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FUNCTIONAL PERSISTENCE OF EXCITATION AND OBSERVABILITY FOR LEARNING control-SYSTEMS

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 500-507页

作者： MOORE, JB HOROWITZ, R MESSNER, W UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

Adaptive systems involving function learning can be formulated in terms of integral equations of the first kind, possibly with separable, finite-dimensional kernels. The learning process involves estimating the influence functions (Messner et al., 1989). To achieve convergence of the influence function estimates and exponentially stability, it is important to have persistence of excitation in the training tasks. This paper develops the concept of functional persistence of excitation (PE), and the associated concept of functional uniform complete observability (UCO). Relevant PE and UCO properties for linear systems are developed. For example, a key result is that uniform complete observability in this context is maintained under bounded integral operator output injection-a natural generalization of the corresponding finite dimensional result. This paper also demonstrates the application of the theory to linear error equations associated with a repetitive control algorithm.

关键词： Errors Stability Excitation control algorithms control systems Integral equations Linear systems

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DESIGN OF NONINTERACTING MULTIVARIABLE FEEDBACK-control SYSTEMS WITHOUT DECOUPLING FILTERS

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JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER-TRANSACTIONS OF THE ASME 1985年第4期107卷 845-850页

作者： BAKER, DA MADAY, CJ N CAROLINA STATE UNIV DEPT MECH & AEROSP ENGNRALEIGHNC 27695

The design of multivariable control systems for modern applications is an important challenge to the control system engineer. Active control of metal machining operations, control of gas turbine operations, and chemical process control are current areas of interest. In precision machining operations where tolerances of a few microinches are required, in-process control with several servos will be required. These servos could control spindle axis location and tool position about several axes, thus forming a multi-input/multi-output system. Modern gas turbines, required to operate over more extended regimes, are provided with multiple controls, e.g., nozzle settings and fuel flows which must be implemented in some rational manner. In the chemical process industries, there are many examples of multivariable systems with several control variables and several desired or controlled outputs. One control approach considers a separate system for each of the controlled variables, so that a change in one input will produce an interaction effect that must be managed by another separate system. This approach is attractive and straightforward to implement, but current practice shows significant coupling effects. In order to reduce or eliminate interaction, a control algorithm, with strong integral compensation, for a sixth-order, two-input, two-output linear plant with dynamic coupling is proposed. Decoupling filters are not used. The primary goal is to realize a substantial reduction in the coupling effects when a step input is used for a single variable. A secondary goal is to achieve deadbeat response for the controlled variable to the step input. Moreover, these goals are to be attained in the presence of significant changes in the system parameters or in the presence of arbitrary external disturbances, i.e., robustness is required. The control strategy uses cascaded integral error compensation that permits conceptual division of the network so that two single-input/single-ou

关键词： Design Feedback Filters Gas turbines Machining control systems Robustness control algorithms Flow (Dynamics) Metals

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COMPARATIVE ANALYSIS OF THE controlLERS FOR PUMA 560 ROBOT

COMPARATIVE ANALYSIS OF THE CONTROLLERS FOR PUMA 560 ROBOT

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14th IFAC Conference on Programmable Devices and Embedded Systems (PDES)

作者： Jokic, Dejan Z. Lubura, Slobodan D. Fac Elect Engn East Sarajevo East Sarajevo 71123 Bosnia & Herceg

Regarding the fact that the industrial robot PUMA 560 is one of the robots with the best mathematical description of its kinematics, it found the new application in the research laboratories for educational purposes. For that reason there is a need to design new controllers which would be compatible with the contemporary CAD tools used for robot movement programming in a graphic manner. Basically, new controllers can be divided into two groups: PC-based and with embedded computer. It is well established that PC computers are known for their unreliability and sensitivity to computer viruses and the suggestion is that the stated shortcomings should be overcome by the use of FPGA based embedded computers. In this paper is suggested FPGA based controller which has to answer the following requirement of the hypothesis: realisation of the robot controller based on FPGA chip (single chip) which contributes the system availability and safety while answering all the functional, safety and economical requirements. The new controller will enable the use of advance CAD tools which is one of the aims of the research. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot control controllers arm movements digital circuits control algorithms

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On primitivity of sets of matrices

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AUTOMATICA 2015年 61卷 80-88页

作者： Blondel, Vincent D. Jungers, Raphael M. Olshevsky, Alex Catholic Univ Louvain Appl Math Louvain Belgium Catholic Univ Louvain Louvain Belgium Univ Illinois Dept Ind & Enterprise Engn Urbana IL 61801 USA

A nonnegative matrix A is called primitive if A(k) is positive for some integer k > 0. A generalization by Protasov and Voynov (2012) of this concept to finite sets of matrices is as follows;a set of matrices, M = {A(1), A(2), ..., A(m)} is primitive if A(i1)A(i2) ... A(ik) is positive for some indices i(1), i(2), ..., i(k). The concept of primitive sets of matrices comes up in a number of problems within the study of discrete-time switched systems. In this paper, we analyze the computational complexity of deciding if a given set of matrices is primitive and we derive bounds on the length of the shortest positive product. We show that while primitivity is algorithmically decidable, unless P = NP it is not possible to decide primitivity of a matrix set in polynomial time. Moreover, we show that the length of the shortest positive sequence can be superpolynomial in the dimension of the matrices. On the other hand, defining P to be the set of matrices with no zero rows or columns, we give a combinatorial proof of the Protasov-Voynov characterization (2012) of primitivity for matrices in P which can be tested in polynomial time. This latter observation is related to the well-known 1964 conjecture of Cerny on synchronizing automata;in fact, any bound on the minimal length of a synchronizing word for synchronizing automata immediately translates into a bound on the length of the shortest positive product of a primitive set of matrices in P. In particular, any primitive set of n x n matrices in P has a positive product of length O(n(3)). (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Nonnegative matrices Complexity theory State trajectories Switched networks control algorithms

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Hierarchical control Design and Verification with Adaptive Interpreted Petri Nets

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IFAC Proceedings Volumes 1996年第1期29卷 4923-4928页

作者： Carsten Jörns Lothar Litz Institute for Process Automation University of Kaiserslautern PO Box 3049 67663 Kaiserslautern Germany

In this contribution, logic controller design and verification methods are applied to Flexible Manufacturing Systems (FMS). Logic control design methods as well as corresponding verification methods are extended to meet the demand of high flexibility in FMS control By introduction of adaptive interpreted Petri nets for FMS control, a hierarchical controller approach results. The controller hierarchies correspond to the control levels in FMS. Methods for FMS controller verification and implementation are outlined.

关键词： Petri nets Flexible manufacturing systems control algorithms Adaptive algorithms Verification

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Development of an Autonomous Light control Algorithm with a Simulation Model of a Container Terminal

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Procedia Manufacturing 2020年 52卷 221-227页

作者： Lennart M. Steinbacher Markus Trapp Konrad Klockgether Michael Freitag BIBA - Bremer Institut für Produktion und Logistik GmbH University of Bremen Hochschulring 20 28359 Bremen Germany 28Apps Software GmbH Martinistraβe 43 28195 Bremen Faculty of Production Engineering University of Bremen Badgasteiner Str. 1 28359 Bremen Germany

In the ongoing decade, port logistics in Europe have been exposed to intense competition. Especially container ports experience competition not only for ships but also for supply chains. To adapt to this trend, terminal operators are improving the efficiency in port logistics through, among other things, automation of port operations. Most of these efforts concern processes handling shipped goods. Instead of concentrating on these well-researched improvements, we explored the feasibility and economic potential of an intelligent lighting control system. Often automating handling processes need high investments in hard- and software. This smart lighting system is supposed to control demand-actuated outdoor lights in a harbour environment. In this research, movement profiles of straddle carriers and infrastructural data were gathered and refined to build a model of the observed container terminal. The modelled infrastructure includes the position of every lighting tower and its illuminant as well as their specific power consumption and the respective area, which those lights illume. To control these lights, we developed a control algorithm. We investigated through simulation experiments the power savings for this autonomous lighting control system. Multiple influential factors of this control concept were evaluated by varying the parameterization of the algorithm. A gathered data set, containing trajectories of operating straddle carriers during full terminal utilization, is the basis for the mentioned experiments. The results of varying the utilization rate of the terminal have identified a relationship between capacity and percental power consumption, in the form of a root function. The more straddle carriers run, the less the overall power consumption is increasing. Using the intelligent light control system on full utilization saves 14.67% of the total energy. In the case of 80 % terminal utilization, 18.22 % of total energy is subject for saving effects. Besides t

关键词： logistics simulation control algorithms intelligent systems

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A Combined control and Optimization System Used in Solvents Recovering Device

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IFAC Proceedings Volumes 2000年第17期33卷 1099-1104页

作者： Gang Xiong Timo R. Nyberg Paper Machine Automation Automation and Control Institute Tampere University ofTechnology P.O. Box 692 FIN-33101 Tampere. FINLAND T. +358 3 365 2644 F. +358 3 365 3950 Paper Machine Automation Automation and Control Institute Tampere University ofTechnology P.O. Box 692 FIN-33101 Tampere. FINLAND T. +358 3 365 2142 F. +358 3 365 3950

The solvents recovering process in lubrication oil production needs a lot of energy, and has large stagnancy, strong coupling, time delay and interference etc. To measure the quality of solvents on-line is difficult. How to assure the quality and save energy is discussed. A non-linear predictive control is proposed frrstly. Because the mathematical model used for energy optimization can't meet actual need, a combined modeling and optimization strategy is then proposed. Intelligent database, adaptive modeling, combined control and optimization, expert control and intelligent alarming etc. are used to improve the function of the device clearly. Actual production results prove that the system is a great success.

关键词： Nonlinear predictive control control algorithms computer control systems optimal system control system design

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Reduced Algorithm Set control

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IFAC Proceedings Volumes 1995年第5期28卷 407-420页

作者： J.G. McCulloch F. Inst Process Systems Superintendent BP Chemicals Grangemouth Scotland

The computer industry has been revolutionised recently by the advent of the RISC processor, which employs a very small and simple instruction set. This paper proposes a similar approach to the algorithm set of Distributed control Systems, (DCSs), called ‘Reduced Algorithm Set control’ or RASC. Recent DCSs have been provided with algorithm sets of increasing complexity. Rather than simplifying the life of the control Engineer this has tended to increase the problems of implementing control strategies. Moreover, this greater complexity has been accompanied by an increase in the number of software bugs. The result is a system that is complex to understand, difficult to develop and maintain, slow in performance and full of hidden problems. RASC is a very simple but robust standard algorithm set. This can provide all the facilities the control Engineer requires to configure even the most complex of control schemes with the advantage of simplicity, ease, robustness and speed of execution. The paper defines the proposed RASC algorithm set and describes some examples of how it could be used to implement some complex control schemes.

关键词： control algorithms Continuous control Distributed computer control systems PID control Process control Robust control Software reliability Standards

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Stability guarantee in predictive control delta domain

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IFAC Proceedings Volumes 1999年第2期32卷 4624-4629页

作者： C. Prada S. Cristea A.G. Kuznetsov Dpt. of Systems Engineering and Automatica Faculty of Sciences University of Valladolid 47011 Valladolid Phone: + 34 983 423164 Fax: +34 983 423161 Spain Edinburgh Petroleum Services Ltd. Research Park Riccarton Edinburgh EH14 4AP U.K.

In this paper the problem of assuring nominal stability in constrained predictive control is addressed for the case when, due to disturbances, inadequate constraints, etc., the reference cannot be reached within the prediction horizon. The proposed algorithm is formulated in the delta domain, but the idea can be extended to other kind of models. It combines the cancellation of modes at the end of the prediction horizon with a minimization of the distance to the controller reference. In this way, it assures stability even with open loop unstable processes while, at the same time, avoids the feasibility problems.

关键词： Predictive control Stability Constraints control algorithms Delta domain

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The μ-Synthesis Applied to a Launcher control

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IFAC Proceedings Volumes 2004年第6期37卷 695-700页

作者： Y. Morita S. Goto Institute of Space and Astronautical Science Japanese Aerospace Exploration Agency 3-1-1 Yoshinodai Sagamihara Kanagawa 229-8510 Japan tel.+81-42-759-8222 fax:+81-42-759-8458 Mitsubishi Precision Co. Ltd

The performance of the M-V rocket attitude control has been validated by the flight results obtained at the first launch of its renewed version, which was successfully conducted in May 2003 to inject Japan's first asteroid sample returner “HAYABUSA” into the planned inter-planetary orbit. The μ-synthesis was applied for the first time ever to the design beyond the reliable H ∞ control to get better robust characteristics against uncertainties of the system parameters as well as precise tracking performance under the limited rigidity. As the plant dynamics has an extremely high order and unstable character, the standard μ-synthesis cannot be directly applied, thus, the standard procedure is modified in a special way in order to make the approach more efficient.

关键词： Robust control control algorithms Attitude control Vibration

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