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Design of adaptive model predictive control for a class of uncertain non-linear dynamic systems: stability, convergence, and robustness analysis

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IET control THEORY AND APPLICATIONS 2019年第15期13卷 2376-2386页

作者： Bolandi, Hossein Saki, Saman Iran Univ Sci & Technol Dept Elect Engn Tehran Iran

Aside from relying on the robustness of the model predictive control (MPC) against model uncertainties, tracking performance degradation in the transient time is an inevitable challenge which is the main motivation of the adaptive MPC (AMPC). To that aim, in this study, a fast online identification scheme is suggested to identify a suitable linear state-space model used in the control algorithm. Then, the authors prove the convergence of the identification error sequence using Lyapunov candidate function in the time domain and also, in the frequency domain (graph topology) point of view. Also, due to the dependency of the convergence error on the initial selection of the identification model, the authors introduce a stability and convergence ball as a function of generalised stability margin and the v-gap criteria. Then, the stability and feasibility of the proposed AMPC is guaranteed when using the identified linear model at each sampling time. Moreover, the identification error convergence applies a constraint on the MPC in which, with a suitable selection of the update rate, MPC cost function is been relaxed from the constraint. In the simulations, the authors consider two examples of highly non-linear dynamic systems. In both cases the proposed control strategy gives satisfactory conclusions.

关键词： convergence identification predictive control linear systems uncertain systems robust control closed loop systems control system synthesis adaptive control state-space methods Lyapunov methods nonlinear dynamical systems identification model generalised stability margin AMPC identified linear model sampling time identification error convergence suitable selection MPC cost function nonlinear dynamic systems control strategy adaptive model predictive control robustness analysis model uncertainties performance degradation transient time inevitable challenge adaptive MPC fast online identification scheme suitable linear state-space model control algorithm identification error sequence Lyapunov candidate function time domain graph topology convergence error

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NECESSARY CONDITIONS FOR OPTIMAL PULSE control

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JOURNAL OF GUIDANCE control AND DYNAMICS 1986年第1期9卷 53-57页

作者： CALISE, AJ NAGY, J MCDONNELL DOUGLAS CORP ST LOUISMO 63166

Necessary conditions are derived for constrained variations that arise in the case of optimal pulse control. It is assumed that the pulse magnitudes and durations are fixed, and that the only variables subject to control are the pulse initiation times. It is shown that these conditions replace two standard necessary conditions for optimality. A missile application to demonstrate their validity and usefulness is considered.

关键词： Optimal control Aerodynamic Drag control algorithm Angle of Attack Propellant Model Order Reduction Terminal Velocity Boundary Value Problems Solid Rocket Motor Propulsion control

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control OF A STRUCTURE WITH 2 CLOSELY SPACED FREQUENCIES

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JOURNAL OF GUIDANCE control AND DYNAMICS 1993年第6期16卷 1177-1178页

作者： XU, K WARNITCHAI, P IGUSA, T Northwestern Univ. Evanston IL

This Note explores the effectiveness and limitations of linear feedback control on a structure with closely spaced natural frequencies. Closed-form expressions are presented for the fundamental case of a structure with two modes controlled by a single force. Three algorithms are investigated: velocity feedback, pole allocation, and optimal control. The paper has shown the following: 1) The normalized difference of the open-loop frequencies β governs the effectiveness and robustness of the control algorithms. 2) Velocity feedback, pole allocation, and optimal control yield responses that are nearly equal for small gains but are significantly different for velocity gains on the order of β or greater. 3) The lower bound for the response of optimally controlled structures is on the order of 1/β. 4) It is possible, through pole allocation, to increase the modal damping of the closed-loop system by increasing the feedback gains. 5) The stable region is bounded by two cones, with geometry determined by the control parameters.

关键词： Linear Quadratic Gaussian Riccati Equations Closed Loop System Damping Ratio Feedback control control algorithm

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Semi-active control of vertical stroking helicopter crew seat for enhanced crashworthiness

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JOURNAL OF AIRCRAFT 2007年第3期44卷 1031-1034页

作者： Hiemenz, Gregory J. Choi, Young-Tai Wereley, Norman M. Univ Maryland College Pk MD 20742 USA

Shock load-induced injury minimization has become an important issue inhelicopter seat design. Harsh vertical landings or crash landings of these aircraft tend to resultin pilot or occupant spinal and pelvic injuries. The severity of injury, however, can be reduced ifthe vehicles are outfitted with crashworthy seat designs. Utilization of a seat suspension system toattenuate the vertical shock loads that are transmitted from the base frame of the aircraft of thevehicle and imparted into the human body is a prime factor in determining survivability.

关键词： Helicopters Sliding Mode control Crashworthiness control algorithm Lumped Parameter Model Vibration control Feedback control System Viscous Damping Suspension Design Vertical Landing

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Physiologic control of cardiac assist devices

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ARTIFICIAL ORGANS 1996年第3期20卷 271-275页

作者： Hall, AW Soykan, O Harken, AH UNIV COLORADO HLTH SCI CTRDEPT SURGDENVERCO 80262

Total artificial hearts (TAHs) and biventricular assist devices (BVADs) have varying levels of acceptance and reliability, and the research on both focuses on their control mechanisms. Efforts generally aim to achieve a response to physiologic demand and left/right output balance, and beneficial cardiac output (CO) and effective control mechanisms have been achieved by eliciting a Starling-like response to preload and afterload. Such control mechanisms, however, generally base device output on a single parameter, such as the preload on the heart. Current TAHs and BVADs provide relatively fixed oxygen delivery to patients with large physiologically induced variations in oxygen consumption. This paper aims to document fluctuations in oxygen consumption that are normal in BVAD and TAH patients, identify a number of patient-generated signals that reflect these fluctuations, and describe a multitiered control algorithm based upon these signals. Such a control system may offer better response times and more physiologic cardiac outputs. There currently exists a microprocessor-based control mechanism that can be adapted to control TAHs and BVADs using input from a variety of sensors, and it can be found in modern implantable pulse generators (IPGs). Today's pacemakers are capable of rate control and can run diagnostic programs and store data that could be valuable in the evaluation of the patient's condition.

关键词： biventricular assist device total artificial heart control algorithm

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Inverse Kinematics in Pyramid-Type Single-Gimbal control Moment Gyro System

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JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第8期39卷 1893-1903页

作者： Yamada, Katsuhiko Asai, Takashi Jikuya, Ichiro Osaka Univ Dept Mech Engn Yamada Oka 2-1 Suita Osaka 5650871 Japan Nagoya Univ Dept Aerosp Engn Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan Kanazawa Univ Fac Elect & Comp Engn Inst Sci & Engn Kakuma Machi Kanazawa Ishikawa 9201192 Japan

An inverse kinematics computational procedure (IKCP) was presented for solving the inverse kinematics in the pyramid-type single-gimbal control moment gyro system (SGCMG). The initial candidates of the gimbal angles were selected by solving the eighth-order polynomial equation, and then the gimbal angles were adjusted by using the Newton method such that the cost function was decreased. The IKCP is applicable to accurately compute the maximum total angular momentum vector along the specified rotational direction and to the inverse kinematics steering logic (IKSL) for attitude control. The effectiveness of the proposed method was demonstrated by using both numerical simulations and ground experiments;in particular, it has been shown that the computational cost of IKSL is acceptable for real-time implementation.

关键词： Inverse Kinematics control Moment Gyros Newton's Method Numerical Simulation Computing Quaternions Tracking control Numerical Optimization control algorithm Feedback control

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Sliding mode control using modified Rodrigues parameters

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JOURNAL OF GUIDANCE control AND DYNAMICS 1996年第6期19卷 1381-1383页

作者： Crassidis, JL Markley, FL NASA GODDARD SPACE FLIGHT CTRGUIDANCE NAV & CONTROL BRANCHGREENBELTMD 20771

Spacecraft pointing poses a complex problem involving nonlinear dynamics with either linear and/or nonlinear control laws. The control technique used in this paper is based on sliding mode (variable structure) control. This type of control has been successfully applied for spacecraft pointing and regulation using both Rodrigues (Gibbs vector) quaternion representations. The Rodrigues parameters provide a minimal (i.e., three-dimensional) parameterization. However, a singularity exists for 180-deg rotations which hinders this parameterization for extremely large angle rotations. The sliding mode controller developed here is based on the modified Rodrigues parameters (Marandi and Modi, 1987; Shuster, 1993). The advantages of using this attitude representation include: (1) rotations of up to 360 deg are possible, and (2) the parameters form a minimal parameterization. Simulation results indicate that the new algorithm was able to accurately control the attitude of a spacecraft for large-angle maneuvers. (AIAA)

关键词： Sliding Mode control Quaternions Spacecraft Attitude control algorithm Kalman Filter Rotorcrafts Gravity Gradient Stabilization Smart Structures Technology Boundary Value Problems Large Angle Maneuver

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Automated control of the Tempering Process for Automobile Glass

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GLASS AND CERAMICS 2015年第7-8期72卷 231-233页

作者： Makarov, R. I. Khorosheva, E. R. Andrianova, V. I. AG & NG Stoletov Vladimir State Univ Vladimir Russia

A mathematical model on fuzzy sets that describes the dependence of the shape deviations of curved automobile glass on the tempering regime is developed. An adaptive control algorithm for the tempering regime using simplex planning is proposed. Simulation modeling is used to show that the quality of tempered glass produced on operating equipment can be improved by automating the control of the technological tempering process.

关键词： automobile glass tempering model control algorithm

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In-Line Quality control for Tempered Safety Glass

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GLASS AND CERAMICS 2022年第5-6期79卷 167-169页

作者： Makarov, R., I Khorosheva, E. R. Stoletov Vladimir State Univ Vladimir Russia

Sampling of the produced tempered glass was performed. Deviations of curved products from a specified shape were exposed. Linear adaptive models describing the dependence of product shape and mechanical strength testing on the tempering regime were set up. Simulation modeling of an algorithm controlling the tempering process showed that the quality of the manufactured tempered safety glass can be improved.

关键词： tempered safety glass manufacture adaptive model simulation modeling control algorithm

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Experimental robustness study of positive position feedback control for active vibration suppression

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JOURNAL OF GUIDANCE control AND DYNAMICS 2002年第1期25卷 179-182页

作者： Song, G Schmidt, SP Agrawal, BN Univ Akron Dept Mech Engn Akron OH 44325 USA USN Postgrad Sch Dept Aeronaut & Astronaut Monterey CA 93943 USA

Results of an experimental robustness study of the vibration suppression of a flexible structure using positive position feedback (PPF) control are reported. The flexible structure considered is a cantilevered beamwidth PZT sensors and actuators. It is found that PPF control is robust for both single-mode and multimode vibration suppression. (CSA)

关键词： Active Vibration Suppression Feedback control Vibration Suppression Power Spectral Density Closed Loop Young's Modulus control algorithm Satellites Digital Signal Processors Data Acquisition System

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