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A robust non-linear MPC framework for control of underwater vehicle manipulator systems under high-level tasks

IET control THEORY AND APPLICATIONS 2021年第3期15卷 323-337页

作者： Nikou, Alexandros Verginis, Christos K. Heshmati-alamdari, Shahab Dimarogonas, Dimos, V KTH Royal Inst Technol Sch Elect Engn & Comp Sci Div Decis & Control Syst Malvinas Vag 10 SE-10044 Stockholm Sweden

Over the last years, the development and control of Autonomous Underwater Vehicles with attached robotic manipulators, also called Underwater Vehicle Manipulator system (UVMS), has gained significant research attention. In such applications, feedback controllers which guarantee that the end-effector of the UVMS is fulfilling desired complex tasks should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Complex tasks can be conveniently given in the so-called Linear Temporal Logic (LTL). Motivated by this, the authors develop a combined abstraction and control synthesis framework in which, given the uncertain kinematics/dynamics of the UVMS, a workspace divided into Regions of Interest and a desired LTL task, a sequence of feedback control laws that probably guarantee the LTL formula is provided. The proposed controller falls within the tube-based non-linear model predictive control methodology and can handle the rich expressivity of LTL in both safety and reachability specifications. Numerical simulations verify the validity of the proposed framework.

关键词： Spatial variables control Mobile robots Manipulators Formal logic control engineering computing Robot and manipulator mechanics control system analysis and synthesis methods Stability in control theory Optimal control Self-adjusting control systems Nonlinear control systems

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SINGULAR-PERTURBATION analysis OF A CLOSED-LOOP FIXED-END-POINT OPTIMAL-control PROBLEM

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1980年第5期127卷 194-203页

作者： RAJAGOPALAN, PK NAIDU, DS Indian Institute of Technology Kharagpur India

The closed-loop optimal control of a singularly perturbed system with fixed-end-point conditions results in a special matrix Riccati equation. A singular-perturbation method is presented to analyse the Riccati equation. An algorithm is developed for obtaining the zeroth-, first- and second-order approximate solutions. An illustrative example is given. An integral-squared-error criterion is used to examine the closeness of the approximate solutions.

关键词： optimal control Optimal control closed loop fixed end point optimal control problem closed loop systems matrix Riccati equation control system analysis singularly perturbed system integral squared error criterion control system analysis and synthesis methods perturbation techniques

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Optimal H₂ filtering for sampled-data systems with measurement delays and packet dropouts

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IET SIGNAL PROCESSING 2021年第3期15卷 182-194页

作者： Wang, Wei Han, Chunyan Univ Jinan Sch Elect Engn Jinan Shandong Peoples R China

This study examines the H-2 filtering problem for sampled-data systems that are subject to measurement delays and packet dropouts. The phenomenon of packet dropout is different for each observation component and is described as an independent and identically distributed Bernoulli process, which is more general than the scalar packet dropout case. The reorganized observation technique is introduced herein to address the time delays in the observations. An optimal filter is constructed using a deterministic continuous-time system with finite jumps, where the filter gains are determined by integrating a specific continuous-time Riccati equation with finite jumps, based on a suitable algebraic Lyapunov equation. Compared with the discrete-time filter, the optimal filter can provide the state estimates of the measurement sampling intervals and measurement sampling moments. Two simulation examples are explored to demonstrate the effectiveness of the proposed method.

关键词： finite jumps independent distributed Bernoulli process Lyapunov methods scalar packet dropout case continuous-time system filtering problem discrete time filters optimal filter Distributed parameter control systems continuous time systems state estimation Riccati equations control system analysis and synthesis methods sampled data systems algebraic Lyapunov equation Algebra measurement sampling intervals continuous-time Riccati equation delays filter gains Filtering methods in signal processing discrete-time filter Discrete control systems time delays Signal processing theory Stability in control theory observation component measurement delays measurement sampling moments identically distributed Bernoulli process algebra reorganized observation technique filtering theory state estimates sampled-data systems

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Practical stability of time-varying positive systems with time delay

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IET control THEORY AND APPLICATIONS 2021年第8期15卷 1082-1090页

作者： Li, Ruonan Zhao, Ping Shandong Normal Univ Sch Informat Sci & Engn Jinan 250358 Peoples R China Beijing Univ Posts & Telecommun Sch Artificial Intelligence Beijing Peoples R China

This paper considers the problem of practical stability for time-varying positive systems with time delay. For both non-linear time-varying positive systems and linear time-varying positive (LTVP) systems with time delay, sufficient conditions on practical stability are derived by the max-separable Lyapunov-Krasovskii (L-K) functional method. Then based on the obtained results, an effective method for designing a desired controller in terms of state feedback and state feedback with input delay is established for LTVP systems with time delay. At the end, numerical examples are presented to illustrate the effectiveness of our results.

关键词： Linear control systems control system analysis and synthesis methods Stability in control theory Time-varying control systems Distributed parameter control systems Nonlinear control systems

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Fuzzy model-based multi-objective dynamic programming with modified particle swarm optimization approach for the balance control of bicycle robot

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IET control THEORY AND APPLICATIONS 2022年第1期16卷 7-19页

作者： Sun, Yiyong Zhao, Haotian Chen, Zhang Zheng, Xudong Zhao, Mingguo Liang, Bin Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China Tsinghua Univ Dept Automat Beijing 100084 Peoples R China Tsinghua Univ Tsinghua Shenzhen Int Grad Sch Shenzhen Peoples R China Harbin Inst Technol Sch Aerosp Harbin Peoples R China

Existing studies for the balance control of unmanned bicycle robots only consider constant forward velocity and a single optimal objective that cannot be applied to the complex motion situation. To balance the bicycle robot with time-varying forward velocity, only with the steering actuator, the multiple objective optimal balance control issue is studied here. A fuzzy state-space model under different forward velocities is firstly offered based on the non-linear Euler-Lagrange model. Based on this, a closed-loop equation under a fuzzy controller is verified. To regulate the feedback gain of the fuzzy controller, a modified particle swarm optimization (MPSO) algorithm with two stages is proposed. In the MPSO's second stage, a novel objective fitness function, consisting of multiple objectives and combining the conventional Hurwitz stability analysis criterium, is designed. Procedures for the MPSO dynamic programming approach are presented. By two examples, the efficiency of the MPSO algorithm, for time-varying and time-constant velocity situations, and faster capacity for iteration convergence, are examined.

关键词： Optimisation techniques Mechanical variables control Transportation system control Mobile robots Interpolation and function approximation (numerical analysis) control system analysis and synthesis methods Stability in control theory Fuzzy control Nonlinear control systems

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INDIRECT IDENTIFICATION AND control OF A LABORATORY system

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1981年第6期128卷 253-262页

作者： SHARAF, MM HOGG, BW QUEENS UNIV BELFAST DEPT ELECT & ELECTR ENGNBELFAST BT7 1NNANTRIMNORTH IRELAND

The paper describes the application of indirect identification methods to obtain a state-space representation of the open-loop dynamics of a nonlinear laboratory model turbogenerator, which is operated in closed loop. The model structure and selection of variables are determined on the basis of simulation studies and residual analysis, and a recursive instrumental variables technique is employed for online parameter identification. The identified models were used in the design of optimal controllers for the turbogenerator, which have been tested in the laboratory and shown to be most effective. It has also been established that the process of online identification does not reduce the stability of the system.

关键词： Simulation, modelling and identification state-space methods a.c. machines indirect identification methods state-space representation open-loop dynamics recursive instrumental variables technique residual analysis identification control of electric power systems online parameter identification Optimal control model structure control system synthesis turbogenerators optimal control optimal controllers nonlinear laboratory model turbogenerator control system analysis and synthesis methods

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Generalised predictive controller (GPC) design on single-phase full-bridge inverter with a novel identification method

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IET control THEORY AND APPLICATIONS 2023年第3期17卷 284-294页

作者： Memeghani, Mehran Jelodari Ghamari, Seyyed Morteza Jouybari, Taha Yousefi Mollaee, Hasan Wheeler, Patrick Semnan Univ Fac Elect & Comp Engn Semnan Iran Shahrood Univ Technol Fac Elect & Comp Engn Shahrud Iran Tabriz Univ Fac Elect & Comp Engn Tabriz Iran Univ Nottingham Fac Elect & Control Engn Nottingham England

The design of an on-line generalised predictive control (GPC) technique with a novel identification method is presented in this paper for a single-phase full-bridge inverter in the presence of different disturbances. The controller uses system discrete-time model to reach the control variables with a prediction over these values, followed by computing a cost function for control aims. However, in this controller, the need for the mathematical model of the system is removed since the black-box identification strategy is used. Moreover, GPC structure has many advantages including low computational complexity, systematic design procedure, and fixed switching frequency that makes it a good alternative for practical applications. Various disturbances can have a negative impact on a DC-AC inverter;thus, considering robust dynamics and ease of implantation, the GPC scheme is used along with an improved exponential regressive least square identification algorithm as an adaptive strategy in the controller. Moreover, the prediction horizons of this controller have been increased, resulting in its low steady-state error and better performance. Furthermore, harmonics in the sinusoidal signal can decrease the total efficiency of the system;thus, an LC filter is used to reduce the level of total harmonic distortion. However, the stability of the filter is the most challenging issue in designing a suitable controller. Finally, the strength of the current controller is verified using experimental and simulations results.

关键词： robust dynamics low computational complexity control variables invertors GPC scheme harmonic distortion different disturbances DC-AC inverter control aims generalised predictive controller design DC-AC power convertors (invertors) mathematical model suitable controller prediction horizons black-box identification strategy Optimal control control system synthesis system discrete-time model computational complexity single-phase full-bridge inverter control of electric power systems Current control current controller systematic design procedure Power electronics, supply and supervisory circuits control system analysis and synthesis methods electric current control predictive control least squares approximations GPC structure on-line generalised predictive control technique novel identification method improved exponential regressive least square identification algorithm

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A practical stable control scheme under end point equivalence modulation for DC power supply converters

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IET POWER ELECTRONICS 2021年第14期14卷 2374-2388页

作者： Li, Po He, Ying Lin, Xia Guan, Mingjie Xiamen Univ Sch Aerosp Engn Dept Instrumental & Elect Engn Xiamen Peoples R China

A series of DC power supply converters can be described as linear affine systems with finite inputs and constrained switching frequency. In this study, a practical-stability-oriented general control framework with duty-cycle-like characteristics is deduced for such converters. First, a concept called End Point Equivalence Modulation (EPEM) is introduced to release constraints. Following this, a control Lyapunov Function (CLF) is employed to design the switching law and the relationship between the boundary of the convergence zone and the switching frequency is derived. In addition, an optimized switching strategy is presented to halve the switching frequency without degrading the control performance, which is also helpful for reducing switching loss. Finally, a single-phase inverter and buck converter are considered as case studies and analysis show that Sinusoidal Pulse Width Modulation (SPWM) and volt-second balance guarantee their practical stability, respectively, which can be theoretically derived and proved under EPEM. All the proposed methods and controllers are validated both by simulations on MATLAB/Simulink and experiments in a rapid control prototype platform based on a FPGA module.

关键词： Power electronics, supply and supervisory circuits Logic circuits control of electric power systems Power convertors and power supplies to apparatus control system analysis and synthesis methods Stability in control theory Nonlinear control systems

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ROOT-LOCI CONCEPTS FOR KTH-ORDER-TYPE MULTIVARIABLE STRUCTURES

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1976年第9期123卷 933-940页

作者： OWENS, DH UNIV SHEFFIELD DEPT CONTROL ENGNSHEFFIELD S1 3JDENGLAND

With the philosophy that many physical multivariable systems can, for the purposes of control-system design be approximately represented by much simpler models, and that the theoretical analysis of such models can provide valuable insight into the time- and frequency-domain characteristics of the system, the paper extends previous work by providing an analysis of a class of multivariable structures analogous to the classicalkth-order lag. It is shown that the system can be decoupled by state feedback using parameters defined by the inverse-transferfunction matrix. In more general situations, it is shown that an analysis of the asymptotic form of the system root locus provides valuable insight into the desirable controller structures, and the analysis of the sensitivity of the root locus to controller parameters provides analytic solutions to the feedback-control problem in the casesk= 1,k= 2.

关键词： multivariable control systems analysis asymptotic form feedback control system analysis and synthesis methods root loci control system analysis Multivariable control systems parameters inverse transfer function matrix root loci concepts multivariable structures

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FUNCTIONAL BOUNDS ON THE TIME RESPONSE OF MULTIVARIABLE NONLINEAR-systemS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1984年第3期131卷 92-98页

作者： GRAY, JO VALSAMIS, D Centre for Instrumentation and Automation University of Salford Salford UK

The paper describes the derivation of an easily computable functional inequality which represents an absolute vector bound on the linearisation-induced time response error for multivariable systems with measurement nonlinearity. The absolute bound depends on important linearised system descriptions and certain nonlinearity associated parameters and can be particularly useful in anticipating worst case linearised system performance degradation due to the nonlinearity. As such the absolute bound has a significant application in relation to the linearisation-based design of controllers for prescribed time domain system behaviour.

关键词： linearised system control system analysis and synthesis methods Nonlinear control systems time domain system behaviour nonlinear systems measurement nonlinearity multivariable control systems Multivariable control systems nonlinear control systems linearisation techniques multivariable systems time response

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