检索结果-内蒙古大学图书馆

control barrier functionals: Safety-critical control for time delay systems

INTERNATIONAL JOURNAL OF ROBUST AND nonlinear control 2023年第12期33卷 7282-7309页

作者： Kiss, Adam K. Molnar, Tamas G. Ames, Aaron D. Orosz, Gabor Budapest Univ Technol & Econ Fac Mech Engn Dept Appl Mech MTA BME Lendulet Machine Tool Vibrat Res Grp Budapest Hungary CALTECH Dept Mech & Civil Engn Pasadena CA USA Univ Michigan Dept Mech Engn Ann Arbor MI USA Univ Michigan Dept Civil & Environm Engn Ann Arbor MI USA Budapest Univ Technol & Econ Fac Mech Engn Dept Appl Mech MTA BME Lendulet Machine Tool Vibrat Res Grp H-1111 Budapest Hungary

AbstarctThis work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced, to attain formal safety guarantees by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.

关键词： control of nonlinear systems delay systems infinite dimensional systems safety-critical control

来源：评论

学校读者我要写书评

暂无评论

control of the RMS Output Current in Series Resonant Converters 4

Control of the RMS Output Current in Series Resonant Convert...

引用

4th IFAC Conference on Modelling, Identification and control of nonlinear systems (MICNON)

作者： Dore, Manon Zaupa, Nicola Univ Toulouse CNRS LAAS CNRS Toulouse France

In this work the problem of regulation of the Root Mean Square (RMS) value of the current for Series Resonant Converter (SRC) is addressed. The self-oscillating behavior is ensured by an amplitude modulation like control law and the RMS value is estimated with a proposed hybrid system. The closed-loop regulation is done with a Proportional-Integral (PI) controller with anti-windup scheme, and a set of Linear Matrix Inequalities (LMIs) is introduced to tune the gains. The knowledge of a reference trajectory is not needed to implement the controller, and it is shown to be effective in simulation considering uncertain parameters. Copyright (c) 2024 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： Power and Energy control control of nonlinear systems Hybrid systems Anti-windup PI-controller Resonant Converters

来源：评论

学校读者我要写书评

暂无评论

Virtual Input Assignment on Etale Space: control Lyapunov Function Design for System Driven by State on Manifold 4

Virtual Input Assignment on Etale Space: Control Lyapunov Fu...

引用

4th IFAC Conference on Modelling, Identification and control of nonlinear systems (MICNON)

作者： Aoki, Haruto Nakamura, Hisakazu Tokyo Univ Sci 2641 Yamazaki Noda Chiba 2788510 Japan

In this study, we propose a design method for a locally semiconcave practical control Lyapunov function (LS-PCLF) for global asymptotic stabilization. The proposed method focuses on a cascade system that is interconnected by state in a differentiable manifold. To design an LS-PCLF, we lift the system to an etale space of the state space. In general, the lifted system has multiple equilibrium points that correspond to the desired equilibrium point of the original system. By assigning a virtual input to one of the equilibrium points, we can employ an LS-PCLF design method analogous to backstepping. A numerical example demonstrates the effectiveness of the proposed method. Copyright (c) 2024 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： control of nonlinear systems Switching control control Lyapunov function Global asymptotic stabilization

来源：评论

学校读者我要写书评

暂无评论

control of the RMS Output Current in Series Resonant Converters

引用

IFAC-PapersOnLine 2024年第21期58卷 132-137页

作者： Manon Doré Nicola Zaupa

关键词： Power and Energy control control of nonlinear systems Hybrid systems Anti-windup PI-controller Resonant Converters

来源：评论

学校读者我要写书评

暂无评论

A Novel Attitude Representation in View of Spacecraft Attitude Reconstruction using Temperature Data 3rd

A Novel Attitude Representation in View of Spacecraft Attitu...

引用

3rd IFAC Conference on Modelling, Identification and control of nonlinear systems (MiCNON)

作者： Posielek, Tobias Reger, Johann German Aerosp Ctr DLR Inst Syst Dynam & Control Munchner Str 20 D-82234 Wessling Germany Tech Univ Ilmenau Control Engn Grp POB 10 05 65 D-98684 Ilmenau Germany

There are various different attitude representations that describe the orientation of a rigid body in space and allow the transformation between different coordinate systems. Among others, they differ in number of variables, uniqueness of the representation and their continuity. However, in spite of some of them being based on angles, none of them constitutes a simple representation of an angle between two arbitrary vectors. We tackle this issue by proposing a novel attitude representation that directly incorporates the desired angle. The usefulness of this representation is demonstrated in the attitude reconstruction from temperature data, which then leads to an order reduction of a non-linear system. Copyright (C) 2021 The Authors.

关键词： Modeling and Identification of nonlinear systems Aerospace control systems control of nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

A Simple Approach to Increase the Maximum Allowable Transmission Interval 3rd

A Simple Approach to Increase the Maximum Allowable Transmis...

引用

3rd IFAC Conference on Modelling, Identification and control of nonlinear systems (MiCNON)

作者： Hertneck, Michael Allgoewer, Frank Univ Stuttgart Inst Syst Theory & Automat Control D-70569 Stuttgart Germany

When designing Networked control systems (NCS), the maximum allowable transmission interval (MATI) is an important quantity, as it provides the admissible time between two transmission instants. An efficient procedure to compute a bound on the MATI such that stability can be guaranteed for general nonlinear NCS is the emulation of a continuous-time controller. In this paper, we present a simple but efficient modification to the well-established emulation-based approach from Carnevale et al. (2007) to derive a bound on the MATI. Whilst only minor technical changes are required, the proposed modification can lead to significant improvements for the MATI bound as compared to Carnevale et al. (2007). We revisit two numerical examples from literature and demonstrate that the improvement may amount to more than 100%. Copyright (C) 2021 The Authors.

关键词： Networked nonlinear systems control of nonlinear systems control of Networks

来源：评论

学校读者我要写书评

暂无评论

On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian systems Without Velocity Measurements 3rd

On Passivity-Based High-Order Compensators for Mechanical Po...

引用

3rd IFAC Conference on Modelling, Identification and control of nonlinear systems (MiCNON)

作者： Hamada, Kiyoshi Borja, Pablo Fujimoto, Kenji Maruta, Ichiro Scherpen, Jacquelien M. A. Kyoto Univ Grad Sch Engn Dept Aeronaut & Astronaut Kyoto 6158540 Japan Univ Groningen Fac Sci & Engn Jan C Willems Ctr Syst & Control ENTEG DTPA Nijenborgh 4 NL-9747 AG Groningen Netherlands

In this work, we propose passivity-based control techniques, where the resulting controllers include the entire class of dynamic output feedback controllers that preserve the port-Hamiltonian structure. The proposed methodology considers a dynamic output feedback controller such that the linearized relationship between the control inputs and the outputs of interest can be interpreted as a high-order compensator. Accordingly, the controllers are studied in the framework of the transfer functions, and the control gains can be tuned through a frequency analysis approach while ensuring the stability of the closed-loop system. Additionally, the controllers have the advantage that they do not require velocity measurements. We illustrate the applicability of the proposed methodology through a numerical example. Copyright (C) 2021 The Authors.

关键词： control of nonlinear systems control with Limited Information

来源：评论

学校读者我要写书评

暂无评论

Comparison and Benchmarking of NMPC for Swing-Up and Side-Stepping of an Inverted Pendulum with Underlying Velocity control 3rd

Comparison and Benchmarking of NMPC for Swing-Up and Side-St...

引用

3rd IFAC Conference on Modelling, Identification and control of nonlinear systems (MiCNON)

作者： Husmann, Ricus Aschemann, Harald Univ Rostock Mechatron Justus von Liebig Weg 6 D-18059 Rostock Germany

This paper presents the design and investigation of a nonlinear model predictive controller (NMPC) for an inverted pendulum with velocity input. The controller is implemented on a test-rig using the GRAMPC-Toolbox. It is shown that swing-up/stabilisation and side-stepping can be achieved in a single controller using a suitable cost functional as well as prediction horizon. The impact of different NMPC design parameters on the achievable performance and stability properties is investigated and discussed. Finally, a comparative analysis with an alternative nonlinear control - consisting of energy-based swing-up and a tracking controller based on extended linearisation techniques and state-dependent Riccati equations (SDRE) - is carried out. The individual strength or weakness is discussed based on experimental results at a test rig. Copyright (C) 2021 The Authors.

关键词： nonlinear Model Predictive control control of nonlinear systems Mechatronics and Robotics

来源：评论

学校读者我要写书评

暂无评论

A Novel Attitude Representation in View of Spacecraft Attitude Reconstruction using Temperature Data ⁎

引用

IFAC-PapersOnLine 2021年第14期54卷 500-505页

作者： Tobias Posielek Johann Reger Institute of System Dynamics and Control German Aerospace Center (DLR) Münchner Str. 20 D-82234 Weßling Germany Control Engineering Group Technische Universität Ilmenau P.O. Box 10 05 65 D-98684 Ilmenau Germany

关键词： Modeling Identification of nonlinear systems Aerospace control systems control of nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Comparison and Benchmarking of NMPC for Swing-Up and Side-Stepping of an Inverted Pendulum with Underlying Velocity control

引用

IFAC-PapersOnLine 2021年第14期54卷 263-268页

作者： Ricus Husmann Harald Aschemann Chair of Mechatronics University of Rostock Justus-von-Liebig Weg 6 18059 Rostock Germany

This paper presents the design and investigation of a nonlinear model predictive controller (NMPC) for an inverted pendulum with velocity input. The controller is implemented on a test-rig using the GRAMPC-Toolbox. It is shown that swing-up/ stabilisation and side-stepping can be achieved in a single controller using a suitable cost functional as well as prediction horizon. The impact of different NMPC design parameters on the achievable performance and stability properties is investigated and discussed. Finally, a comparative analysis with an alternative nonlinear control – consisting of energy-based swing-up and a tracking controller based on extended linearisation techniques and state-dependent Riccati equations (SDRE) – is carried out. The individual strength or weakness is discussed based on experimental results at a test rig.

关键词： nonlinear Model Predictive control control of nonlinear systems Mechatronics Robotics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：