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nonlinear H₂ and H_∞ control formulated in the Sobolev space for mechanical systems

Nonlinear H2 and H∞ con...

Joint Meeting of the 2nd IFAC Workshop on Linear Parameter Varying Systems (LPVS) / 9th IFAC symposium on Robust control design (ROCOND)

作者： Cardoso, Daniel N. Raffo, Guilherme V. Esteban, Sergio Univ Fed Minas Gerais Grad Program Elect Engn BR-31270901 Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil Univ Seville Dept Aerosp Engn Seville 41092 Spain

Two important paradigms in control theory are the classic nonlinear H-2 and H-infinity control approaches. Their background theory are well developed, and several applications have demonstrated their efficiency. Despite many advantages, they suffer from deficiencies such as minimum settling-time and minimum overshoot. An interesting approach to solve these limitations is the formulation of both controllers in the Sobolev space. Thanks to the nature of the W - norm, the cost variable and its time derivatives are taken into account in the cost functional, leading to controllers with improved transient and steady-state performance. Thus, aiming to deal with mechanical systems this work reformulates the H-2 and H-infinity controllers in the Sobolev space. It is shown that, for particular systems, the W-2 and W-infinity optimal controllers are equivalent. An optimal solution for the class of fully actuated mechanical systems is proposed. The controller is corroborated by numerical experiments conducted with a quadrotor UAV. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear systems H-2 control H-infinity control Sobolev space Robust control mechanical systems

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Lipschitz非线性系统的H_(-)/L_(∞)故障检测观测器设计

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控制理论与应用 2018年第6期35卷 778-785页

作者：周萌王振华王昶沈毅北京化工大学信息科学与技学院北京100029 哈尔滨工业大学航天学院黑龙江哈尔滨150001 北京航天自动控制研究所北京100039

针对Lipschitz非线性系统提出了一种基于H_-/L_∞故障检测观测器的设计方法.首先,利用有限频域的H_-指标来刻画观测器生成残差的最小故障敏感度,利用未知干扰到残差的L_∞范数来描述残差对干扰的鲁棒性能.其次,提出了基于L_∞范数性能... 详细信息

针对Lipschitz非线性系统提出了一种基于H_-/L_∞故障检测观测器的设计方法.首先,利用有限频域的H_-指标来刻画观测器生成残差的最小故障敏感度,利用未知干扰到残差的L_∞范数来描述残差对干扰的鲁棒性能.其次,提出了基于L_∞范数性能指标的残差评价与动态阈值生成方法.此外,给出了H_-/L_∞故障检测观测器的存在条件并整理成线性矩阵不等式.最后,仿真算例验证了本文所提方法的正确性与有效性.

关键词： Lipschitz非线性系统 H_(-)指标 L_(∞)范数有限频域故障检测

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Vertical Motion control of Crane Without Load Position Information Using nonlinear control theory 4th

Vertical Motion Control of Crane Without Load Position Infor...

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4th International Conference on Advanced Engineering theory and applications, AETA 2017

作者： Le, Nhat Binh Tran, Manh Son Jung, Suk Ho Kim, Young Bok Department of Mechanical System Engineering Pukyong National University Busan48547 Korea Republic of

ISBN: (纸本)9783319698137

When a load is lifted by a crane system, the load position may be unexpectedly vertically vibrated due to the elasticity of the rope. This problem reduces the system stability and load positioning accuracy. To resolve this actual problem, this paper describes a model for studying the dynamic behavior of the offshore crane system such that a control system design method is introduced to occupy desirable performance. The obtained model allows evaluating the fluctuations of the load arising from the elasticity of the rope. In addition, the rope is modeled as a mass-damper-spring system, and the winch as the main actuator coefficients are identified via experiments and simulation. Especially, in this paper, the authors design a control system in which winch a rotation angle and a rope tension are used to make control signals without load position information. In the real plants, the load position cannot be accurately measured because the load type is various and other environmental constraints. Considering these facts, the controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory. Besides that, for comparison study, a full order observer is designed to estimate unknown states. Finally, the experimental results show that the proposed method can successfully make something good control performance. © Springer International Publishing AG 2018.

关键词： controllers

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Convergence of full-order observers for the slow states of a singularly perturbed system (Part II: applications)

Convergence of full-order observers for the slow states of a...

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2018 Australian and New Zealand control Conference, ANZCC 2018

作者： Cuevas, Luis Nesic, Dragan Manzie, Chris Department of Electrical and Electronic Engineering MIDAS Laboratory University of Melbourne ParkvilleVIC3010 Australia

ISBN: (纸本)9781538666173

Many natural and engineered systems exhibit a singularly perturbed structure where different time scales inherently lead to difficulties in the design of observers for the system. In our related work [1], we have shown that, under appropriate assumptions, an observer designed for the slow part of the system can be applied and results in semi-global practical asymptotical (SPA) stability of the estimation error. In this paper, we show that assumptions from [1] hold for two classes of plants and nonlinear observers. In fact, we show that the provided framework in [1] covers current results in the literature and also other cases that are not covered by existing results. Hence, we demonstrate that we generalise existing results in the literature. © 2018 IEEE.

关键词： observers Estimation error Perturbation methods Standards Convergence Robustness

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Neuro-observer based online finite-horizon optimal control for uncertain non-linear continuous-time systems

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IET control theory AND applications 2017年第3期11卷 401-410页

作者： Huang, Yuzhu Beijing Huatsing Gas Turbine & IGCC Technol Co Lt Syst Control Res Sect Tsinghua Sci Pk Beijing 100084 Peoples R China

In this study, within framework of adaptive dynamic programming (ADP), a neuro-observer based online optimal control solution is developed for the finite-horizon optimal control problem of uncertain non-linear continuous-time systems. First, a neuro-observer is designed to estimate system states from the uncertain system without knowledge of system drift dynamics. Then based on the observed states, an online finite-horizon optimal control scheme is proposed by a single critic network to approximate the solution of the time-varying Hamilton-Jacobi-Bellman (HJB) equation and obtain the optimal control. In the design, a novel observer-critic architecture is presented for implementing the control scheme by using two neural networks (NNs): an observer NN is used to learn the uncertain system dynamics and a critic NN is employed not only to approximate the solution of time-varying HJB equation, but also to ensure the terminal constraint is satisfied. Besides, an additional adjusting term is introduced by Lyapunov theory in critic NN weight tuning algorithm, which relaxes the requirement for an initial stabilising control. Moreover, uniform ultimate bounded stability of the closed-loop system is guaranteed via Lyapunov's direct method. Finally, simulation results are shown to demonstrate the effectiveness of the proposed approach.

关键词： uncertain systems optimal control nonlinear systems continuous time systems dynamic programming time-varying systems Jacobian matrices observers Lyapunov methods closed loop systems neurocontrollers neuro-observer online finite-horizon optimal control uncertain nonlinear continuous-time systems closed-loop system stability weight tuning algorithm Lyapunov theory uncertain system dynamics neural networks observer-critic architecture time-varying Hamilton-Jacobi-Bellman equation system drift dynamics ADP adaptive dynamic programming

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High gain observer design for fractional-order non-linear systems with delayed measurements: application to synchronisation of fractional-order chaotic systems

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IET control theory AND applications 2017年第17期11卷 3171-3178页

作者： Bettayeb, Maamar Al-Saggaf, Ubaid M. Djennoune, Said Univ Sharjah Dept Elect & Comp Engn Sharjah U Arab Emirates King Abdulaziz Univ CEIES Jeddah Saudi Arabia King Abdulaziz Univ Elect & Comp Engn Dept Jeddah Saudi Arabia Univ Mouloud Mammeri Lab Concept & Conduite Syst Prod Tizi Ouzou Algeria

In this study, a high gain observer with delayed driving control signal is designed for synchronisation of fractional-order chaotic systems. The method consists in using two cascade high gain observers in order to compensate for the delay transmission signal from the transmitter to the receiver. For large delay, a fractional-order chain observer composed by high gain cascade delayed observers is proposed. The last observer of this chain estimates the state at the current time while previous observers estimate delayed states. Convergence of the proposed observer is proven. Application to the synchronisation of fractional-order chaotic systems is given. Computer simulations show the effectiveness of the proposed approach.

关键词： observers nonlinear control systems delays synchronisation chaos cascade control convergence high gain observer design fractional-order nonlinear system delayed measurement synchronisation fractional-order chaotic systems delayed driving control signal cascade high gain observers delay transmission signal compensation fractional-order chain observer high gain cascade delayed observers state estimation convergence

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基于迭代扩张状态观测器的数据驱动最优迭代学习控制

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控制理论与应用 2018年第11期35卷 1672-1679页

作者：惠宇池荣虎青岛科技大学自动化与电子工程学院山东青岛266061 青岛科技大学人工智能与控制研究院山东青岛266061

针对一类带扰动有限时间内重复运行的离散时间非线性非仿射不确定系统,本文提出了一种基于迭代扩张状态观测器的数据驱动最优迭代学习控制方法.首先,提出了改进的迭代动态线性化方法,将被控系统线性化为与控制输入有关的仿射形式,并将... 详细信息

针对一类带扰动有限时间内重复运行的离散时间非线性非仿射不确定系统,本文提出了一种基于迭代扩张状态观测器的数据驱动最优迭代学习控制方法.首先,提出了改进的迭代动态线性化方法,将被控系统线性化为与控制输入有关的仿射形式,并将不确定性合并到一个非线性项中;然后,设计了迭代扩张状态观测器对非线性不确定项进行估计,作为对扰动的补偿;最后,设计了性能指标函数,通过最优技术,提出了参数迭代更新律和最优学习控制律.本文通过数学分析,证明了跟踪误差的有界收敛性.仿真结果验证了方法的有效性.所提出的新型迭代动态线性化方法可很大程度上降低线性化后的控制增益的动态复杂性,使其易于估计.所提出的迭代扩张状态观测器可以在重复中学习,对非重复扰动可进行有效的估计.此外,本文控制器的设计与分析是数据驱动的控制方法,除了被控系统的输入输出数据以外,不需要任何其他模型信息.

关键词：数据驱动控制迭代学习控制扩张状态观测器非线性非仿射系统动态线性化

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Colorful insights supporting the modeling of creative processes across language, music and emotion 23

Colorful insights supporting the modeling of creative proces...

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Color Imaging XXIII: Displaying, Processing, Hardcopy, and applications 2018

作者： Lebowsky, Fritz López-González, Mónica STMicroelectronics Grenoble France La Petite Noiseuse Productions BaltimoreMD United States

In an attempt to unite advances in color science, the creative arts, cognitive psychology and engineering to foster an improved understanding of creative processes, we elaborate on and discuss some recent findings across creative art experiments, cognitive psychology and perceptual color compression. Motivated by a fundamental phenomenon of efficiently managing functional complexity, which has been observed, for example, in design tool development as well as product development in microelectronics, we propose associating functional structures of language and music with perceptual sensitivity to hue, simultaneous color contrast, and color saturation across high dynamic range color processing while simultaneously considering elementary models used in quantum mechanics. A multi-dimensional functional hierarchy not only reveals similarities but also offers a platform towards open questions about creative thinking processes which can be more easily elaborated in a distributive differential context provided by a dynamic spatio-temporal (space-time) model. A suitable test scenario emerges from forward-looking creative experiments utilizing the arts in combination with a highly generic perceptual color compression model. A well engineered verification toolset based on nonlinear control theory appears useful in addressing fundamental challenges in highly complex neuronal tasks across language, music and emotion. We also focus on interfacing between terminologies of cognitive, mathematical and engineering domains together with their underlying functionalities. We present preliminary thoughts and discuss our unconventionally structured approach in multi-modal and multi-sensory contexts via comparison of similarities as well as differences between creativity tasks and perceptual color compression. Ongoing work shall focus specifically on elaborating effective strategies that combine the proposed functional models with promising Deep Learning architectures. © 2018, Society for I

关键词： Quantum theory

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Adaptive output feedback tracking control for switched non-strict-feedback non-linear systems with unknown control direction and asymmetric saturation actuators

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IET control theory AND applications 2017年第15期11卷 2539-2548页

作者： Dong, Yan Yu, Zhaoxu Li, Shugang Li, Fangfei East China Univ Sci & Technol Key Lab Adv Control & Optimizat Chem Proc Minist Educ Shanghai Peoples R China Shanghai Univ Dept Informat Management Shanghai Peoples R China East China Univ Sci & Technol Dept Math Shanghai Peoples R China

The problem of adaptive tracking control is studied for a class of switched non-strict-feedback non-linear systems with unknown control direction and asymmetric saturation actuators under arbitrary switchings. The main technical difficulty comes from developing a common adaptive control scheme in the presence of unknown control direction and unknown asymmetric saturation non-linearities. A linear state transformation is exploited to deal with the unknown control coefficients and a Gaussian error function-based smooth model is used to approximate the asymmetric saturation non-linearity. Based on an input-driven observer, a common adaptive output-feedback control strategy containing only one adaptive parameter is developed for such systems via a novel combination of common Lyapunov function method, backstepping technique, variable separation approach and neural network approximation. Under the proposed control scheme, the tracking error converges to an adjustable neighbourhood of the origin. Finally, two illustrative examples are included to verify the effectiveness of the proposed control design.

关键词： adaptive control feedback switching systems (control) nonlinear control systems actuators Gaussian processes observers Lyapunov methods control nonlinearities neural nets control system synthesis

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design and Implementation of Efficient Smart Lighting control System with Learning Capability for Dynamic Indoor applications

Design and Implementation of Efficient Smart Lighting Contro...

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International symposium on Telecommunications, IST

作者： Atefesadat Seyedolhosseini Nasser Masoumi Mehdi Modarressi Noushin Karimian CST-LAB Department of Electronics School of Electrical and Computer Engineering College of Eng. University of Tehran Tehran Iran School of Electrical and Computer Engineering College of Eng. University of Tehran and School of Computer Science Institute for Research in Fundamental Sciences Tehran Iran School of Engineering Science College of Eng. University of Tehran Tehran Iran

ISBN: (纸本)9781538682753;9781538682746

Accurate and efficient adjustment of luminaire's dimming level in a smart environment can be a huge challenge. Indoor lighting system as a nonlinear and time variant block, which consumes significant amount of electrical power is evaluated in this paper. In doing so, a control method is proposed to efficiently adjust luminaire's dimming level in a smart environment and to optimize energy and user's comfort level. The proposed control method takes advantages from neural network and its learning capabilities. In this research, photodetectors are placed at the work zones, where work zones can have different number of photodetectors without any increase in complexity and any adverse effect on the control system. The method is capable of adopting itself to daylight variations with high accuracy. A state machine is developed to implement the method. The method is implemented in MATLAB and lighting conditions are extracted in DIALux. Luminaire's dimming levels are determined with accuracy higher than 99%. Daylight is considered as a bias to the system and thus the network does not need to be trained by any variations. In a dynamic condition, when taking into account the variation in daylight, the system mean error does not exceed 3%.

关键词： Lighting Photodetectors control systems Neural networks Complexity theory Reflection

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