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IEEE International Conference on Computer-Aided design

作者： A. Girin F. Plestan X. Brun A. Glumineau M. Smaoui IRCCyN UMR 6597 Ecole Centrale de Nantes-CNRS Nantes France LAI INSA Lyon Villeurbanne France

Electropneumatic actuators are more and more used in industrial applications. Due to nonlinear phenomena, for many applications, high accuracy can only be obtained when using nonlinear control laws. These strategies allow to get high performances but often need the knowledge of all state variables. Then, there is a real interest to design observers in order to estimate state from the measurements of only one of the chamber pressures in the actuator and carriage position. This paper focuses on a comparison between two nonlinear observers for a half-meter stroke electropneumatic unsymmetrical cylinder controlled by two three-way servodistributors: a high gain observer and a sliding mode one. Simulations are made with a fluid power systems dedicated software, AMESim.

关键词： Sliding mode control Actuators Pressure control Force control Electric variables control Power system simulation observers Velocity control Position measurement Software systems

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nonlinear model predictive control of a four tank system: An experimental stability study

Nonlinear model predictive control of a four tank system: An...

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IEEE International Conference on Computer-Aided design

作者： Tobias Raff Steffen Huber Zoltan K. Nagy Frank Allgower Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Chemical Engineering University of Loughborough UK

There are well-known theoretical examples that show that stability constraints in nonlinear model predictive control (NMPC) are necessary in order to guarantee closed loop stability. In this paper it is shown that these stability constraints, derived from theory, are also essential in practice. In particular, an experimental study is carried out on a four tank system that illustrates the stability behavior of NMPC.

关键词： Predictive models Predictive control Stability control systems nonlinear control systems Optimal control Automatic control Constraint theory Open loop systems MIMO

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Interval observer design Based on Taylor Models for nonlinear Uncertain Continuous-Time Systems

Interval Observer Design Based on Taylor Models for Nonlinea...

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International symposium on Scientific Computing, Computer Arithmetic and Validated Numerics (SCAN)

作者： M. Kletting A. Rauh E.P. Hofer H. Aschemann Institute of Measurement Control and Microtechnology University of Ulm (EBS) Ulm Germany University of Rostock Rostock Germany

ISBN: (纸本)9781424431410

In most applications in control engineering not all state variables can be measured. Consequently, state estimation is performed to reconstruct the non-measurable states taking into account both system dynamics and the measurement model. If the system is subject to interval bounded uncertainties, an interval observer provides a guaranteed estimation of all states. The estimation consists of a recursive application of prediction and correction steps. The prediction step corresponds to a verified integration of the system model describing the system dynamics between two points of time at which measured data is available. In this paper, a Taylor model based integrator is used. Considering the state enclosures obtained in the prediction step, the correction step reconstructs states and parameters from the uncertain measurements with the help of a measurement model. The enclosures of states and parameters determined by the interval observer are consistent with both system and measurement models as well as all uncertainties.

关键词： observers State estimation Predictive models nonlinear control systems control engineering Time measurement Power system modeling Equations Cooperative systems Mechatronics

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Sensitivity of Electroelastic Effect to nonlinear Material Behavior in Langasite Resonators

Sensitivity of Electroelastic Effect to Nonlinear Material B...

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IEEE International Frequency control symposium

作者： Haifeng Zhang Joseph A. Turner Jiashi Yang John A. Kosinski Department of Engineering Mechanics University of Nebraska Lincoln Lincolnshire NE USA CECOM U.S. Army Monmouth NJ USA

Langasite is of interest for resonator applications for several reasons including its good temperature behavior, good piezoelectric coupling, low acoustic loss and high Q factor. Biasing effects for such resonators, crucial for design applications, depend on an accurate understanding of the effects from nonlinear material constants. Accurate experimental determination of the nonlinear elastic, piezoelectric, dielectric and electrostrictive constants requires the evaluation of the contribution of different nonlinear material constants to the biasing effect. In this article, the shift of resonant frequency due to applied electrical field is discussed for thickness-mode langasite resonators. The resonant frequency is determined as a function of static electrical field applied in the thickness direction. A variety of plano-plano langasite resonators with different material orientations are considered. Of particular interest for this article is the sensitivity of the observed frequency shifts with respect to changes in the nonlinear elastic, piezoelectric, electrostrictive and dielectric constants. First-order perturbation integral theory is used for the theory and numerical analysis to determine the frequency shifts and sensitivities. Implications with respect to interpretation of measurements are discussed

关键词： Dielectric materials Dielectric constant Electrostriction Resonant frequency Temperature sensors Acoustic applications Q factor Piezoelectric materials Numerical analysis Dielectric measurements

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Data-based symbolic simplification of kinetic mechanisms for surface reaction networks

Data-based symbolic simplification of kinetic mechanisms for...

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IEEE International Conference on Computer-Aided design

作者： K.M. Nauta Electrical Engineering Department Eindhovan University of Technology Eindhoven Netherlands

Detailed kinetic surface reaction mechanisms are used in kinetic models for automotive catalysis applications. Therefore, these models are complex and often numerically stiff. For simulation, optimization and control purposes it is desirable to employ models of lower complexity that are accurate in specific operating regimes. In this contribution, a number of data-based kinetic mechanism reduction methods are combined in order to obtain an automated method for mechanism simplification. The principle of this method is to use time-scale analysis to generate nonlinear lumpings from partial equilibrium and quasi steady-state assumptions These lumpings have to remain as decoupled as possible, so that they can be solved explicitly.

关键词： Kinetic theory Atmospheric modeling Sensitivity analysis Computational complexity Vehicle dynamics Reduced order systems Automotive engineering Computer networks control systems System analysis and design

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observer-based controller for position regulation of stepping motor

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IEE PROCEEDINGS-control theory AND applications 2005年第4期152卷 465-476页

作者： De León-Morales, J Castro-Linares, R Guevara, OH Univ Autonoma Neuvo Leon Fac Ingn Elect & Mecan San Nicolas de los Garza 66451 NL Mexico CINVESTAV IPN Dept Ingn Elect Mexico City 07000 DF Mexico

The design of a controller-observer scheme for the exponential stabilisation of a permanent magnet stepper motor is proposed. The technique is based on sliding-mode techniques and nonlinear observers. Representing the stepper motor model as a singularly perturbed nonlinear system, a position regulation controller is obtained. Since this controller depends on the mechanical variables, load torque and equilibrium point, under the assumption that the rotor position is available for measurement, an observer design is presented to estimate the angular speed and load torque. Furthermore, a stability analysis of the closed-loop system is also made to provide sufficient conditions for the exponential stability of the full-order closed-loop system when the angular speed and load torque are estimated by means of the observer. The proposed scheme is applied to the model of a permanent-magnet stepper motor.

关键词： ENGINEERING design STEPPING motors ELECTRIC controllers nonlinear systems ROTATIONAL motion (Rigid dynamics) STABILITY (Mechanics)

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Approximate observer error linearization by dissipativity methods

Approximate observer error linearization by dissipativity me...

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symposium on nonlinear control and observer design: from theory to applications, 2005

作者： Moreno, Jaime A. Ciudad Universitaria Ed.12 Circuito Exterior S/N Coyoacán México D.F.04510 Mexico

ISBN: (纸本)3540279385

In this paper a method to design observers for nonlinear systems is proposed. The basic idea is to decompose the system in a nonlinear part, that can be transformed into a nonlinear observer form, and a perturbation term connected in the feedback loop. In transformed coordinates the observer error becomes linear with a feedback perturbation. By using the dissipativity theory it is possible to design the observer gains so, that the closed loop is internally stable if some LMI-like conditions are satisfied. This method is very flexible and allows the design of nonlinear observers using exact linearization methods to a much bigger class of systems. The method is shown to be very general, since it includes (and generalizes) as special cases several observer design methods, as for example the exact error linearization method, the high-gain method, the circle criterion design method, and the design for Lipschitz nonlinear systems. The design is computationally simple in many cases, since it reduces to the solution of a feasibility LMI problem, for which highly efficient numerical methods are available. The method offers great flexibility in the design, since the particular properties of the nonlinearities can be characterized by means of one or several quadratic forms, i.e. supply rates. This feature can be used to design observers for systems with special properties in the nonlinearities. © Springer-Verlag Berlin Heidelberg 2005.

关键词： design

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System inversion and feedforward control via formal power series and summation methods

System inversion and feedforward control via formal power se...

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symposium on nonlinear control and observer design: from theory to applications, 2005

作者： Wagner, Marc Oliver Meurer, Thomas Zeitz, Michael Institut für Systemdynamik und Regelungstechnik Universität Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany

ISBN: (纸本)3540279385

This paper provides initial results on the use of formal power series parameterizations and summation methods for linear and nonlinear finite dimensional systems. The parameterizations prove to be suitable for system inversion, trajectory planning, and feedforward control. In addition, the parameterization offers a possibility of incorporating conditions imposed on the desired output and the necessary input trajectory, which are formulated directly in the time domain. The potential of the method is demonstrated by a nonlinear example system with unstable internal dynamics. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Feedforward control

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Constructive nonlinear dynamics foundations and application to robust nonlinear control

Constructive nonlinear dynamics foundations and application ...

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symposium on nonlinear control and observer design

作者： Gerhard, J Mönnigmann, M Marquardt, W RWTH Aachen Univ Lehrstuhl Prozesstech D-52056 Aachen Germany

ISBN: (纸本)3540279385

This paper summarizes two recently presented strategies based oil bifurcation theory and nonlinear dynamics that address robust control design of nonlinear systems. The first strategy applies numerical bifurcation analysis to the robust controller timing Of uncertain nonlinear systems. Continuation in the controller and system parameters is used to compute stability boundaries for the controller tuning parameters. Restrictions oil the controller tuning are determined that must hold to guarantee stability for the complete operating range of the closed loop system. The second strategy, the recently presented optimization-based Constructive nonlinear Dynamics (CNLD) extends ideas from nonlinear dynamics and bifurcation theory to address the synthesis rather than analysis problems. CNLD is based on constraints that enforce a minimal back off from critical manifolds. Critical manifolds axe boundaries in the space of system and controller parameters that separate regions with qualitatively different system behavior, e.g. a region with stable operating points from a region with unstable system behavior. The generality of the concept of critical manifolds permits to address feasibility, stability and performance of a nonlinear (closed-loop) system. The back off from the critical manifolds admits to robustly account for parametric uncertainty during the design step and to guarantee the operability of the optimal solution. For closed-loop systems the approach admits simultaneous plant;and control system design. This work summarizes the background and the basic ideas of both approaches. The application to robust nonlinear control design is illustrated by several case studies.

关键词： robust control nonlinear dynamics parametric uncertainty stability optimization

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Linear design of a nonlinear observer for perspective systems

Linear design of a nonlinear observer for perspective system...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Dahl, O Nyberg, F Holst, J Heyden, A Malmo Univ Sch Technol & Soc SE-20506 Malmo Sweden

ISBN: (纸本)078038914X

Estimation or three-dimensional information from two-dimensional images is an important requirement in many computer vision applications. The estimation task can often be formulated as a problem of estimating states and/or parameters in nonlinear dynamic systems. This paper presents an algorithm for recursive state estimation in nonlinar dynamic systems, where the estimated states correspond to three-dimensional postions of feature points on an observed object. The algorithm is designed as a nonlinear observer, with a gain matrix that can be determined using methods from linear control theory. A stability criterion for the resulting nonlinear system is derived, and simulations are presented in order to illustrate the estimation performance.

关键词： computer vision position estimation perspective system nonlinear observer linear design

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