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About the Method for Constructing External Estimates of the Limit controllability Set for the Linear discrete-Time system with Bounded control

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AUTOMATION AND REMOTE control 2023年第2期84卷 83-104页

作者： Berendakova, A. V. Ibragimov, D. N. Natl Res Univ Moscow Aviat Inst Moscow Russia

This article discusses the problem of constructing an external estimate of the limit set of controllability for a linear discrete system with convex control constraints. We have proposed a decomposition method that allows us to reduce the problem for the initial system to subsystems of smaller dimension by switching to the normal Jordan basis of the matrix of the system. The statement about the structure of the reference hyperplane to the limit set of controllability is formulated and proved. A method for constructing an external estimate of the limit set of controllability with an arbitrary order of accuracy in the sense of the Hausdorff distance is proposed based on the principle of contraction mappings. The paper provides examples.

关键词： discrete control system limit set of controllability reference half-space principle of contraction mappings convex set polyhedral approximation

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Discretization of Adaptive Sliding mode Assisted Disturbance Observer and Validation on Inertially Stabilized Gimbal 9

Discretization of Adaptive Sliding mode Assisted Disturbance...

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9th International Conference on control and Robotics Engineering (ICCRE)

作者： Tong, Junze Wang, Zhongshi Tian, Dapeng Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

ISBN: (纸本)9798350372694;9798350372700

Adaptive Sliding Mode Assisted Disturbance Observer (ASMADO) is an inner-loop disturbance compensation algorithm introduced in recent years. It was originally designed and analyzed in the continuous domain, but discrepancies between expected and actual results were observed due to sampling time considerations. Thus, this paper addresses the need for discretization analysis to facilitate its application in digital systems. Utilizing Euler methods for discretization, the paper outlines the discrete ASMADO design process and provides insights into the necessary sampling time. Experimental validation was performed on the yaw axis using an inertial stabilized gimbal.

关键词： adaptive control discrete control system DOB sliding mode control

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Decomposition of Complex system and Multi-level control Method based on control Allocation 18

Decomposition of Complex System and Multi-level Control Meth...

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IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Jia Chao Li Ziyu Wei Jiaqi Du Lifeng Tianjin Univ Technol Tianjin Peoples R China Tianjin Tianduan Press Co Ltd Design Inst Tianjin Peoples R China

ISBN: (纸本)9781665441018

Aiming at the control problems of complex redundant systems, a method of decomposing complex nonlinear systems into subsystems and designing discrete controllers is proposed. The coupling problem is solved through control allocation, and the control of the complex redundant system is realized simply and effectively. Finally, it was applied to the simulation of a five-cylinder hydraulic press, and the position tracking and system leveling was realized, to verify the feasibility and effectiveness of this method.

关键词： Complex redundant system control allocation discrete control system

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Stable Capturing Strategy in the Dual-arm Time-Delay Capturing system with Hardware Closed Chain 7

Stable Capturing Strategy in the Dual-arm Time-Delay Capturi...

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7th International Conference on control, Automation and Robotics (ICCAR)

作者： Zhao, Xiaoyu Liu, Yang Xie, Zongwu Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

ISBN: (纸本)9781665449861

When a multi-manipulator system is employed to carry out a capturing task, the hardware closed chain is formed. The capturing process with hardware closed chain may fail when the robot control system has non-negligible time delay. In this paper, the mathematical model of the capturing system is built and simplified for a feasible stability analysis. Three-dimensional root-locus is applied to explore the system stable condition and promote the stable capturing strategy. Simulations are carried out to validate the proposed theory and the results show that the system controlled by the strategy shows a considerable convergence.

关键词： hardware closed chain time delay discrete control system capturing stability 3D-root-locus dual-arm robot system

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discrete Car-Following Model and its Feedback control Scheme

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ASIAN JOURNAL OF control 2020年第1期22卷 182-191页

作者： Zhu, Wen-Xing Zhang, Li-Dong Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Shandong Jiaotong Univ Sch Rail Transit Jinan 250023 Peoples R China

In this paper, we discretize continuous car-following model into a difference equation. With the use of discrete control theory, the discrete car-following model was linearized and the impulse transfer function was obtained. Based on the definition of traffic jam, one Lemma was proposed to judge system stability and two theorems were given to judge the non-jam conditions for controlled and uncontrolled systems. Moreover, the feedback gain was designed for a controlled system. Numerical simulations were conducted to show the validity of the discrete car-following model and control scheme. The results are in agreement with the theoretical results.

关键词： discrete car-following model feedback control discrete control system

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control systems for High Voltage Thyristor Arms of Ice Melting Plants on Overhead Transmission Lines

Control Systems for High Voltage Thyristor Arms of Ice Melti...

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International Ural Conference on Electrical Power Engineering (UralCon)

作者： Shovkoplyas, S. S. Zhlobitsky, L. A. Bakaev, I. S. Platov South Russian State Polytech Univ NPI Dept Power Plants & Elect Power Syst Novocherkassk Russia Branch JSC SO UPS Kuban RDO Dept Operat Dispatching Serv Krasnodar Russia

ISBN: (纸本)9781728162096

The article provides general information on ice melting plants (IMPs) on overhead transmission lines (OHL) 110, 220, 330, 500 kV and the field of their application. The relevance of the multipurpose ice melting plants (MIMPs) for OHLs 110, 220 kV and low-voltage device for melting ice (LIMD) on the wires of OHLs of small length is noted. The main elements of the IMPs, such as a thyristor controlled rectifier bridge (CRB) and an ice melting switch (IMS), are highlighted. The results of computer and physical modeling of operation of a CRB with three types of pulse-phase control systems (CPPS) are described. The shortcomings of these three CPPSs are noted, while the most effective CPPS No. 3 is highlighted. The possibility of the presence of the distortion of significant value of power during deep regulation of the rectified current from a CRB is also emphasized. An innovative system of discrete (relay) control (SCD) by the thyristor arms of a CRB and an IMS is considered, while the operability of the SCD on computer and physical models is shown.

关键词： overhead transmission line ice ice melting plant controlled rectifier bridge switch of ice melting pulse-phase control system discrete control system computer simulation physical modeling

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Energy-oriented cruising strategy design of vehicle platoon considering communication delay and disturbance

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TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES 2019年 107卷 34-53页

作者： Xu, Liwei Zhuang, Weichao Yin, Guodong Bian, Chentong Southeast Univ Sch Mech Engn Nanjing 211189 Jiangsu Peoples R China

This paper presents a discrete control framework for a homogeneous vehicle platoon, which can minimize the energy consumption of each vehicle while ensuring the platoon string stability under external interference and communication delay. First, a novel variable spacing strategy named as the energy-oriented spacing policy is proposed by comparing the geometry relationship of each vehicle which drives at energy-optimal speed and the ideal speed under the constant spacing policy. Then, based on the energy-oriented spacing policy, the dynamics of a homogeneous discrete vehicle platoon composed of several pure electric vehicles are built, including the communication delay and external disturbance. Second, a discrete robust platoon controller that can reduce the conservatism of the control system is designed based on the Lyapunov-Krasovskii theorem and H-infinity method, which drives each vehicle at their energy-optimal speed while ensuring the string stability of platoon under communication delays and interferences. Third, the L-2-based string stability of the discrete platoon is defined, and its string-stable criterion is given under communication delays and external disturbances. Simulation results indicate that the proposed energy-oriented spacing policy and the discrete controller can enable efficient driving of each vehicle while ensuring the platoon string stability. The energy consumption of the whole platoon is, respectively, reduced by 7.3% and 5.7% compared to the vehicle platoon controllers with constant spacing policy and constant time headway policy.

关键词： Spacing policy Homogeneous platoon discrete control system Energy efficiency Communication delay String stability

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Design and Implementation of Swimming Robot Based on Carp Fish Biomimetic

Design and Implementation of Swimming Robot Based on Carp Fi...

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Al-Sadiq International Conference on Multidisciplinary in IT and Communication Techniques Science and Applications (AIC-MITCSA)

作者： Majeed, Ammar Ibrahim Ali, Abduladhem Abdulkareem Univ Mustansiriyah Dept Elect Engn Baghdad Iraq Univ Basrah Dept Comp Engn Basrah Iraq

ISBN: (纸本)9781509032471

This paper introduces a complete plan for design and implementation of a biomimetic robotic fish. The robot design is physically based on a model of a Carp fish. The designed robot has a rigid anterior body part, flexible posterior body part and a flexible caudal fin. The flexible posterior body part is consists of four links and are driven by four servomotors in addition to a fifth one for controlling the robot pitch angle through changing the centre of gravity position. The designed robot was also equipped with diving system which consists of a water pump and an internal tank. The fish locomotion control is divided into speed, orientation, diving and transient motion control. The swimming of the robotic fish was relied on the so called behavioural based control system that makes use of a sensor fusion algorithm. The innovative design of the robotic fish combines the two schemes of the underwater vehicles or robots control in that it can swim autonomously or remotely controlled by a personal computer via WiFi link. The experimental results of the designed robotic fish show the excellent feasibility and high performance of the proposed design.

关键词： Biomimetic Robotic fish 3-D locomotion discrete control system

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Design and Implementation of Swimming Robot Based on Carp Fish Biomimetic

Design and Implementation of Swimming Robot Based on Carp Fi...

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Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications

作者： Ammar Ibrahim Majeed Abduladhem Abdulkareem Ali Electrical Engineering Department University of Mustansiriyah Baghdad Iraq Computer Engineering Department University of Basrah Basrah Iraq

ISBN: (纸本)9781509032488

关键词： Biomimetic Robotic fish 3-D locomotion discrete control system

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The control Automation system Method Based on Combined Implementation of Fuzzy Logic and discrete Automation systems

The Control Automation System Method Based on Combined Imple...

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UKSim-AMSS 7th European Modelling Symposium on Computer Modelling and Simulation (EMS)

作者： Dintsis, Danil Simankov, Vladimir Specialist Comp Training Ctr Project Management Dept Moscow Russia Kuban State Technol Univ Syst Anal Dept Krasnodar Russia

ISBN: (纸本)9781479925780

the article deals with the approach for synthesis of control and simulating systems based on analysis of nature language based models. We use fuzzy sets and complex numbers for the analysis, and for logical based design of control systems. Authors offer the complex method for control and simulating systems synthesis, which incorporates both fuzzy and discrete logic models.

关键词： component fuzzy sets discrete control system modelling automation systems

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