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18th IFAC Workshop on Time Delay Systems (TDS)

作者： Di Ferdinando, M. Borri, A. Di Gennaro, S. Pepe, P. Univ Aquila Ctr Excellence DEWS Dept Informat Engn Comp Sci & Math Laquila Italy CNR Inst Syst Anal & Comp Sci Rome Italy

In this paper, the sampled-data stabilization problem under safety constraints is studied for nonlinear time-delay systems. In particular, a methodology for the design of sampled-data safe stabilizers is provided for nonlinear systems affected by state delays. As a first step, the new notion of Safe Steepest Descent Feedback (SSDF), continuous or not, is introduced by suitably combining the well-known notions of Steepest Descent Feedbacks and Barrier functions considered to cope with safety requirements. Then, the stabilization in the sample-and-hold sense theory is used as a tool to show the existence of a suitably fast sampling such that: the digital implementation of SSDFs, continuous or not, ensures the semi-global practical safe stability property of the related closed-loop system with arbitrarily small final target ball of the origin. In the theory developed here, time-varying sampling periods are allowed. The proposed theoretical results are validated through an application concerning the plasma glucose regulation problem in Type-2 diabetic patients via artificial pancreas. Copyright (c) 2024 The Authors.

关键词： sampled-data controllers Safe Stabilization Nonlinear Time-Delay Systems Stabilization in the Sample-and-Hold sense Barrier Functions Lyapunov-Krasovskii functionals Glucose-Insulin model

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Global Practical sampled-data for a Class of Stochastic Nonlinear Systems 41

Global Practical Sampled-data for a Class of Stochastic Nonl...

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第41届中国控制会议

作者： Qing Chang Shiqi Zheng Jiachun Sun Tao Song Liangguang Li School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we mainly study the global tracking problem for stochastic systems by the sampled data state feedback *** the condition of lower-triangular,the sampled data state feedback controller is constructed to make the states globally bounded,and the error between the system output and the reference signal is less than the specified allowable *** the same time stochastic phenomenon is considered in the nonlinear *** global tracking performance and stochastic stability are both achieved simultaneously.

关键词： Stochastic systems nonlinear systems state feedback sampled-data controllers

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sampled-data Safe Stabilization of Nonlinear Time-Delay Systems

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IFAC-PapersOnLine 2024年第27期58卷 78-83页

作者： M. Di Ferdinando A. Borri S. Di Gennaro P. Pepe Department of Information Engineering Computer Science and Mathematics Center of Excellence DEWS University of L'Aquila L'Aquila Italy Institute of Systems Analysis and Computer Science National Research Council Rome Italy

In this paper, the sampled-data stabilization problem under safety constraints is studied for nonlinear time-delay systems. In particular, a methodology for the design of sampled-data safe stabilizers is provided for nonlinear systems affected by state delays. As a first step, the new notion of Safe Steepest Descent Feedback (SSDF), continuous or not, is introduced by suitably combining the well-known notions of Steepest Descent Feedbacks and Barrier functions considered to cope with safety requirements. Then, the stabilization in the sample-and-hold sense theory is used as a tool to show the existence of a suitably fast sampling such that: the digital implementation of SSDFs, continuous or not, ensures the semi–global practical safe stability property of the related closed-loop system with arbitrarily small final target ball of the origin. In the theory developed here, time-varying sampling periods are allowed. The proposed theoretical results are validated through an application concerning the plasma glucose regulation problem in Type-2 diabetic patients via artificial pancreas.

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sampled-data Controller Design with Application to the Quanser AERO 2-DOF Helicopter 22

Sampled-data Controller Design with Application to the Quans...

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22nd IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

作者： Lopes, Adriano N. D. Arcese, Laurent Guelton, Kevin Cherifi, Abdelmadjid Univ Reims CReST EA3804 Moulin Housse BP1039 F-51100 Reims France CEFET MG Dept Mechatron Engn Campus DivinopolisR Alvares Azevedo 400 BR-35503822 Divinopolis MG Brazil

ISBN: (纸本)9781728171661

This paper investigates the importance of considering the discrete-time nature of embedded controllers for continuous-time dynamical systems, namely the sampled-data control approach. To illustrate such approach, an experimental study is conducted with the Quanser (R) AERO platform in its 2-DOF helicopter configuration. New LMI-based conditions are provided for the design of sampled-data controllers for linear systems. These are obtained from the usual Lyapunov-Krasovskii approach and useful bounding techniques. The results are validated in simulation as well as experimentally, with a successful comparison to conventional continuous-time controllers design by Quanser (R), especially when the sampling period is high.

关键词： sampled-data controllers Lyapunov Krasovskii Functionals (LKF) Quanser (R) AERO 2-DOF Helicopter

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Finsler-based sampled-data Controller Design for Takagi-Sugeno Systems 21st

Finsler-based Sampled-data Controller Design for Takagi-Suge...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Lopes, Adriano N. D. Guelton, Kevin Arcese, Laurent Leite, Valter J. S. Bourahala, Faycal Univ Reims CReSTIC EA3804 Moulin Housse BP1039 F-51100 Reims France CEFET MG Dept Mechatron Engn BR-35503822 Divinopolis MG Brazil 20 August Univ LAS Lab Skikda 21000 Algeria

This paper investigates the sampled-data control of continuous-time Takagi-Sugeno (T-S) fuzzy systems. The closed-loop dynamics is rewritten as a T-S system with input time-varying delays. In this context, asynchronous membership functions appears in the closed-loop dynamics. Thus, to reduce the conservatism of design conditions involving mismatch membership functions, a dedicated relaxation scheme is proposed. Then, from a convenient Lyapunov-Krasovskii function and the application of the Finsler's Lemma, new LMI-based conditions are proposed for the design of sampled-data Parallel-Distributed-Compensation (PDC) controllers. An example is provided to illustrate the effectiveness of the proposed design methodology in simulation, as well as to highlight their conservatism improvement regarding to previous related results from the literature. Copyright (C) 2020 The Authors.

关键词： sampled-data controllers Takagi-Sugeno models Lyapunov Krasowskii Functionals

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Finsler-based sampled-data Controller Design for Takagi-Sugeno Systems

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IFAC-PapersOnLine 2020年第2期53卷 7965-7970页

作者： Adriano N.D. Lopes Kevin Guelton Laurent Arcese Valter J.S. Leite Fayçal Bourahala CReSTIC EA3804 - Université de Reims Champagne-Ardenne Moulin de la Housse BP1039 51100 Reims France Department of Mechatronics Engineering CEFET-MG 400 35503-822 Divinópolis MG Brazil LAS Laboratory - 20 August University 21000 Skikda Algeria

This paper investigates the sampled-data control of continuous-time Takagi-Sugeno (T-S) fuzzy systems. The closed-loop dynamics is rewritten as a T-S system with input time-varying delays. In this context, asynchronous membership functions appears in the closed-loop dynamics. Thus, to reduce the conservatism of design conditions involving mismatch membership functions, a dedicated relaxation scheme is proposed. Then, from a convenient Lyapunov-Krasovskii function and the application of the Finsler’s Lemma, new LMI-based conditions are proposed for the design of sampled-data Parallel-Distributed-Compensation (PDC) controllers. An example is provided to illustrate the effectiveness of the proposed design methodology in simulation, as well as to highlight their conservatism improvement regarding to previous related results from the literature.

关键词： sampled-data controllers Takagi-Sugeno models Lyapunov Krasowskii Functionals

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On uniform global asymptotic stability of nonlinear discrete-time systems with applications

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2006年第10期51卷 1644-1660页

作者： Lee, T. C. Jiang, Z. P. Ming Hsin Univ Sci & Technol Dept Elect Engn Hsinchu 304 Taiwan Polytech Univ Dept Elect & Comp Engn Brooklyn NY 11201 USA

This paper presents new characterizations of uniform global asymptotic stability for nonlinear and time-varying discrete-time systems. Under mild assumptions, it is shown that weak zero-state detectability is equivalent to uniform global asymptotic stability for globally uniformly stable systems. By employing the notion of reduced limiting systems, another characterization of uniform global asymptotic stability is proposed on the basis of the detectability for the reduced limiting systems associated with the original system. As a by-product, we derive a generalized,, discrete-time version of the well-known Krasovskii-LaSalle theorem for general time-varying, not necessarily periodic, systems. Furthermore, we apply the obtained stability results to analyze uniform asymptotic stability of cascaded time-varying systems, and show that some technical assumptions in recent papers can be relaxed. Through a practical application, it is shown that our results play a similar role to the classic LaSalle invariance principle in guaranteeing attractivity, noting that reduced limiting systems are used instead of the original system. To validate the conceptual characterizations, we study the problem of sampled-data stabilization for the benchmark example of nonholonomic mobile robots via the exact discrete-time model rather than approximate models. This case study also reveals that in general, sampled-data systems may become non-periodic even though their original continuous-time system is periodic. A novel sampled-data stabilizer design is proposed using the new stability results and is supported via simulation results.

关键词： cascaded systems discrete-time systems mobile robots reduced limiting systems sampled-data controllers uniform global asymptotic stability weak zero-state detectability

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An algorithm for adaptive pole placement control of linear systems based on generalized sampled-data hold functions

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 1999年第3期336卷 503-521页

作者： Arvanitis, KG Natl Tech Univ Athens Dept Elect & Comp Engn Div Comp Sci Athens 15771 Greece

The use of generalized sampled-data hold functions for adaptive pole placement control of linear systems with unknown parameters, is investigated. The particular control structure used relies on a periodic controller, which suitably modulates the sampled plant output by a multirate periodically time-varying function. Such a control strategy, allows us to assign the eigenvalues of the closed-loop monodromy matrix to the desired prespecified values and does not make assumptions on the plant other than controllability, observability and known order. The proposed indirect adaptive scheme estimates the unknown plant parameters on-line, from sequential data of the inputs and the outputs of the plant, which are recursively updated within the time limit imposed by a fundamental sampling period. On the basis of the proposed algorithm, the adaptive pole placement problem is reduced to a controller determination based on the well-known Ackermanns' formula. Known adaptive control schemes usually resort to the computation of dynamic controllers through the solution of polynomial Diophantine equations, thus introducing high-order exogenous dynamics in the control loop. Moreover, in many cases, this solution might yield an unstable controller, and the overall adaptive scheme is then unstable with unstable compensators because their outputs are unbounded. The proposed control strategy avoids these problems, since here gain controllers essentially need to be designed. Moreover, persistency of excitation and, therefore, parameter convergence, of the continuous-time plant is provided without making any assumption either on the existence of specific convex sets in which the estimated parameters belong or on the coprimeness of the polynomials describing the ARMA model, or finally on the richness of the reference signals, as compared to known adaptive pole placement schemes. (C) 1999 The Franklin Institute. Published by Elsevier Science Ltd.

关键词： adaptive control adaptive pole placement sampled-data controllers generalized sampled-data hold functions parameter estimation

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Design of adaptive LQ regulators for MIMO systems based on multirate sampling of the plant output

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JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS 1996年第1期91卷 35-60页

作者： Arvanitis, KG Research Assistant Division of Computer Science Department of Electrical and Computer Engineering National Technical University of Athens Athens Greece

In this paper, the certainty equivalence principle is used to combine a discrete-time adaptive law with a control structure derived from the linear-quadratic regulation problem. The proposed control structure is mainly based on multirate sampling of the output of the continuous-time plant under control and allows us to regulate the sampled closed-loop system, subject to a quadratic performance criterion, without making assumptions on the plant other than controllability and observability and the knowledge of two sets of structural indices. Using the proposed algorithm, the adaptive regulation problem is reduced to the determination of a fictitious static state feedback controller. Known techniques usually resort to the computation of full-order adaptive state observers, thus introducing high-order exogenous dynamics in the control loop. Moreover, persistence of excitation and parameter convergence of the plant are provided without making any additional assumption on the system, as compared to known adaptive linear-quadratic regulation schemes.

关键词： sampled-data controllers multirate sampling optimal adaptive control adaptive LQ regulation

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COMPUTATION OF THE DIGITAL LQG REGULATOR AND TRACKER FOR TIME-VARYING SYSTEMS

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OPTIMAL CONTROL APPLICATIONS & METHODS 1992年第4期13卷 289-299页

作者： VANWILLIGENBURG, LG Department of Agricultural Engineering and Physics Agrotechnion Wageningen University Bomenweg 4 6703 HD Wageningen Netherlands

Digital optimal control problems, i.e. problems where a continuous-time system is controlled by a digital computer, are very often approximated by either discrete-time or continuous-time optimal control problems. A digital controller based on one of these approximations requires a small sampling time and constitutes only an approximate solution. The digital LQG regulator and tracker constitute solutions to real digital control problems which involve sampled-data, piecewise constant controls and integral criteria. Until now only the numerical computation of the digital LQG regulator in the case of time-invariant system and criterion matrices has been considered in the literature. The control of non-linear stochastic systems about state trajectories is very often performed by an LQG regulator based on the linearized dynamics about the trajectory, which constitute a time-varying system. We present a numerical procedure to compute the digital LQG regulator and tracker in the case where the system and criterion matrices are time-varying. Finally we present a numerical example.

关键词： DIGITAL LQG controllers sampled-data controllers REGULATOR TRACKER TIME-VARYING SYSTEMS NUMERICAL COMPUTATION

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