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Polynomial interpolation for inversion -based control

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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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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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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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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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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Nonlinear signal-based control for shake table experiments with sliding masses

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EARTHQUAKE ENGINEERING & STRUCTURAL DYNAMICS 2023年第6期52卷 1908-1931页

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

This study introduces the first application of nonlinear signal-based control (NSBC) to shake table experiments with sliding masses. NSBC utilising a nonlinear signal was specifically developed for nonlinear system control. In shake table experiments with a steel structure, it realised a seismic acceleration record on the table with near 100% accuracy even when the structure displayed nonlinear characteristics due to yielding of its components. Regarding the severity, sliding is stronger than yielding because of the rapid shifts of stick and slip states. Sliding is utilised for structural damage mitigation in seismic isolation systems, which are prominent devices in earthquake engineering. However, when sliding occurs on a shake table, it significantly jeopardises the table control. Thus, this study investigates the performance of NSBC to shake table experiments involving the phenomenon. First, this study examines the effectiveness of NSBC via numerical simulations on a shake table with a sliding interface, demonstrated by the Karnopp model, with a friction coefficient of 0.2. Subsequently, a linear model is designed based on the stability analysis of NSBC to assess stability margins obtained from different models. Experiments are performed by placing masses weighing approximately twice the table weight on sliding interfaces with friction coefficients of 0.2-0.4. In these experiments, NSBC with a reasonable linear model design realised expected acceleration records with sufficiently high accuracies, whereas inversion-based control failed. This study verifies the effectiveness of NSBC for shake table experiments with sliding masses.

关键词： graphite lubrication inversion-based control isolation system Karnopp model nonlinear signal-based control

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Closed-loop real-time optimization for unsteady operating production systems

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JOURNAL OF PROCESS control 2022年 113卷 80-95页

作者： Himmel, Andreas Findeisen, Rolf Sundmacher, Kai Tech Univ Darmstadt Control & Cyber Phys Syst Darmstadt Germany Max Planck Inst Dynam Complex Tech Syst Dept Proc Syst Engn Magdeburg Germany

Environmental and economic pressure leads to an increasing desire to operate processes over various operational conditions, adapting to changing conditions such as feed quality, available energy, customer demand, or product prices. This requires frequent changes in the process setpoints, involving transitions between those. We focus on the explicit utilization of varying storage levels between process elements to increase the flexibility and thus the operational space of the overall process. To do so, we propose a so-called closed-loop static real-time optimization (RTO). It extends classical static RTO by integrating the time evolution of the storage levels and the underlying storage level controls. This enables the optimum and safe operation of the production plant, taking into account storage size limitations and filling levels of the elements. We approximate the dynamic effect of the controlled storage elements on the process dynamics by a suitable mapping, which allows us to capture the transition behavior of the storage element. The mapping can be, for instance, given by inversion based control ideas or learned, e.g., by Gaussian processes. At the same time, the approach allows minimizing the dynamic effects of the storages on the overall system. The proposed formulation requires the efficient solution of a bilevel optimization problem. Thus, we will discuss a decomposition strategy to solve the overall closed-loop static RTO problem efficiently. A process example illustrates the effectiveness of the approach. (c) 2022 Elsevier Ltd. All rights reserved.

关键词： Real-time optimization Storage elements Decomposition inversion-based control Gaussian processes

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Optimization-Free Fast Charging for Lithium-Ion Batteries Using Model inversion Techniques 22

Optimization-Free Fast Charging for Lithium-Ion Batteries Us...

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

作者： Li, Yang Wik, Torsten Huang, Yicun Zou, Changfu Chalmers Univ Technol S-41296 Gothenburg Sweden

ISBN: (纸本)9781713872344

We propose a novel fast-charging control framework for lithium-ion (Li-ion) batteries that can leverage a class of models including the high-dimensional, electrochemical-thermal pseudo-two-dimensional model. The control objective is to find the highest battery current while fulfilling various operating constraints. Conventionally, computationally demanding optimization is needed to solve such a constrained optimal control problem when an electrochemicalthermal model is used, leading to practical difficulties in achieving low-cost implementation. Instead, this paper provides an optimization-free solution to Li-ion battery fast charging by converting the constrained optimal control problem into an output tracking problem with multiple tracking references. The required control input, i.e., the charging current, is derived by inverting the battery model. As a result, a nonlinear inversion-based control algorithm is obtained for Li-ion battery fast charging. Results from comparative studies show that the proposed controller can achieve performance close to nonlinear model predictive control but at significantly reduced computational costs and parameter tuning efforts. 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： Fast charging inversion-based control lithium-ion batteries tracking nonlinear control.

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