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9th International Congress on Ultra Modern Telecommunications and Control systems (ICUMT)

作者： Vrazevsky, Sergey A. Chugina, Julia V. Furtat, Igor B. Kremlev, Artem S. ITMO Univ Dept Control Syst & Ind Robot St Petersburg Russia IPME RAS Lab Control Complex Syst St Petersburg Russia

ISBN: (纸本)9781538634356

Present work provides the robust suboptimal control algorithm for an output stabilization of a linear mum-input multi-output (MIMO) plant with uncertainties. The algorithm combines robust control provided by auxiliary loop method for disturbances compensation and optimal control in the form of the linear quadratic regulator. In current research, plant is presented in form of linear interval model. This reflects plant parametric uncertainty and possibility to use the proposed method to control a nonlinear plant amenable to the interval linearization. The latter is used in the experimental illustration of the algorithm performance on the Twin Rotor MIMO System laboratory platform.

关键词： multi-input/multi-output systems feedback stabilization robust control suboptimal control uncertain dynamic systems bounded disturbances

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Mechanism and control of mechatronic system with higher degrees of freedom

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ANNUAL REVIEWS IN CONTROL 2004年第2期28卷 137-155页

作者： Fukuda, T Hasegawa, Y Nagoya Univ Dept Micro Syst Engn Chikusa Ku Nagoya Aichi 4648603 Japan

We introduce two types of dexterous locomotion robots and their controller design approaches. One is a simplified two-link robot "Brachiator II". This is an example of an underactuated system where a robot mechanism has higher degrees of freedom than actuators. The desired motions are encoded as the output of a target dynamical system inspired by the pendulum-link motion of an ape's brachiation. The other is a monkey-type robot "Brachiator III" which achieves a more dexterous Motion with 13 degrees of freedom. The desired motion is generated in an empirical learning process by a learning algorithm and an intelligent structure. in which the learning algorithm adjusts the coordination levels of some primitive motions in order to generate the desired motion. This is an example of a redundant mechanism. We discuss the advantages of these two design approaches. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： dynamic behavior dynamic modeling robot control multi-action controller multi-input/multi-output systems

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Model reduction of homogeneous-in-the-state bilinear systems with input constraints

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AUTOMATICA 2011年第4期47卷 761-768页

作者： Couchman, Ian J. Kerrigan, Eric C. Boehm, Christoph Univ London Imperial Coll Sci Technol & Med Dept Elect & Elect Engn London SW7 2AZ England Univ London Imperial Coll Sci Technol & Med Dept Aeronaut London SW7 2AZ England Univ Stuttgart Inst Syst Theory & Automat Control D-70550 Stuttgart Germany

Homogeneous-in-the-state bilinear systems, appended by an additive disturbance, appear both from the discretization of some partial differential equations and from the bilinearization of certain nonlinear systems. They often have large state vectors that can be cumbersome for simulation and control system design. Our aim is to define a method, invariant to time transformations, for finding a reduced-order model with similar disturbance-output characteristics to those of the plant for all admissible input sequences. The inputs considered satisfy simple upper and lower bound constraints, representing saturating actuators. The approximation is based on a model truncation approach and a condition for the existence of such an approximation is given in terms of the feasibility of a set of linear matrix inequalities. A novelty of our work is in the definition of a new Gramian for this class of systems. Explicit error bounds on the scheme are included. The paper concludes with a demonstration of the proposed approach to the model reduction of a solar collector plant. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Model reduction Bilinear systems Constraints multi-input/multi-output systems Dynamic models

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An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

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INTERNATIONAL JOURNAL OF systems SCIENCE 2016年第12期47卷 2913-2924页

作者： Bidikli, Baris Tatlicioglu, Enver Zergeroglu, Erkan Bayrak, Alper Izmir Inst Technol Dept Elect & Elect Engn Izmir Turkey Gebze Tech Univ Dept Comp Engn Gebze Turkey Abant Izzet Baysal Univ Dept Elect & Elect Engn Bolu Turkey

In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.

关键词： robust control Lyapunov methods nonlinear uncertain dynamical systems multi-input/multi-output systems

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Recursive nonlinear-system identification using latent variables

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AUTOMATICA 2018年 93卷 343-351页

作者： Mattsson, Per Zachariah, Dave Stoica, Petre Univ Gavle Dept Elect Math & Nat Sci Gavle Sweden Uppsala Univ Dept Informat Technol Uppsala Sweden

In this paper we develop a method for learning nonlinear system models with multiple outputs and inputs. We begin by modeling the errors of a nominal predictor of the system using a latent variable framework. Then using the maximum likelihood principle we derive a criterion for learning the model. The resulting optimization problem is tackled using a majorization-minimization approach. Finally, we develop a convex majorization technique and show that it enables a recursive identification method. The method learns parsimonious predictive models and is tested on both synthetic and real nonlinear systems. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Nonlinear systems multi-input/multi-output systems System identification

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On controller initialization in multivariable switching systems

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AUTOMATICA 2012年第12期48卷 3157-3165页

作者： Safaei, Farshad R. Pour Hespanha, Joao P. Stewart, Gregory Univ Calif Santa Barbara Santa Barbara CA 93106 USA Honeywell N Vancouver BC V7J 3S4 Canada

We consider a class of switched systems which consists of a linear MIMO and possibly unstable process in feedback interconnection with a multicontroller whose dynamics switch. It is shown how one can achieve significantly better transient performance by selecting the initial condition for every controller when it is inserted into the feedback loop. This initialization is obtained by performing the minimization of a quadratic cost function of the tracking error, controlled output, and control signal. We guarantee input-to-state stability of the closed-loop system when the average number of switches per unit of time is smaller than a specific value. If this is not the case then stability can still be achieved by adding a mild constraint to the optimization. We illustrate the use of our results in the control of a flexible beam actuated in torque. This system is unstable with two poles at the origin and contains several lightly damped modes, which can be easily excited by controller switching. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Switching controllers Linear systems multi-input/multi-output systems Quadratic performance indices

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Heuristic Kalman Algorithm for multiobjective Optimization.

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IFAC-PapersOnLine 2017年第1期50卷 4460-4465页

作者： Hultmann Ayala H.V. dos Santos Coelho L. Reynoso-Meza G. Industrial and Systems Engineering Graduate Program PPGEPS Polytechnic School Pontifical Catholic University of Paraná PUCPR Rua Imaculada Conceição 1155 Curitiba PR code 80215-901 Brazil Department of Electrical Engineering (PPGEE) Federal University of Parana (UFPR) Polytechnic Center Curitiba Parana 81531-970 Brazil

This papers presents a new heuristic multiobjective optimization procedure based on Kalman filtering. The novel approach is compared to the well-known Nondominated Sorting Genetic Algorithm version II with the Zitzler, Deb and Thiele test suite showing favorable results for the Kalman based solution. Further improvement on the proposed algorithm is made with respect to the learning factor, which is set to be time-dependent, improving the algorithm in most cases and diminishing the number of control parameters. The proposed multiobjective optimization algorithm is interesting due to its convergence and coverage quality, its computational complexity and few parameters to be adjusted. © 2017

关键词： loop pairing multi-input/multi-output systems multi-objective optimization multiloop control

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Heuristic Kalman Algorithm for multiobjective Optimization.

Heuristic Kalman Algorithm for Multiobjective Optimization.

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

作者： Hultmann Ayala, Helon V. Coelho, Leandro dos Santos Reynoso-Meza, Gilberto Pontifical Catholic Univ Parana PUCPR Polytech School Ind & Syst Engn Grad Program PPGEPS Rua Imaculada Conceiccio 1155 BR-80215901 Curitiba PR Brazil Fed Univ Parana UFPR Polytech Ctr Dept Elect Engn PPGEE BR-81531970 Curitiba Parana Brazil

关键词： multi-input/multi-output systems multi-objective optimization multiloop control loop pairing

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International input-output Tables as a Tool for Structured Analysis and Assessment of Stability in Russian Transport Sector 20th

International Input-Output Tables as a Tool for Structured A...

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20th IFAC Conference on Technology, Culture, and International Stability (TECIS)

作者： Varnavskii, V. RAS VA Trapeznikov Inst Control Sci Moscow Russia

The article describes the uses of multi-input/multi-output systems, with the aim of assessment of structural changes and stability in the Russian transport sector. Empirical input-output data for the period between the years 2000 and 2014 are used. A basic model and overview of the literature are given. The article summarizes the assessment of structural changes and stability. The author gives his own vision of a state of the Russian transport sector. The analysis is carried out for the transport sector as a whole as well as for the various transport modes. Analytical and quantitative results are presented. Assessments of the dynamics of several key economic indicators of the Russian transport sector based on the model calculations are discussed. The indicators were compared based on World input-output Database (WIOD) version 2016. It is shown that the share of intermediate goods and services in the transport sector's gross output fell, while the share of final goods increased from 2000 to 2014. But the share of air transport in the transport sector's gross output as a whole was stable in 2000-2014. Copyright (C) 2021 The Authors.

关键词： transport structured analysis stability multi-input/multi-output systems intermediate goods and services final product input matrices output matrices Russia

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Considerations on loop pairing in MIMO processes. A multi-criteria analysis

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IFAC-PapersOnLine 2017年第1期50卷 4454-4459页

作者： Herrero J.M. Reynoso-Meza G. Ramos C. Blasco X. Instituto Universitario de Automática e Informática Industrial Universitat Politècnica de València Camino de Vera s/n Valencia 46022 Spain Industrial and Systems Engineering Graduate Program PPGEPS Polytechnic School Pontifical Catholic University of Paraná PUCPR Rua Imaculada Conceição 1155 Curitiba PR code 80215-901 Brazil

In this paper a new multi-objective approach for loop pairing in multi-input/multi-output processes is studied. Each controller structure of proposed input-output pairing is considered as a possible design concept. Under the meaningful objective space, defined by the control engineer, the concepts are compared and a final controller with a given trade-off is chosen. By means of an example, the paper establishes several findings: first, the controller type can be relevant when deciding on possible pairings and second, it is even more relevant the objectives chosen by the designer and his/her preferences. These findings point to multi-objective approach pairing as a powerful and promising technique. © 2017

关键词： loop pairing multi-input/multi-output systems multi-objective optimization multiloop control

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