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检索条件"主题词=Linear Time-varying System"

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Robust Guaranteed Cost Output-Feedback Gain-Scheduled Controller Design

Robust Guaranteed Cost Output-Feedback Gain-Scheduled Contro...

引用

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

作者： Ilka, Adrian Vesely, Vojtech Chalmers Univ Technol Dept Signals & Syst SE-41296 Gothenburg Sweden Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Ilkovicova 3 Bratislava 81219 Slovakia

In the paper a new robust guaranteed cost output-feedback gain-scheduled PID controller design technique is presented for affine linear parameter-varying systems under polytopic model uncertainty, with the assumption that the scheduled parameters are affected with absolute uncertainty. The proposed centralized or decentralized method is based on the Bellman-Lyapunov equation, guaranteed cost, and parameter-dependent quadratic stability. The robust stability and performance conditions are translated to an optimization problem subject to bilinear matrix inequalities, which can be solved or further linearized. As the main result, the suggested stability and performance conditions without any restrictions on the controller structure are convex functions of the scheduling and uncertainty parameters. Hence, there is no need for applying multi-convexity or other relaxation techniques and consequently the proposed solution delivers a less conservative design method. The viability of the novel design technique is demonstrated and evaluated through numerical examples. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust controller gain scheduling linear time-varying system parameter-dependent Lyapunov function Bellman-Lyapunov equation

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A design procedure for a single time-varying functional observer

A design procedure for a single time-varying functional obse...

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52nd IEEE Annual Conference on Decision and Control (CDC)

作者： Rotella, Frederic Zambettakis, Irene Ecole Natl Ingenieurs Tarbes Lab Genie Prod F-65016 Tarbes France

ISBN: (纸本)9781467357173

The paper presents an algorithm for the design of a single functional observer for a linear time-varying system. The proposed constructive procedure can be iterated to obtain a minimal order for the observer where the existence conditions are fufilled. As a specific feature, this procedure does not require the solution of any differential Sylvester equation.

关键词： linear time-varying system single functional observer Luenberger observer design algorithm

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Trajectory Tracking Control of Robot Manipulators using Discrete time-varying Pole Placement Technique 12

Trajectory Tracking Control of Robot Manipulators using Disc...

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12th International Conference on Informatics in Control Automation and Robotics (ICINCO)

作者： Mutoh, Yasuhiko Kemmotsu, Masakatsu Awatsu, Lisa Sophia Univ Dept Engn & Appl Sci Chiyoda Ku 7-1 Kiocho Tokyo Japan

ISBN: (纸本)9789897581496

For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-varying controller is not simple. The authors proposed the simple design method of the pole placement controller for linear time-varying discrete systems. In this paper, to show the applicability of the proposed linear time-varying discrete pole placement technique to the trajectory tracking control problem of nonlinear systems, we apply this control method to actual 2-link robot manipulator and present the experimental results.

关键词： Trajectory Tracking Control linear time-varying system Discrete system time-varying Pole Placement Control

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Adaptive observer design for fault detection: Application to drying blower system 7

Adaptive observer design for fault detection: Application to...

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7th International Conference on Modelling, Identification and Control (ICMIC)

作者： Houimli, Radhia Bedioui, Neila Besbes, Mongi Univ Carthage Unity Mechatron Syst & Signals SMS 45 Entrepreneurs StCharguia 2 Tunis 2035 Tunisia

ISBN: (纸本)9780956715753

In this paper, a comparison between two observers has been made;an adaptive observer and multiobserver for linear time-varying system. This observer has been designed to estimate simultaneously the state space and faults detection (sensors and actors). The convergence of the adaptive observer is implemented under certain condition. An example of a drying blower system is used to show the effectiveness of the proposed observers.

关键词： Observers adaptive observer multiobserver linear time-varying system drying blower system

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Frequency Response of linear time-varying Circuits Using Iterated Laplace Transform

Frequency Response of Linear Time-Varying Circuits Using Ite...

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IEEE International Midwest Symposium on Circuits and systems (MWSCAS)

作者： Erfani, Shervin Ahmadi, Majid Univ Windsor Dept Elect & Comp Engn Windsor ON N9B 3P4 Canada

The concept of iterated bilateral Laplace transform (ILT) is used to obtain the frequency response of linear time-varying (LTV) causal circuits and systems. It is shown that the application of this commonly overlooked... 详细信息

ISBN: (纸本)9781665424615

关键词： 2DLT iterated Laplace transform linear time-varying system bivariate causal systems bifrequency characterization bifrequency system response

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Full Form Dynamic linearization Based Data-driven MFAC for a Class of Discrete-time Nonlinear systems

Full Form Dynamic Linearization Based Data-driven MFAC for a...

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23rd Chinese Control and Decision Conference

作者： Li, Yongqiang Hou, Zhongsheng Liu, Xiangbin Beijing Jiaotong Univ Sch Elect & Informat Engn Adv Control Syst Lab Beijing 100044 Peoples R China

ISBN: (纸本)9781424487363

In this paper, we propose a data-driven Model Free Adaptive Control (MFAC) scheme based on Full Form Dynamic linearization (FFDL) for nonlinear systems. First, using FFDL technique, we transform a nonlinear system into an equivalent linear time-varying system with Pseudo-Partial Derivative vector as time-varying parameters. Second, we construct an indirect adaptive control system for the linear time-varying system. Finally, we analyze the stability and the tracking error of the MFAC scheme, show that all the signals in the closed-loop are bounded provided the parameter variations are small and present the dynamic equation of the tracking error.

关键词： Data-driven Control Model Free Adaptive Control linear time-varying system

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Nonstationary sliding mode control using time-varying switching hyperplane for transverse vibration of elevator rope

Nonstationary sliding mode control using time-varying switch...

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5th International Conference on Multibody systems, Nonlinear Dynamics, and Control

作者： Otsuki, Masatsugu Ushijima, Yumiko Yoshida, Kazuo Kimura, Hiroyuki Nakagawa, Toshiaki Keio Univ Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)0791847438

The excitation of transverse vibration of an elevator rope is caused by the resonance with the building-sway by an earthquake or wind-induced vibration, hence, a useful active solution for its issue is demanded. In this paper, therefore, the vibration suppression for the elevator rope with the nonstationary sliding mode control using a time-varying switching hyperplane is performed by moving the rope directly near its boundary by use of a control device with gaps between actuator and rope. The nonstationary sliding mode controller has the effectiveness for the control of the object with time-varying characteristics and the robustness for the nonlinearity of the control device. The performance and robustness of the proposed controller are verified through the numerical calculation for the practical case, consequently, the good results are obtained.

关键词： elevator rope transverse vibration control sliding mode control time-varying switching hyperplane linear time-varying system

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Trajectory Stabilization for Nonlinear systems using time varying Observer-Based Controller 33

Trajectory Stabilization for Nonlinear Systems using Time Va...

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33rd Chinese Control Conference (CCC)

作者： Awatsu, Lisa Mutoh, Yasuhiko Sophia Univ Dept Engn & Appl Sci Chiyoda Ku Tokyo Japan

ISBN: (纸本)9781479947249

For trajectory tracking control of general nonlinear systems, the most basic strategy might be applying linear control technique to a linear approximate model around the trajectory. However, it seems that this basic method has not been commonly used. This is because this approximate model becomes a time-varying system, and hence, controller design procedure is not simple. The author proposed the simple design procedure of pole placement controller for linear time-varying systems. Furthermore, we also proposed the observer design method for linear time-varying multi-output systems by applying the pole placement design technique to adjoint systems. In this paper, these design methods will be applied to the trajectory tracking controller design problem for nonlinear systems by stabilizing some desired trajectory around it.

关键词： linear time-varying system Nonlinear system Pole Placement Observer

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A new look on poles and zeros at infinity in the light of systems interconnection

A new look on poles and zeros at infinity in the light of sy...

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41st IEEE Conference on Decision and Control

作者： Bourlès, H Conservatoire Natl Arts & Metiers F-75013 Paris France

ISBN: (纸本)0780375165

Due to the recent developments of the "behavioral approach" and of the "module-theoretic approach" of linear systems, there is a need to clarify and unify the theory of "impulsive motions". This is done here using (i) the theory of distributions, (ii) the notion of "temporal interconnection" (interconnection from an initial time or up to a final time) and (iii) some algebraic developments based on the module theory and its relationship with the behavioral representations. The general case of time-varying systems is treated. Several examples illustrate the theory.

关键词： impulsive behavior module interconnection linear time-varying system

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Robust Control Based on a time-varying UDE for an Under-actuated 3-DOF Helicopter 22

Robust Control Based on a Time-varying UDE for an Under-actu...

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

作者： Zhang, Te Li, Shiyao Zhu, Bo Zhang, Qingrui Hu, Tianjiang Univ Elect Sci & Technol China Sch Aeronaut & Astronaut Chengdu Peoples R China Sun Yat Sen Univ Sch Aeronaut & Astronaut Shenzhen Peoples R China

ISBN: (纸本)9781713872344

The UDE (uncertainty and disturbance estimator) based control approach has received increasing attention in recent years due to its simplicity and effectiveness to attenuate the influence of uncertainties and disturbances. Despite this fact, the trade-off issue of its steady-state performance and transient performance has not been addressed explicitly. A novel time-varying UDE (TV-UDE) is proposed to resolve the trade-off issue in this paper. The main idea behind the design is to use a differential equation with a time-varying parameter, rather than a transfer function, to represent the underlying filtering relationship. By changing the UDE gain smoothly, the performance limitations of a fixed-gain UDE are avoided. Moreover, the TV-UDE is reduced to a classic UDE when its parameter value is finally frozen. Two design specifications are provided to guide the design of the time-varying parameter. We then apply this design to the angular trajectory tracking problem of a 3-DOF helicopter model, and reveal the four time-scales property of the closed-loop dynamics. The advantages of the proposed approach are shown by simulation comparisons.

关键词： Uncertainty and disturbance estimator linear time-varying system singular perturbation theory under-actuated system 3-DOF helicopter

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