univ Montpellier CNRS LIRMM Montpellier France

ISBN: (纸本)9781713867890

This paper deals with L-1 adaptive control of a novel omnidirectional underwater vehicle called MEROS. To the best of our knowledge, this is the first study of depth and attitude (i.e. phi, theta, and psi) tracking control on an underwater vehicle. We experimentally prove the effectiveness of the proposed control approach by commanding in closed-loop simultaneously the four aforementioned degrees of freedom (DoFs). The dynamic model of MEROS is highly nonlinear with coupling effects between the different DoFs making its stabilization and tracking control more challenging than conventional ROVs (remotely operated vehicles). Therefore, the use of a robust controller becomes essential, and the proposed scheme allows to ensure robustness whilst fast adaptation is achieved. Real-time experiments are performed to show the effectiveness of the proposed control design. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0/)

关键词： Underwater robot Mechatronic systems Motion control Autonomous robotic systems Attitude control Robotics technology L-1 adaptive control

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On d-Collision-Free Dynamical systems 8

On d-Collision-Free Dynamical Systems

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8th ifac symposium on systems Structure and control (SSSC)

作者： Harms, Melanie Bamberger, Simone Zerz, Eva Herty, Michael Rhein Westfal TH Aachen Lehrstuhl Algebra & Zahlentheorie Aachen Germany Rhein Westfal TH Aachen Inst Geometrie & Prakt Math Aachen Germany

We present several recent results and generalizations that have been obtained in the theory of collision-freeness studied in Zerz and Herty (2019). A nonlinear ODE system x(t) = f (x(t)) is called collision-free if the solution to the initial value problem with x(0) = x(0) has distinct components for all times t whenever the initial state x(0) has distinct components. This is an important structural property of particle systems. Here, we address the case where the state of the i-th particle has d components x(i1), ..., x(id), and a collision occurs if there exists some time t and i not equal j such that x(ik)(t) = x(jk)(t) for all 1 <= k <= d. Thus, the already known case corresponds to d = 1. In this paper, we characterize d-collision-freeness for linear, polynomially nonlinear, and general C-1-systems. Moreover, we show that d-collision-freeness implies D-collision-freeness for all multiples D of d that divide the overall state space dimension. In particular, 1-collision-freeness implies d-collision-freeness. Finally, we address the connection between permutation symmetry and d-collision-freeness. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0/)

关键词： Structural properties multivariable systems symbolic computation

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control of Discrete Chaotic systems with Fractional Order Difference Equations 2

Control of Discrete Chaotic Systems with Fractional Order Di...

引用

2nd International Conference on Power, control and Computing Technologies, ICPC2T 2022

作者： Shukla, M.K. Jain, Jitendra Kumar Lovely Professional University School of Electronics and Electrical Engineering Phagwara India National University of Ireland Department of Electronic Engineering Maynooth Ireland

ISBN: (纸本)9781665458580

Fractional order discrete chaotic systems (FODCS) are one of the recent contributions in the field of nonlinear dynamics and control. control and synchronization of these systems are one of the most researched problems. The paper presents an active control-based controller design technique for the control of a particular class of FODCS. The proposed controller is further employed to address the synchronization between two systems belonging to the similar class. The controllers derived are employed on an example system which is a 3-D Henon map. The simulation results validate the efficacy of the technique proposed here. © 2022 IEEE.

关键词： Computers Simulation Difference equations Computational modeling Power control control systems Mathematical models

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Principle of Operation and Magnetic Circuit Analysis of a Doubly Salient Homopolar Motor for Flywheel Energy Storage systems 2

Principle of Operation and Magnetic Circuit Analysis of a Do...

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2nd IEEE International Power Electronics and Application symposium, PEAS 2023

作者： Ju, Shouyan Mei, Lei Deng, Jun Liang, Wei Chen, Yongnan College of Electrical Engineering and Control Science Nanjing Tech University Nanjing China

ISBN: (纸本)9798350313765

Flywheel energy storage system has a good development prospect in the field of new energy because of its features such as high efficiency and environmental protection. The motor, as the core of the energy conversion of such energy storage systems, is related to the reliable operation of the whole system. In this paper, a new type of motor suitable for flywheel energy storage system is designed, based on the doubly salient motor, changing the distribution position of the permanent magnets, and realizing the combination of the homopolar structure and the doubly salient structure. During power generation operation, the direction of the magnetic field within the rotor will not change due to changes in the relative positions of the stator and rotor during rotor rotation. Moreover, the cogging torque generated by this motor is very small and has little effect on the normal operation of the motor. The motor has a simple structure and manufacturing process, is highly reliable, and is suitable for high-speed operating environments. In this paper, a three-dimensional finite element simulation analysis of the motor is carried out, and the simulation results show that the motor has good static and dynamic characteristics, which verifies the feasibility of the design of this type of motor. © 2023 IEEE.

关键词： doubly salient motor finite element Flywheel energy storage homopolar

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design of Isolated Bi-Directional DC-DC Converter for Aerospace 2

Design of Isolated Bi-Directional DC-DC Converter for Aerosp...

引用

2nd IEEE International Power Electronics and Application symposium, PEAS 2023

作者： Zeng, Xiaohui Chen, Chunzhi Yang, Lei Chen, Wei Chen, Qingbin Huang, Yuping College of Electrical Engineering and Automation Fuzhou University Fuzhou China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (纸本)9798350313765

The servo power supply is the key power supply equipment of aerospace electromechanical servo systems, and its volume, specific energy, and instantaneous output power directly determine the overall performance of the system. This paper proposes a two-stage topology that can satisfy the capacitive voltage with a wide input range based on the technical specification requirements of an isolated bi-directional DC-DC converter for aerospace applications. Firstly, the operation principle of the topology is analyzed, and the volume and weight of the converter can be reduced with magnetic integration technology. Moreover, the whole control scheme is introduced and the fast charge and discharge control strategy of the capacitor is analyzed in detail. Finally, a prototype with a peak output power of 7.6 kW was developed, the overall weight was 2.24 kg (with the case), and the volume was 286.4 146.4 63.5 mm3. The experimental results show that the rising and falling time of the output current is less than 1.5 ms, and the stabilized current precision is less than 10%. At the same time, the prototype can achieve 50 times continuous charge and discharge, which effectively meets the requirements of complex power conditions of the aerospace electromechanical servo system. © 2023 IEEE.

关键词： control strategy isolated bidirectional DC-DC converter magnetic integration servo power supply

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Cascaded Train Speed Regulation: Robustness to Feedback Delay and Measurement Filtering 8

Cascaded Train Speed Regulation: Robustness to Feedback Dela...

引用

8th ifac symposium on systems Structure and control (SSSC)

作者： Brochard, Aliaume Pasillas-Lepine, William Demaya, Bernard Alstom Dept Control F-93400 St Owen France Univ Paris Saclay Cent Supelec CNRS Gif Sur Yvette France Lab Signaux & Syst F-91190 Gif Sur Yvette France Univ Paris Saclay CNRS Cent Supelec Lab Signaux & Syst F-91190 Gif Sur Yvette France

This paper proposes a cascaded train speed regulator that is robust to actuator limitations and feedback loop delays. In order to limit in-train forces, we first impose a jerk limitation on the speed reference trajectories, which are constructed from predefined waypoints using a first-integral and quadratic spline interpolation. The speed of the train is then regulated around the constructed reference using a cascaded control law, based on an optimized acceleration profile that respects the imposed jerk constraints. The nonlinear sections of this profile mimic the minimal-time synthesis and manage the motor locomotive torque limitations, while its linear section is tuned in order to ensure the required robustness, with respect to actuator delays and measurement filtering. The performance of the control law is assessed via simulations on a train model, using references that drive the system toward its nonlinear domain. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0/)

关键词： Trajectory tracking and path following Freight transportation Stability of delay system Analytic design Robust control

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Efficient Implementation and Sampling Period Analysis of MPC for Water Distribution Networks∗ 2nd

Efficient Implementation and Sampling Period Analysis of MPC...

引用

2nd ifac Workshop on control Methods for Water Resource systems, CMWRS 2022

作者： Verheijen, P.C.N. Lazar, M. Goswami, D. Dep. of Electrical Engineering Eindhoven University of Technology Netherlands

In this paper we consider the design and implementation of Model Predictive control (MPC) for water distribution networks (WDNs). First, we define the nonlinear differential algebraic equations that model a WDN, using both classical methods and simplified pump implementations. Then the cost function used in the MPC algorithm is formulated, where extra steps are taken to build a quadratic and convex cost function. The entire control problem is solved using a tailored sequential quadratic programming (SQP) method. The resulting control algorithm for WDNs is tested on a small distribution network to both illustrate the effectiveness and to perform additional tests on the effects of reducing the sampling period. The simulation results of this experiment indicate that the presented SQP-MPC can be implemented at faster rates than 1 hour and that this results in improved economic benefits. © 2022 Elsevier B.V.. All rights reserved.

关键词： Model predictive control

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