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Optimal inversion-based control for the set-point regulation of nonminimum-phase uncertain scalar systems

IEEE TRANSACTIONS ON AUTOMATIC control 2001年第10期46卷 1654-1659页

作者： Piazzi, A Visioli, A Univ Parma Dipartimento Ingn Informaz I-43100 Parma Italy Univ Brescia Dipartimento Elettron & Automaz I-25121 Brescia Italy

In this note,(1) we propose an optimal inversion-based control for the set-point constrained regulation of nomninimum-phase uncertain scalar systems. This approach is based on a new control architecture where the main purpose of the feedback is to reduce the sensitivity to parametric plant uncertainties permitting in such a way the effective use of a feedforward action determined via a stable dynamic inversion. Essential constituents of the architecture are a parameterized family of "transition" polynomials to shape ideal output transfers and a parameterized controller ensuring the internal model principle. The methodology is then centered on the optimal combined design of the feedback controller and of the inversion-based command signal in order to minimize the worst-case settling time subject to an amplitude constraint on the control variable and to arbitrarily assigned overshoot and undershoot bounds. Finally, an approximate or suboptimal solution to the resulting nonlinear optimization problem can be obtained with genetic algorithms. A worked example highlights the effectiveness of the overall methodology.

关键词： inversion-based control nonminimum-phase systems optimization robust performance set-point regulation

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A behavioral approach to inversion-based control

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AUTOMATICA 2018年 95卷 433-445页

作者： Costalunga, Alessandro Piazzi, Aurelio Univ Parma Informat Engn Unit Parco Area Sci 181A I-43124 Parma Italy

A new simplified behavior theory is proposed to address inversion-based control for linear, nonminimum-phase SISO systems. The chosen space of signals is the set of piecewise C-infinity-functions and input-output pairs (as weak solutions) satisfy a differential-integral equation with additional smoothness requirements. A related key result is the output-input (or inverse) representation of the behavior set that leads to the solution of a general stable inversion problem where polynomially unbounded, noncausal desired outputs are allowed. It is shown that this problem has a solution if and only if the smoothness degree of the desired output is greater than or equal to the system relative degree minus one. When this straightforward condition is satisfied, a closed-form expression provides the inverse input. Then, an analysis on preaction and postaction control follows. Two examples are included showing the relevance of output signal design in control applications. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： inversion-based control Feedforward Behavioral approach Stable inversion Nonminimum-phase systems Linear systems

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Polynomial interpolation for inversion -based control

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EUROPEAN JOURNAL OF control 2020年 56卷 62-72页

作者： Minari, Andrea Piazzi, Aurelio Costalunga, Alessandro Univ Parma Dept Engn & Architecture I-43124 Parma Italy ASK Ind SpA I-42124 Reggio Emilia Italy

To help to achieve high performances in the regulation of linear scalar (SISO) nonminimum-phase systems, an inversion-based (feedforward) control method is proposed. The aim is designing an inverse input to smoothly switch from a current, arbitrary, steady-state regime to a new, future, desired steady-state output. A new-found polynomial basis solves the related interpolation problem to join the current output to the future one while ensuring the necessary or desired smoothness. The (interpolation) transition time can be minimized in order to optimally reduce the delay with which the desired output occurs. By applying a behavioral stable inversion formula to the overall smoothed output, detailed expressions of the inverse input are finally derived. A simulation of a flexible arm rotating in the horizontal plane exemplifies the presented method. (c) 2020 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Feedforward control inversion-based control Behavioral approach Steady-state Nonminimum-phase linear systems Polynomial interpolation

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inversion-based control of ionic polymer-metal composite actuators with nanoporous carbon-based electrodes

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SMART MATERIALS AND STRUCTURES 2014年第2期23卷

作者： Vunder, V. Itik, M. Poldsalu, I. Punning, A. Aabloo, A. Univ Tartu Inst Technol Tartu Estonia Karadeniz Tech Univ Dept Mech Engn TR-61080 Trabzon Turkey

Ionic polymer-metal composite (IPMC) actuators are multilayer composites that change their shape and size in response to low-voltage driving signals. Because these devices possess both actuating and sensing properties, these composites have already been proposed for numerous applications. Recently, high-strain nanoporous carbon electrodes were developed with the aim of improving the performance and stability of IPMC actuators. In order to prevent damage to the device or injury, precise control of the actuator is essential. Thus far, there are no reports on the dynamic response of IPMC actuators with electrodes composed of a porous carbon material. This study fills this gap in the research by presenting the results of testing both open- and closed-loop controllers of this novel actuator for position control. inversion-based open-loop controller is first tested on the actuator to evaluate the performance of the actuator in sensorless control applications. Then, the displacement of the tip point of the actuator is used as the feedback signal for closed-loop control to compensate for the errors experienced in open- loop control.

关键词： inversion-based control ionic polymer-metal composite IPMC carbon electrodes

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Energetic Macroscopic Representation and inversion-based control of an Electrical Vehicle using Modular Cascade Machines 13

Energetic Macroscopic Representation and Inversion-Based Con...

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13th IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Li, Kaibo Bouscayrol, Alain Cui, Shumei Han, Shouliang Harbin Inst Technol Dept Elect Engn Harbin 150001 Peoples R China Univ Lille 1 L2EP F-59650 Villeneuve Dascq France

ISBN: (纸本)9781509035281

Modular Cascade Machines (MCM) system is a new kind of multi-machine system. It is expected to be well applied to the field of electrical vehicles. This paper deals with the global modelling and inversion-based control of a MCM-based electrical vehicle. Energetic Macroscopic Representation (EMR) is used to organize the dynamic model of the system, and the control scheme is deduced through inversion rules. The simulation validates the model and proves that EMR provides a convenient control to manage the modular machines to work in different operation points.

关键词： Modular Cascade Machines Electrical Vehicles Energetic Macroscopic Representation inversion-based control

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Nonlinear Model inversion-based Output Tracking control for Battery Fast Charging

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2024年第1期32卷 225-240页

作者： Li, Yang Wik, Torsten Huang, Yicun Zou, Changfu Chalmers Univ Technol Dept Elect Engn S-41258 Gothenburg Sweden

We propose a novel nonlinear control approach for fast charging of lithium-ion batteries, where health-and safety-related variables, or their time derivatives, are expressed in an input-polynomial form. By converting a constrained optimal control problem into an output tracking problem with multiple tracking references, the required control input, i.e., the charging current, is obtained by computing a series of candidate currents associated with different tracking references. Consequently, an optimization-free nonlinear model inversion-based control algorithm is derived for charging the batteries. We demonstrate the efficacy of our method using a spatially discretized high-fidelity pseudo-two-dimensional (P2D) model with thermal dynamics. Conventional methods require computationally demanding optimization to solve the corresponding fast-charging problem for such a high-order system, leading to practical difficulties in achieving low-cost implementation. Results from comparative studies show that the proposed controller can achieve performance very close to nonlinear and linearized model predictive control but with much lower computational costs and minimal parameter tuning efforts.

关键词： Electrochemical-thermal model fast charg-ing inversion-based control lithium plating (LiP) lithium-ion batteries

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A Discrete-Time inversion-based Approach to Iterative Learning control of an Overhead Crane 36

A Discrete-Time Inversion-Based Approach to Iterative Learni...

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第36届中国控制会议

作者： Harald Aschemann Alexander Wache Ole Kraegenbring Mechatronics University of Rostock

ISBN: (纸本)9781538629185

This paper presents an inversion-based iterative learning control(ILC) for the two main axes of an overhead travelling crane that guarantees both an accurate tracking of repetitive desired trajectories for the crane load and an active damping of crane load *** main idea of the used ILC algorithm consists in a minimisation of the tracking error by iteratively improved inputs sequences using an inverse plant *** position of the crane load is measured optically by a CMOS camera using the spatial filtering ***,repetitive desired trajectories for the crane load position in the three-dimensional workspace can be tracked independently with high *** results from an implementation on a test rig show a fast error convergence and a small remaining tracking error.

关键词： nonlinear control iterative learning control inversion-based control underactuated mechanical systems

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inversion-based nonlinear end-tip control of flexible arm in presence of large model uncertainties

Inversion-based nonlinear end-tip control of flexible arm in...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Soltani, Ehsan Naraghi, Mahyar Amirkabir Univ Technol Tehran Iran Amirkabir Univ Technol Dept Mech Engn Tehran Iran

ISBN: (纸本)9781424400249

Achieving suitable performance in end-tip trajectory tracking while saving suitable margin of stability for flexible-arm system in presence of large model uncertainties is a very complicated task, because moving new output toward the end-tip, while using output-redefinition method, in order to increase tracking quality decreases system's margin of stability. So large model uncertainties or large controller gains causes the system to leave the local region of stable internal dynamics. In this paper, power limiter system (PLS) is combined with time-delay controller (TDC) to guarantee stability of system in presence of large unstructured model uncertainties. The proposed controller is also compared with indirect adaptive linearizing controller.

关键词： flexible-arm inversion-based control large model uncertainty time-delay control power limiter system

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Nonlinear Signal-based control for a Shake Table Supporting a Heavy Multi-Storey Nonlinear Structure

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EARTHQUAKE ENGINEERING & STRUCTURAL DYNAMICS 2025年第4期54卷 1251-1269页

作者： Enokida, Ryuta Ikago, Kohju Kajiwara, Koichi Tohoku Univ Int Res Inst Disaster Sci Sendai Miyagi Japan Natl Res Inst Earth Sci & Disaster Resilience Edef Miki Hyogo Japan

Shake table control is greatly affected by an interaction with a heavy specimen, especially when it has severe nonlinear characteristics. Hence, to this fundamental and challenging issue in the experimentation, this study proposes a solution using nonlinear signal-based control (NSBC) and demonstrates its effectiveness in actual experiments. Moreover, an innovative controller design is presented in this paper: the bare condition referenced (BCR) approach relies on the bare table dynamics and the specimen's weight. It frees the design from the properties of the controlled system, in contrast to the orthodox approach, which uses the dynamics of a table supporting a specimen. Following numerical examinations including a stability analysis, experiments were carried out on NSBC with these approaches, with a table having a three-storey structure that was 2.5 times heavier than the table and had nonlinear characteristics. An inversion-based controller, using a feedforward controller only, did not perform well, even at small excitations, owing to the modelling gap and nonlinearity. NSBC, with the orthodox approach, accurately realised the expected acceleration on the table, despite the considerable interaction with the specimen and the nonlinearity of its collapse level. NSBC, with the BCR approach, performed as well or better than the orthodox approach, despite the obvious modelling gap and nonlinearity. NSBC with both approaches can solve the challenging control problem and has considerable potential for deployment in large experiments. Furthermore, the BCR approach is more advantageous than the orthodox approach, as it eliminates the need to identify the dynamics of the table supporting the specimen.

关键词： acceleration control composite filter inversion-based control nonlinear signal-based control shake table experiment

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Hybrid-based model-free iterative learning control with optimal performance

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2023年第10期54卷 2268-2280页

作者： Kou, Zhicheng Sun, Jinggao Su, Guanghao Wang, Meng Yan, Huaicheng East China Univ Sci & Technol Key Lab Smart Mfg Energy Chem Proc Minist Educ Shanghai 200237 Peoples R China

In this paper, a hybrid-based model-free iterative learning control algorithm is proposed to improve the robustness and convergence speed of model-free iterative learning control in noisy environments. The proposed algorithm divides the iterative process into a rapidly decreasing error phase and an error convergence phase, and uses different control algorithms in different phases, thus combining different advantages of the original algorithms. In addition to this, this work proves the convergence and robustness of the proposed algorithm and summarises the design idea of this controller. Finally, the convergence performance of the algorithm in noisy environments and in variable reference trajectory environment is simulated to demonstrate the effectiveness of the algorithm proposed in this work.

关键词： Iterative learning control (ILC) inversion-based control model-free control hybrid-based strategy

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