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Adaptive robust simultaneous stabilization controller with tuning parameters design for two dissipative Hamiltonian systems

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ARCHIVES OF CONTROL SCIENCES 2017年第4期27卷 505-525页

作者： Cao, Zhong Hou, Xiaorong Zhao, Wenjing Guangzhou Univ Sch Phys & Elect Engn Guangzhou 510006 Guangdong Peoples R China Guangdong Prov Engn & Technol Res Ctr Math Educ S Guangzhou 510006 Guangdong Peoples R China Univ Elect Sci & Technol Sch Energy Sci & Engn Chengdu 611731 Sichuan Peoples R China Guangzhou Univ Lab Ctr Guangzhou 510006 Guangdong Peoples R China

This paper investigates the problem of adaptive robust simultaneous stabilization (ARSS) of two dissipative Hamiltonian systems (DHSs), and proposes a number of results on the controller parameterization design. Firstly, an adaptive H-infinity control design approach is presented by using the dissipative Hamiltonian structural for the case that there are both external disturbances and parametric uncertainties in two DHSs. Secondly, an algorithm for solving tuning parameters of the controller is proposed using symbolic computation. The proposed controller parameterization method avoids solving Hamilton-Jacobi-Issacs (HJI) equations and the obtained controller is easier as compared to some existing ones. Finally, an illustrative example is presented to show that the ARSS controller obtained in this paper works very well.

关键词： ARSS control DHSs symbolic computation controller parameterization tuning parameters

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Fault Diagnosis Based on controller Modification 12th

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12th International Conference on Diagnostics of Processes and Systems (DPS)

作者： Niemann, Henrik Tech Univ Denmark Dept Elect Engn Automat & Control DK-2800 Lyngby Denmark

ISBN: (纸本)9783319231808;9783319231792

Detection and isolation of parametric faults in closed-loop systems will be considered in this paper. A major problem is that a feedback controller will in general reduce the effects from variations in the systems including parametric faults on the controlled output from the system. Parametric faults can be detected and isolated using activemethods, where an auxiliary input is applied. Using activemethods for the diagnosis of parametric faults in closed-loop systems, the amplitude of the applied auxiliary input need to be increased to be able to detect and isolate the faults in a reasonable time. A negative effect of increasing the amplitude of the auxiliary input is that the disturbances in the external output will be increased and consequently reduce the closed-loop performance. This problem can be handled by using a modification of the feedback controller. Applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the closed-loop performance in the fault-free case and at the same time optimize the detection and isolation in a faulty case. controller modification in connection with both fault detection and isolation will be discussed. Also passive fault diagnosis methods based on controller modification will be discussed.

关键词： Active fault diagnosis Parametric faults Feedback control controller parameterization controller modification

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Robust Control 1

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2016年

作者： Kang-Zhi Liu Yu Yao

Comprehensive and up to date coverage of robust control theory and its application * Presented in a well-planned and logical way * Written by a respected leading author, with extensive experience in robust control * A... 详细信息

ISBN: (数字)9781118754412

ISBN: (纸本)9781118754375

关键词： Mathematical models of physical systems system simulation control system design dynamic behavior of a physical system model uncertainty control technology Robust control theory system analysis and design Robust control methods small-gain approach Lyapunov approach IQC (integral quadratic constraint) method positive real method regional pole-placement and gain-scheduling control mathematical tools and linear systems linear algebra convex analysis fundamentals of linear systems system performance stabilization controller parameterization time domain and frequency domain characteristics Riccati equation performance limitation robust analysis H2 control H221e control Mu synthesis robust control of parametric systems regional pole placement gain-scheduling method positive real method.

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Guaranteed Cost Iterative Learning Control - An Application to Control of Permanent Magnet Synchronous Motors 9

Guaranteed Cost Iterative Learning Control - An Application ...

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IEEE 9th International Workshop on Multidimensional (nD) Systems (nDS)

作者： Mandra, Slawomir Galkowski, Krzysztof Aschemann, Harald Rauh, Andreas Nicholas Copernicus Univ Fac Phys Astron & Informat Inst Phys Grudziadzka 5 PL-87100 Torun Poland Univ Zielona Gora Inst Control & Computat Engn Torun Poland Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479987399

This paper addresses the design of iterative learning control laws (ILC) for both trial-to-trial error convergence and along-the-trial performance. It is shown how these control laws can be designed using the theory of discrete linear repetitive processes in combination with a guaranteed cost control approach. The parameterization of the controllers is performed by the solution of linear matrix inequalities (LMIs). The paper is concluded with experimental results for the position control of a Permanent Magnet Synchronous Motor (PMSM).

关键词： control system synthesis convergence cost optimal control discrete systems iterative learning control linear matrix inequalities linear systems machine control permanent magnet motors position control synchronous motors ILC LMI PMSM along-the-trial performance control law design controller parameterization discrete linear repetitive process guaranteed cost iterative learning control permanent magnet synchronous motor control trial-to-trial error convergence Cost function Iterative learning control Lyapunov methods Physics Process control Symmetric matrices Yttrium Permanent magnet synchronous machines Position control linear matrix inequalities cost optimal control synchronous motors MACHINE TOOL CONTROL Symmetric matrix Iterative learning control control system synthesis International Labour Conference Discrete systems Lyapunov methods Cost functions Process control Rare earths

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Manipulation of Magnetic Particles Using Adaptive Magnetic Traps

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2013年第1期21卷 212-219页

作者： Pickel, Jason G. Cole, Daniel G. Univ Pittsburgh Dept Mech Engn & Mat Sci Swanson Sch Engn Pittsburgh PA 15261 USA

This brief discusses incorporating an adaptive Q-parametrized compensator structure into the design of magnetic traps. This approach characterizes all stabilizing controllers using a single, stable filter, that can be used as a free parameter to tune and adapt the instrument. Q-parameterization transforms the feedback control problem into an equivalent feedforward control problem, and adaptive filter theory is used to adjust the weights of an finite impulse response to account for changing instrument dynamics and to reduce the effects of Brownian disturbances. This ensures the performance of the magnetic trap instrument meets specific performance requirements while accounting for the changing dynamics of the instrument. The adaptive system was implemented in a hardware-in-the-loop simulation. The adaptive control approach converged to a controller that exhibits disturbance rejection performance at least as good as a fixed-gain controller designed for the system.

关键词： Adaptive control controller parameterization disturbance rejection magnetic traps single-molecule manipulation

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parameterization OF SAMPLED-DATA H^∞ OUTPUT FEEDBACK controllerS FOR GENERAL NONLINEAR SYSTEMS

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ASIAN JOURNAL OF CONTROL 2013年第5期15卷 1489-1495页

作者： Wu, Jenq-Lang Yung, Chee-Fai Natl Taiwan Ocean Univ Dept Elect Engn Keelung 202 Taiwan

In this paper, we consider the H control problem for general nonlinear systems under sampled measurements. Sufficient conditions for the existence of H output feedback controllers are derived. The major contribution of this paper is to characterize a family of H output feedback controllers for nonaffine nonlinear systems under sampled measurements.

关键词： H-infinity control nonlinear systems controller parameterization sample-data systems

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Local linear dynamics assignment in IDA-PBC

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AUTOMATICA 2013年第4期49卷 1037-1044页

作者： Kotyczka, Paul Tech Univ Munich Inst Automat Control D-85748 Garching Germany

In this paper, the technique of local linear dynamics assignment is presented, which complements the powerful Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) methodology. In IDA-PBC, nonlinear state feedback controllers are designed by matching the system's dynamics with a desired Port-Hamiltonian (PH) state representation. The latter consists of an energy function, which serves as the closed-loop Lyapunov function, as well as matrices, describing the virtual internal exchange and dissipation of the energy. A major difficulty in IDA-PBC is how to determine reasonable values for the large number of free design parameters. Local linear dynamics assignment offers a solution to this problem with a number of advantages. (i) Invoking the closed-loop Jacobian linearization to fix the parameter values provides transparency with respect to the resulting local dynamic behavior. (ii) An appropriate state transformation isolates the coordinates available for energy shaping. (iii) A related local linear state transformation makes the resulting system of design equations linear. (iv) Assigning a Hurwitz closed-loop Jacobian and ensuring positive semi-definiteness of the closed-loop dissipation matrix, the tedious definiteness check of the energy is omitted. The design steps are illustrated with the Ball on Wheel example. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Port-Hamiltonian systems Passivity Nonlinear control controller parameterization Dynamics assignment

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Assessment of Optimization Criteria in the Time Domain Used for Simulation Based controller Parametrization

Assessment of Optimization Criteria in the Time Domain Used ...

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International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： Hipp, K. Hellmich, A. Schlegel, H. Drossel, W. -G. Tech Univ Chemnitz Fac Mech Engn D-09126 Chemnitz Germany

ISBN: (纸本)9781467355902;9781467355889

controller parameterization is commonly performed by applying basic tuning rules or by carrying out not comprehensible design automatisms, which are integrated in the control system. As an alternative, a relatively new and promising approach is the application of the so-called "simulation-based optimization". This method allows a flexible definition of different optimization criteria. Therefore, in this work, different criteria in the time domain are investigated and evaluated according to their application for the simulation-based optimization.

关键词： simulation-based optimization controller parameterization optimization criteria time domain

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Vibration Control of an Optical Table by Piezoelectric Transducers

Vibration Control of an Optical Table by Piezoelectric Trans...

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SICE Annual Conference

作者： Fu-Cheng Wang San-Ho Yang Department of Mechanical Engineering National Taiwan University

ISBN: (纸本)9781457707148

This paper proposes the design and control of an optical table. As technology is advanced, the requirements for vibration control are becoming increasingly stringent. Optical tables are normally applied to suppress vibrations for improving system performances. There are two main vibration sources, namely load disturbances from the machine and ground disturbances from the environment. However, the suspension settings to isolate these two disturbances are conflicting: they need to be soft for the ground disturbances but stiff for the load disturbances. Therefore, we apply disturbance response decoupling techniques to independently treat these two vibration sources: using passive elements to suppress ground disturbances, and active piezoelectric transducers to improve load responses. From the simulation and experimental results, the design is deemed effective.

关键词： Vibration control Optical table Disturbance response decoupling controller parameterization Robust control

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Control design for time-delay systems based on quasi-direct pole placement

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JOURNAL OF PROCESS CONTROL 2010年第3期20卷 337-343页

作者： Michiels, Wim Vyhlidal, Tomas Zitek, Pavel Katholieke Univ Leuven Dept Comp Sci B-3001 Heverlee Belgium Czech Tech Univ Ctr Appl Cybernet Dept Instrumentat & Control Eng Fac Mech Engn Prague 16607 6 Czech Republic

A novel method for the determination of controller parameters in a broad class of linear control systems affected by time-delays is presented. This method is based on an appropriate shaping of the spectrum of the closed-loop system. Its application follows two steps. First, a number of rightmost poles, smaller than the number of controller parameters, are directly assigned. This leads to constraints on the controller parameters. By using algebraic techniques a complete parametrization of all controllers satisfying these constraints is obtained. In the second step, the remaining degrees of freedom in the parameter space are used to shift the remaining part of the system spectrum as far to the left as possible. This corresponds to an optimization problem involving a nonsmooth, non-convex objective function. An extensive real-plant example is presented to demonstrate the effectiveness and applicability of the procedure. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Time delay system Pole placement Singular value decomposition Nonsmooth optimization controller parameterization

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