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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Massenio, Paolo R. Rizzello, Gianluca Tipaldi, Massimo Naso, David Polytech Univ Bari Elect & Informat Engn Dept I-70126 Bari Italy Saarland Univ Syst Engn Dept D-66123 Saarbrucken Germany

ISBN: (纸本)9781713872344

In large-scale dynamic systems, consisting of the interconnection of several sub-systems, the control law must obey a certain distributed structure defined by the information exchange pattern on a communication network. In case the system exhibits parameters which vary over time, the Linear Parameter Varying (LPV) paradigm provides a control-oriented framework for the design of robust or gain-scheduled control laws. Since each subsystem has only access to a partial knowledge of the overall set of parameters, due to the constraint imposed by the communication network, the controller gain must satisfy some structural constraints which increase the complexity of the design problem. This paper proposes a novel approach based on Linear Matrix Inequalities (LMIs) to deal with the distributed control of large-scale systems described by a LPV dynamics. LMI conditions are established for the design of a gain-scheduled controller ensuring exponential stability of the overall system with a prescribed decay rate, while satisfying the structural constraints imposed by the communication network. A simulation case study is presented to show the effectiveness of the proposed approach.

关键词： controller constraints and structure Decentralized and distributed control Gain-scheduling control Linear matrix inequalities Linear parameter-varying systems

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structured IQC Synthesis of Robust H2 controllers in the Frequency Domain 22

Structured IQC Synthesis of Robust H2 Controllers in the Fre...

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Schuette, Maximilian Eichler, Annika Werner, Herbert Deutsch Elektronen Synchrotron DESY Hamburg Germany Tech Univ Hamburg Inst Control Syst Hamburg Germany

ISBN: (纸本)9781713872344

The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is a generalization of the standard H-2-norm to the robust setting including possibly non-LTI uncertainty. Arbitrary structural constraints can be imposed on the control solution, making this method suitable for distributed systems. The nonsmooth optimization algorithm used to solve the robust synthesis problem operates directly in the frequency domain, eliminating scalability issues for complex systems and providing local optimality certificates. The method is evaluated using a literature example and a real-world system using a novel implementation of a robust H-2-performance bound. Copyright (c) 2023 The Authors.

关键词： Distributed robust controller synthesis Numerical methods for optimal control controller constraints and structure Complex systems H-2-performance IQCs

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Generalization of Tensor Product Model Transformation for Control Design

Generalization of Tensor Product Model Transformation for Co...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Kuti, Jozsef Galambos, Peter Baranyi, Peter Obuda Univ Antal Bejczy Ctr Intelligent Robot Becsi Ut 96-B H-1034 Budapest Hungary Budapest Univ Technol & Econ Dept Telecommun & Media Informat Magyar Tudosok Krt 2 H-1117 Budapest Hungary Szechenyi Istvan Univ Dept Informat Egyet Ter 1 H-9026 Gyor Hungary

The paper shows that the separated structure of parameter dependencies within the Polytopic Tensor-Product (TP) model can be exploited during the controller design by applying controller candidates that depend only on certain parameter sets. This approach combines the polytopic uncertainty and Parallel Distributed Compensation (PDC) concepts in such a way, that they become special cases of the proposed formulation. Motivated by this recognition and the fact that the separation of parameter dependencies increases the complexity and computational cost, the definition of Polytopic TP representation for LPV/qLPV models is relaxed. The new definition allows for the use of arbitrarily chosen parameter sets in the model according to the control goals and the separation can be performed only for these sets. Through the derivation, an appropriate transformation algorithm and the unique Affine TP model is introduced discussing the related concepts of tensor algebra and affine geometry as well. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Gain sheduling LPV methodologies controller constraints and structure TP model tranformation Polytopic model based control Polytopic TP model based control

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Sparse Memoryless LQR Design for Uncertain Linear Time-Delay Systems

Sparse Memoryless LQR Design for Uncertain Linear Time-Delay...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Bahavarnia, M. Motee, N. Lehigh Univ Dept Mech Engn & Mech Packard Lab Bethlehem PA 18015 USA

The sparse memoryless LQR design problem is formulated for uncertain linear time delay systems. In such a problem, the goal is to minimize a quadratic cost supplemented by sparsity-promoting term (weighted-l(1) in our case) subject to stability of closed-loop system under norm-bounded uncertainty. It is shown that such an optimization problem can be reformulated as a rank-constrained optimization problem which consists of convex constraints except one rank constraint. Utilizing the bi-linear rank penalty technique, the sparse memoryless LQR is designed. Numerous numerical results depict that there exists a trade-off between time delay and sparsification quality. In addition, the larger time-delay, the poorer performance sparsity trade-off is observed. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Linear systems Systems with time-delays controller constraints and structure Convex optimization

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Design of the Impulsive Goodwin′s Oscillator in 1-cycle 22

Design of the Impulsive Goodwin′s Oscillator in 1-cycle

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Medvedev, Alexander Proskurnikov, Anton V. Zhusubaliyev, Zhanybai T. Uppsala Univ Informat Technol SE-75237 Uppsala Sweden Politecn Torino Dept Elect & Telecommun I-10129 Turin Italy Southwest State Univ Dept Comp Sci Int Sci Lab Dynam Nonsmooth Syst Kursk Russia

ISBN: (纸本)9781713872344

This paper presents a systematic approach to design a hybrid oscillator that admits an orbitally stable periodic solution of a certain type with pre-defined parameters. The parsimonious structure of the Impulsive Goodwin's oscillator (IGO) is selected for the implementation due to its well-researched rich nonlinear dynamics. The IGO is a feedback interconnection of a positive third-order continuous-time LTI system and a nonlinear frequency and amplitude impulsive modulator. A design algorithm based on solving a bilinear matrix inequality is proposed yielding the slope values of the modulation functions that guarantee stability of the fixed point defining the designed periodic solution. Further, assuming Hill function parameterizaton of the pulse-modulated feedback, the parameters of those rendering the desired stationary properties are calculated. The character of perturbed solutions in vicinity of the fixed point is controlled through localization of the multipliers. The proposed design approach is illustrated by a numerical example. Bifurcation analysis of the resulting oscillator is performed to explore the nonlinear phenomena in vicinity of the designed dynamics. Copyright (c) 2023 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： Hybrid and switched systems modeling Event-based control Control in systems biology controller constraints and structure Application of nonlinear analysis and design.

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Control Analysis and Synthesis through Polytopic Tensor Product Model: a General Concept

Control Analysis and Synthesis through Polytopic Tensor Prod...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

The paper revisits and renew the concept of Polytopic Tensor Product (TP) Model based control analysis and synthesis by generalizing the use of TP-structured variables in the definite conditions derived from the applied control criteria. For TP forms that can depend on multivariate parameter sets (optionally with two times or larger multiplicities), a compact TP formalism is proposed where the multiplicity vector describes the structure. By setting the multiplicities, the parameter dependencies can be neglected or considered with arbitrary high complexity in the variables of controller-candidate, Lyapunov-function candidate and slack variables as well. The paper points out that the definite conditions on the structures of these variables results in definite conditions on Polytopic TP forms enabling a recursive method to reformulate them into Linear Matrix Inequalities (LMIs), Bilinear Matrix Inequalities (BMIs), etc. according to the design method in consideration. The application of the novel concept is shown through H-infinity state feedback design for Linear Parameter Varying (LPV) systems. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Gain scheduling LPV methodologies robust adaptive control controller constraints and structure TP model transformation

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A non-iterative approach to Linear Quadratic Static Output Feedback 22

A non-iterative approach to Linear Quadratic Static Output F...

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Escamilla, Hadriano Morales Trodden, Paul Kadirkamanathan, Visakan Univ Sheffield Dept Automat Control & Syst Engn ACSE Sheffield England

ISBN: (纸本)9781713872344

This paper considers the problem of static output feedback (SOF) synthesis for linear timeinvariant (LTI) systems. Static output feedback, and more generally structured controller synthesis, is of special interest to any industrial application where a reduced-order controller is desired, e.g., high-order systems, or a specific structure is to be imposed, i.e., distributed/decentralised control. A simple two-step process is proposed, solving one Riccati equation and one optimisation problem with linear matrix inequality (LMI) constraints, enabled via a dilation using the distance to the full-state feedback optimum gain. Numerical analysis shows considerable computational savings, with negligible differences in the performance, when compared to current iterative methods. Copyright (c) 2023 The Authors.

关键词： Output feedback control controller constraints and structure Linear multivariable systems Linear matrix inequalities Optimal Control Static controller synthesis S procedure.

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Analysis & design of a collaboration opportunity characterization tool for virtual organisations Cre

Analysis & design of a collaboration opportunity characteriz...

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17th World Congress, International Federation of Automatic Control, IFAC

作者： Concha, David Romero, Tania Romero, David Galeano, Nathalie Jimenez, Guillermo Molina, Arturo

ISBN: (纸本)9783902661005

This paper presents the conceptual foundations relevant to the proper design and implementation of a software tool to support a broker or a business integrator in the context of a Virtual Organisation (VO) for partners search and selection for a specific business/collaboration opportunity. The Collaboration Opportunity Characterization tool detailed in this paper provides functionalities for decomposing a collaboration opportunity into items, which can be individually mapped to the specific competencies required for achieving the VO business/collaborative objectives, once the competencies required are specified, this competency-related information can be used for the further selection of proper VO partners to tackle a specific business/collaboration opportunity. Copyright © 2008 IFAC.

关键词： Analytic design controller constraints and structure Model validation in design methods

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On the internal stability of diffusively coupled multi-agent systems and the dangers of cancel culture

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AUTOMATICA 2023年第1期155卷

作者： Barkai, Gal Mirkin, Leonid Zelazo, Daniel Technion IIT Fac Mech Engn IL-3200003 Haifa Israel Technion IIT Fac Aerosp Engn IL-3200003 Haifa Israel

We study internal stability in the context of diffusively-coupled control architectures, common in multi-agent systems (i.e. the celebrated consensus protocol), for linear time-invariant agents. We derive a condition under which the system cannot be stabilized by any controller from that class. In the finite-dimensional case the condition states that diffusive controllers cannot stabilize agents that share common unstable dynamics, directions included. This class always contains the group of homogeneous unstable agents, like integrators. We argue that the underlying reason is intrinsic cancellations of unstable agent dynamics by such controllers, even static ones, where directional properties play a key role. The intrinsic lack of internal stability explains the notorious behavior of some distributed control protocols when affected by measurement noise or exogenous disturbances.& COPY;2023 Elsevier Ltd. All rights reserved.

关键词： Multi-agent systems controller constraints and structure Stability

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Divergent stutter bisimulation abstraction for controller synthesis with linear temporal logic specifications

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AUTOMATICA 2021年 130卷 109723-109723页

作者： Mohajerani, Sahar Malik, Robi Wintenberg, Andrew Lafortune, Stephane Ozay, Necmiye Chalmers Univ Technol Dept Elect Engn Gothenburg Sweden Univ Waikato Dept Software Engn Hamilton New Zealand Univ Michigan Dept Elect Engn & Comp Sci Ann Arbor MI 48109 USA

This paper proposes a method to synthesise controllers for systems with possibly infinite number of states that satisfy a specification given as an LTL\degrees. formula. A common approach to handle this problem is to first compute a finite-state abstraction of the original state space and then synthesise a controller for the abstraction. This paper proposes to use an abstraction method called divergent stutter bisimulation to abstract the state space of the system. As divergent stutter bisimulation factors out stuttering steps, it typically results in a coarser and therefore smaller abstraction, at the expense of not preserving the temporal "next'' operator. The paper leverages results about divergent stutter bisimulation from model checking and shows that divergent stutter bisimulation is a sound and complete abstraction method when synthesising controllers subject to specifications in LTL\degrees. (C) 2021 The Author(s). Published by Elsevier Ltd.

关键词： Control synthesis Computational issues controller constraints and structure Abstraction LTL specification

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