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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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EtherCAT Industrial Ethernet Slave design and Application Study 2

EtherCAT Industrial Ethernet Slave Design and Application St...

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

作者： Jing, Huicheng Chen, Weijie Bai, Shiping Bai, Yingjie College of Electrical Engineering North China University of Technology Hebei Tangshan063210 China

ISBN: (纸本)9781510666665

Aiming at the problem that the current traditional fieldbus cannot meet the performance requirements of complex industrial environment, a solution is proposed using LAN9252 chip as EtherCat slave controller and ARM chip as microprocessor. First, the LAN9252 is used as the slave control module, responsible for data reading, writing and verification;the STM32F767 is used as the protocol processing module, responsible for protocol processing and communication of external servo devices. Secondly, realize the LAN9252 software design for data interaction between master and slave, and realize the STM32F767 software design for protocol processing of slave and protocol interaction of external servo. Finally, the slave test platform is built to test the communication function, real-time, stability and servo communication of the slave. From the test results, the EtherCAT slave of this design communicates normally with the master and external servo devices, and the slave refresh time is 15.75us, which can run stably for 14 hours. Therefore, the design can basically meet the performance requirements in complex industrial environments. © 2023 SPIE.

关键词： Software design

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Exploring global approximators for multiobjective reservoir control 2nd

Exploring global approximators for multiobjective reservoir ...

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2nd ifac Workshop on control Methods for Water Resource systems (CMWRS)

作者： Salazar, Jazmin Zatarain Kwakkel, Jan Witvliet, Mark Delft Univ Technol Fac Technol Policy & Management Delft Netherlands

Efficient multi-purpose reservoir control policies are crucial in the face of frequent and severe floods and droughts, and to balance water allocation across conflicting demands. Evolutionary Multi-Objective Direct Policy Search (EMODPS) is a popular approach to design control policies for multi-purpose reservoir systems. EMODPS, however, relies on experimental choices within the key components of the framework particularly when coupling multi-objective evolutionary optimization with nonlinear approximation networks. This study explores a suite of radial basis functions (RBFs) used to map the system's states to control actions in a flexible manner as time-varying, non-linear relationships. We provide a systematic assessment of different RBF functions to explore their suitability to obtain Pareto efficient control policies. We use the Susquehanna river basin case study in which competing water demands for hydropower, environment, urban water supply, atomic power plant cooling and recreation need to be met. Our findings suggest that the choice of RBF functions have a large impact on the model outcomes and the search behavior of the optimization algorithm.

关键词： Optimal operation water systems direct policy search global approximators of resources

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Computation of Koszul homology and application to involutivity of partial differential systems 8

Computation of Koszul homology and application to involutivi...

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

作者： Chenavier, Cyrille Cluzeau, Thomas Quadrat, Alban Univ Limoges CNRS XLIM UMR 7252 123 Ave Albert Thomas F-87060 Limoges France Sorbonne Univ F-75005 Paris France Univ Paris CNRS IMJ PRG Inria Paris F-75005 Paris France

The formal integrability of systems of partial differential equations plays a fundamental role in different analysis and synthesis problems for both linear and nonlinear differential control systems. Following Spencer's theory, to test the formal integrability of a system of partial differential equations, we must study when the symbol of the system, namely, the top-order part of the linearization of the system, is 2-acyclic or involutive, i.e., when certain Spencer cohomology groups vanish. Combining the fact that Spencer cohomology is dual to Koszul homology and symbolic computation methods, we show how to effectively compute the homology modules defined by the Koszul complex of a finitely presented module over a commutative polynomial ring. These results are implemented using the OREMORPHISMS package. We then use these results to effectively characterize 2-acyclicity and involutivity of the symbol of a linear system of partial differential equations. Finally, we show explicit computations on two standard examples. 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： systems of partial differential equations multidimensional systems behaviours Cartan's involutivity formal integrability Koszul homology Spencer cohomology

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2nd GIMC-SIMAI Workshop for Young Scientists, 2024

2nd GIMC-SIMAI Workshop for Young Scientists, 2024

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2nd GIMC-SIMAI Workshop for Young Scientists, 2024

ISBN: (纸本)9783031765902

The proceedings contain 26 papers. The special focus in this conference is on Young Scientists. The topics include: Cover Cracking in Carbonated Reinforced Concrete—A Coupled Multi-physics Model;a Gaussian Process Regression-Based Approach for Residual Stress Measurement by Incremental Hole Drilling;a Differential Geometry-Based design Procedure for Self-deployable Geodesic Gridshells;optimizing Gridshell Dome Shapes Based on Seismic Response: The Impact of Dynamic Analysis and Supplementary Damping Devices;on the Influence of Geometric Boundary Conditions on the Form Finding of Funicular Shells;time-History Analysis of Sliding-Rolling Mechanical systems;precursors of Material nonlinearities in Peridynamic Plates;frequency Response Curves of Negative Stiffness Metamaterials Using a Brand New Hysteretic Model;preliminary Classification and Modeling of the Hysteretic Behavior of Connections in Timber Structures;dynamical Characterization of an Innovative Building System;monolithic Overlapping Schwarz Preconditioners for nonlinear Finite Element Simulations of Laser Beam Welding Processes;structural Behaviour of English Serpentine Walls for Architectural Heritage Preservation;Enhancing Seismic Resilience and Energy Efficiency in Historic Masonry Buildings: The MIL15.s Retrofit System;Non-linear FE Modelling of UR Masonry Buildings: Shear-Flexural Behaviour of Piers and Spandrels;multi-dimensional Movements at an Ageing Three-Span Masonry Arch Bridge: Distributed Monitoring and Characterisation;assessment of Typological Residential Masonry Building Under Vertical Ground Settlements;experimental Evaluation of Optimized Sliding Tuned Liquid Column Dampers for Structural Vibration control;Comparative Analysis of Building Structures Equipped with Different Types of SMA Rate-Independent Hysteretic Dampers;human-Induced Vibration Analysis of a Continuous Steel—R.C. Composite Footbridge;adaptive Time-Step Semi-Implicit One-Step Taylor Scheme for Stiff Ordinary Differential Equ

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A Koopman operator approach for the vertical stabilization of an off-road vehicle 2nd

A Koopman operator approach for the vertical stabilization o...

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2nd Modeling, Estimation and control Conference (MECC)

作者： Buzhardt, Jake Tallapragada, Phanindra Clemson Univ Dept Mech Engn Clemson SC 29634 USA

Vehicles traversing off-road terrains experience modes of dynamics that are not usually encountered on-road. Deformable terrains with significant variations in height and the presence of bumps can lead to significant vertical dynamics in a vehicle. Besides rider discomfort and safety of the vehicle, in the case of unmanned vehicles, these vertical dynamics coupled with pitch motion can produce significant disturbances to sensors such as cameras. Reducing these vertical dynamics is therefore important. However any control design for this problem has to first contend with the modeling complexity of vehicle-tire-terrain interaction. Motivated by recent developments in dynamical systems, we propose the use of the Koopman operator to obtain a linear representation for both the vehicle and terrain interaction dynamics as well as the effect of the control input. As a test case for this framework we address the problem of stabilizing the vertical dynamics of a half-car model moving on a deformable terrain using a propulsive force on the car as the sole control input. The terramechanics are modeled using the Bekker-Wong equations. Using the Koopman operator framework, we obtain a lifted, linear representation of the nonlinear control system, which is then used to formulate the optimal control problem as a constrained linear quadratic model predictive control problem on the lifted system. The framework proposed in this paper can potentially be extended to design a combination of data-driven and physics-based control algorithms for intelligent suspensions, motion control and path-tracking for unmanned ground vehicles on unstructured terrains. 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： Vehicle dynamic systems Motion control Model Predictive control Koopman operator

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Physics-Informed Disturbance Estimation and nonlinear controller design for a Multi-Axis Gimbal System 2nd

Physics-Informed Disturbance Estimation and Nonlinear Contro...

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2nd Modeling, Estimation and control Conference (MECC)

作者： Leblebicioglu, Damla Atesoglu, Ozgur Cakmakci, Melih ROKETSAN Missiles Inc TR-06780 Ankara Turkey Bilkent Univ Mech Engn Dept TR-06800 Ankara Turkey

The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this study, a new torque estimation structure is proposed to compute the complex disturbances negatively affecting the performance of the system. Two different control strategies based on Active Disturbance Rejection control (ADRC) and Estimated Torque Model are implemented on a two-axis gimbal system. In the first strategy, the purpose is to improve the robustness, environmental adaptability and tracking accuracy of the system. The tuning effort of the ADRC is reduced by integrating a Neural Network (NN) based disturbance compensator (NN assisted ADRC). In the second strategy, NN is replaced with an Estimated Torque Model (ETM assisted ADRC), whose inputs come from plant outputs. The simulation results show that, both NN and ETM assisted control structures decrease the tracking errors. However, the improvements achieved by the physics-informed neural network-based estimator are more significant. 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： missile guidance and control modeling physics-informed neural network applications

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Reconfigurable-Based Fault-Tolerant control for Continuous-Time Markov Jump Piecewise-Affine systems with Allowable Switching Paths 11th

Reconfigurable-Based Fault-Tolerant Control for Continuous-T...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Xu, Nuo Zhu, Yanzheng Basin, Michael V. Zhou, Donghua Chen, Xinkai Huaqiao Univ Coll Mech Engn & Automat Xiamen 361021 Fujian Peoples R China Autonomous Univ Nuevo Leon Dept Phys & Math Sci San Nicolas de los Garza 66451 Mexico Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao 266590 Peoples R China Shibaura Inst Technol Dept Elect & Informat Syst Saitama 3378570 Japan

In this paper, the reconfigurable control design problem is studied for a class of continuous-time Markov jump piecewise-affine (PWA) systems with sensor and actuator faults. A reconfiguration block is designed to recover mean-square input-to-state stability (ISS) of the faulty closed-loop system under virtual sensor and virtual actuator. Then, a novel algorithm for computing all the allowable switching paths (ASPs) is developed to overcome the issues of redundant empty paths and mismatch regions, and a S-procedure with the ellipsoidal outer approximation estimation is employed to cope with the affine term. Furthermore, a nonlinear approximation is introduced using the PWA technique to approximate the faulty Markov jump nonlinear systems. Finally, one example is illustrated to demonstrate the effectiveness and advantages of the designed reconfigurable control strategy with an ASPs *** (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： Markov jump piecewise-affine system Reconfigurable control Virtual sensor Virtual actuator Mean-square input-to-state stability nonlinear approximation

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Characterization and RST control of a nonlinear piezoelectric actuator for a robotic hand 9

Characterization and RST control of a nonlinear piezoelectri...

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9th ifac symposium on Mechatronic systems (MECHATRONICS) / 16th International Conference on Motion and Vibration control (MoViC)

作者： Khadraoui, Sofiane Rakotondrabe, Micky Univ Sharjah Elect Engn Dept Sharjah U Arab Emirates Univ Toulouse LGP Lab Natl Sch Engn Tarbes ENIT INPT Tarbes France

This paper presents the characterization, modeling, and control of piezoelectric actuators of a robotic system by considering the temperature effect. Besides the sensitivity to temperature variation, quite often the behavior of piezoelectric actuators is negatively affected by badly-damped vibrations and nonlinear phenomena such as strong hysteresis and creep. An analysis of the sensitivity of piezoelectric actuators to temperature variations (thermomechanical displacement) is first presented and the characterization results are discussed. The effect of the temperature mainly on the hysteresis loops, the creep, and vibrations is presented. Then, a temperature-dependent model of piezoelectric actuators is derived based on the study and characterization results obtained. Finally, the model of piezoelectric actuators obtained is used to design a robust RST (Regulation-Sensitivity-Tracking) controller to improve their behavior and achieve a good quality of positioning tasks. Experimental validation is given to demonstrate the efficacy of the presented modeling and control methods. 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： Characterization Modeling Temperature effect Hysteresis Creep Vibration Piezoelectric actuator RST controller

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2nd International symposium on Mechanical systems and Electronic Engineering, ISMSEE 2022

2nd International Symposium on Mechanical Systems and Electr...

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2nd International symposium on Mechanical systems and Electronic Engineering, ISMSEE 2022

ISBN: (纸本)9781713854296

The proceedings contain 84 papers. The topics discussed include: study on weight and center of gravity limit of jacking operation under different wind speed of civil jet aircraft;analysis of the effect of civil aircraft tank deformation on fuel consumption curves;virtual inertial control considering SOC equalization;research on vibrations induced by work roll bearings on temper mill;rigid-flexible coupling and acoustic-vibration coupling analysis of high-speed double helical planetary gear system;fatigue evaluation direct method of gearbox housing base on Hilbert-Huang transformation;simulation design of welding robot workstation based on RobotStudio;influence of speed index on small damping ratio vibration isolation system;reliability analysis of cruise diesel engine system;dynamic characteristics of double helical star gear system considering wind resistance excitation;application of sensor network technology in Internet of things architecture of intelligent machinery manufacturing;and research on on-line monitoring technology of characteristic gas in vacuum on-load tap-changer oil.

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design of Fuzzy control System for Generic Aircraft/UAVs 2

Design of Fuzzy Control System for Generic Aircraft/UAVs

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

作者： Singh, Dhan Jeet Verma, Nishchal K Indian Institute of Technology Department of Electrical Engineering Kanpur India

ISBN: (纸本)9781665458580

This paper provides an approach for design of Fuzzy Model Based (FMB) control system for generic aircraft and UAV related application. The FMB control is an evolving nonlinear control strategy which consists of a fuzzy model and a fuzzy controller connected in a closed-loop. In proposed work an application-oriented research, in which an emerging soft computing-based technique (fuzzy system) is applied for design of flight control system of Generic aircraft. The existing theoretical base developed in fuzzy systems literature is explored/customized for aircraft related application. The short period mode of longitudinal aircraft dynamics is considered for simulation and demonstration purpose. The fuzzy model of longitudinal aircraft dynamics are obtained from nonlinear dynamics equations about various representative points (equilibrium points) of flight envelop with some fuzzy rules. The aircraft flight envelope parameters i.e operating altitude and Mach Number are characterized as premise parameters and elements of stability and control derivative matrix are identified as consequent parameters of fuzzy model. The decay rate fuzzy controller with constraint on state and control input parameters is considered and its feedback gains are obtained by solving the LMI stability conditions. The closed-loop response of FMB controller is presented at three initial flight conditions. The simulation result reveals that proposed FMB controller is well suited at various identified operating points of the flight envelop. It not only stabilizes the aircraft dynamics but also provides improved transient performance. This demonstrates the utility of FMB control system for aircraft / UAVs related application. © 2022 IEEE.

关键词： Fuzzy control Atmospheric modeling Computational modeling Aerodynamics control systems Mathematical models Stability analysis

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