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Direct adaptive impedance control including transition phases

AUTOMATICA 1997年第4期33卷 643-649页

作者： DeWit, CC Brogliato, B INPG UJF 5528 UMR CNRS LAB AUTOMAT GRENOBLE ST MARTIN DHERES FRANCE

This paper presents a new direct adaptive impedance controller for force/position task that includes transition phases from free to constrained motions. This scheme ensures global asymptotic stability without the need for a priori knowledge of environment stiffness. One of the major consequence of this study is that a generalization of the time-varying impedance leads to integral force feedback. Experimental results on a two-degree-of-freedom planar manipulator are reported. (C) 1997 Elsevier Science Ltd.

关键词： robotic manipulators adaptive control force control switching algorithms Lyapunov stability

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A hybrid control strategy for active vibration isolation with electrohydraulic actuators

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CONTROL ENGINEERING PRACTICE 2005年第3期13卷 279-289页

作者： Zhang, Y Alleyne, AG Zheng, D Eaton Corp Innovat Ctr Southfield MI 48076 USA Univ Illinois Dept Mech & Ind Engn Urbana IL 61801 USA GE Co Mech Dynam Lab Schenectady NY 12301 USA

This paper presents a hybrid control approach to circumvent the basic trade-off between performance and robustness from an individual controller. This hybrid control strategy utilizes a robust controller for guaranteed robustness when the plant model is not well known, and employs an adaptive controller for high performance after sufficient plant information has been collected. To avoid a degraded transient after controller switching, a bumpless transfer scheme is designed and incorporated into this hybrid control approach. This bumpless transfer design is an extension from a conventional latent tracking bumpless transfer design for a single-input single-output (SISO) plant with 1 degree of freedom (DOF) controllers to either a SISO plant with multiple DOF controllers or a multi-input multi-output (MIMO) plant. Experimental results implemented on an active vibration isolation testbed demonstrate the effectiveness of the proposed hybrid control strategy. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： electrohydraulic systems adaptive control robust control switching algorithms active control vibration isolation

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Recursive identification of block-oriented nonlinear systems in the presence of outliers

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JOURNAL OF PROCESS CONTROL 2019年第0期78卷 1-12页

作者： Filipovic, Vojislav Univ Kragujevac Fac Mech & Civil Engn Dept Automat Control Robot & Fluid Tech Dositejeva 19 Kraljevo 36000 Serbia

The paper considers the recursive identification of nonlinear (Hammerstein) model in the presence of outliers. In this model the nonlinear part is a polynomial of a known order in the input and linear part is described as an ARX (auto - regressive model with exogenous inputs) model. It is assumed that there is a priori information about a disturbance distribution in the form of a class of distributions. Owing that fact it is possible to use robust statistics in the sense of Huber. But Huber's loss function is only first order differentiable. It follows that second order methods (Newton - Raphson methodology) cannot be used. The problem is avoided by analysis of the structure of least favourable distribution. It is shown that robust recursive algorithm derivation can be set in frame of l(1) - l(2) - norm estimation problem. The main contributions of the paper are: (i) it is shown that the robust identification belongs l(1) - l(2)-norm estimation problem: (ii) the derivation of the new robust recursive algorithm;(iii) it is shown that robust recursive algorithm is switching algorithm (collection of linear least squares and sign algorithm) and that fact opens the new research opportunities. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Hammerstein model Non-Gaussian noise Huber's theory Robust estimation switching algorithms

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Lyapunov-based integrator resetting with application to marine thruster control

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2008年第5期16卷 908-917页

作者： Bakkeheim, Jostein Johansen, Tor A. Smogeli, Oyvind N. Sorensen, Asgeir J. Norwegian Univ Sci & Technol Dept Engn Cybernet N-7034 Trondheim Norway Norwegian Univ Sci & Technol Dept Marine Technol N-7034 Trondheim Norway

This paper addresses the idea of improving transient behavior by internal state resetting of dynamic controllers, such as controllers with integral action or adaptation. The concept presented here assumes that for a given closed-loop system with a dynamic controller, improved transient performance is achieved when reset of controller states gives negative jumps in the Lyapunov function value. The Lyapunov function constitutes a part of the controller algorithm. By combining this with existing stability theory for switched systems, the stability analysis of the overall system follows directly. The framework assumes that a Lyapunov function is given, and that full state measurement is available for feedback. Moreover, an estimator is needed to give a coarse estimate of the system equilibrium point. An anti-spin feature in local thruster speed control on ships with electric propulsion is in this paper presented as an application for the given framework. Transients arise when the ship operates in extreme seas, where disturbances such as ventilation and in-and-out of water effects may give rise to loss in propeller thrust. A Lyapunov function is used to decide appropriate reset of the integrator state of a standard PI-controller. The method is illustrated with experimental results.

关键词： anti-spin regulation Lyapunov methods marine vehicle propulsion PI controllers propulsion control switching algorithms

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switching adaptive learning control for nonlinearly parameterized systems with disturbance of unknown periods

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2015年第9期25卷 1327-1337页

作者： Yu, Miao Huang, Deqing Zhejiang Univ Coll Elect Engn Hangzhou 310027 Zhejiang Peoples R China Univ London Imperial Coll Sci Technol & Med Dept Aeronaut London SW7 2AZ England

In this paper, a logic-based switching adaptive learning control mechanism is proposed for a class of nonlinearly parameterized systems with disturbance of unknown periods. The switching algorithms include two parts: one is to stabilize the nonlinearly parameterized uncertainties, the other is to learn the periodic bounded disturbance. An adaptive control method with fully saturated periodic adaptation law is presented to take advantage of the periodic and bounded property of the disturbance. It is shown that under the proposed control designs, the asymptotic convergence is ensured irrespective of initial conditions with all the signals in the closed-loop system bounded. An illustrative example is given to show the validity of the switching adaptive learning control. Copyright (c) 2014 John Wiley & Sons, Ltd.

关键词： switching algorithms nonlinear parametrization learning control unknown period

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Higher-Order Sliding-Mode Control for Binary Input by Using Implicit Lyapunov Function

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IFAC-PapersOnLine 2015年第11 11期48卷 866-871页

作者： Nonaka, Ryo Yamashita, Yuh Tsubakino, Daisuke Graduate School of Information Science and Technology Hokkaido University SapporoHokkaido Japan

We propose a binary input controller for higher-order sliding-mode control. The proposed method extends the continuous controller for higher-order sliding-mode control to applicable for a system with a binary input constraint. Under the binary input constraint, the controller for the system can only use two input such as ±1. We design a binary input controller for the system based on the implicit Lyapunov function method. We also reduce the chattering phenomenon on the sliding hypersurface except on the origin. The reduction mechanism provides strong effect for the chattering reduction under three-valued input constraint ±1 and zero, which is demonstrated in the simulation in this paper. © 2015

关键词： Sliding mode control Codes (symbols) Controllers Lyapunov functions Nonlinear systems Robust control Chattering phenomenon Chattering reductions Continuous controller Higher order sliding mode controls Implicit Lyapunov function Reduction mechanisms switching algorithms switching surfaces

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Nonlinear Unfalsified Adaptive Control with Bumpless Transfer and Reset

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IFAC-PapersOnLine 2016年第18期49卷 1066-1072页

作者： Patil, Sagar V. Sung, Yu-Chen Safonov, Michael G. Department of Electrical Engineering - Systems University of Southern California Los AngelesCA90089-2563 United States

The BHMT (Battistelli-Hespanha-Mosca-Tesi) reset mechanism which is a new scheme to control time-varying plant under the framework of unfalsified adaptive control is investigated. The reset condition is modified based on the gains of the control system components, making it adaptive, free of uncertain parameters, and practically implementable in a switching algorithm. The framework of generalized bumpless transfer system is established for switching of a controller. Performance including stability is proved given that the adaptive stabilization problem is feasible. The proposed switching algorithm is nonlinear time-varying and it can control nonlinear time-varying plant using nonlinear controllers. © 2016

关键词： Adaptive control systems Asymptotic stability Controllers Stabilization Time varying control systems Uncertainty analysis Adaptive stabilization Bumpless transfer Non linear controllers Reset switching algorithms Uncertain parameters Unfalsified adaptive control Unfalsified control

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Synchronization of Coupled Harmonic Oscillators by Time-Dependent Topology switching

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IFAC-PapersOnLine 2018年第23期51卷 402-407页

作者： Mao, Yanbing Akyol, Emrah Department of Electrical and Computer Engineering Binghamton University–SUNY BinghamtonNY13902 United States

This paper studies the approach of taking network topology as a control variable for the analysis of coupled harmonic oscillators. We particularly consider the setting where the local control inputs of individual oscillators are governed by their relative positions. Based on the known results in the theory of stability of switched linear systems, we propose a time-dependent topology-switching algorithm that enables the oscillators to asymptotically achieve synchronization. The main advantages of the proposed method, with respect to the prior work, are two-fold: we allow the coupling strength to be negative; and we do not constrain the magnitude of positive coupling strength. Simulation results are provided to verify the effectiveness of the algorithm. © 2018

关键词： Topology Harmonic analysis Linear systems Oscillators (mechanical) Synchronization Asymptotic synchronization Coupled harmonic oscillators Coupling strengths Dwell time Relative positions Switched linear system switching algorithms Time dependent

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Maximum size matching is unstable for any packet switch

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IEEE COMMUNICATIONS LETTERS 2003年第10期7卷 496-498页

作者： Keslassy, I Rui, ZS McKeown, N Stanford Univ Comp Syst Lab Stanford CA 94305 USA

Input-queued packet switches use a matching algorithm to configure a nonblocking switch fabric (e.g., a crossbar). Ideally, the matching algorithm will guarantee 100% throughput for a broad class of traffic so long as the switch is not oversubscribed. An intuitive choice is the maximum size matching (MSM) algorithm, which maximizes the instantaneous throughput. It was shown, by McKeown et at in 1999, that with MSM the throughput can be less than 100% when N greater than or equal to 3, even with benign Bernoulli i.i.d. arrivals. In this, letter, we extend this result to N greater than or equal to 2, and hence show it to be true for switches of any size.

关键词： instability maximum size matching (MSM) switching algorithms

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Collaborative Eco-Drive of Railway Vehicles via Switched Nonlinear Model Predictive Control⁎

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IFAC-PapersOnLine 2018年第30期51卷 626-631页

作者： Farooqi, Hafsa Incremona, Gian Paolo Colaneri, Patrizio Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Piazza Leonardo da Vinci 32 Milan20133 Italy

A switched Nonlinear Model Predictive Control (NMPC) strategy for time efficient energy control of railway vehicles, while fulfilling constraints on velocity, journey time and driving style in a collaborative fashion (collaborative eco-drive) is proposed. More specifically, the train dynamics are modeled as discrete, switched and nonlinear, while the optimization variable is the handle position which modulates the available traction/braking force and has to belong to a set of discrete values and/or operating modes, which the human driver is able to implement. Hence the aim is to choose the optimal handle position that minimizes the cost, is implementable by the driver and also fulfills the eco-driving objective, such that the driving style is constrained by predefined driving sequences. A supervisor detects the states of the trains and subsequently modifies the weights of the cost by negotiating between constraint satisfaction and control aggressiveness, in order to share the available regenerated braking energy among the connected trains in a substation network. The efficiency of the proposed switched NMPC strategy is demonstrated using realistic simulation case study. © 2016

关键词： Model predictive control Driver training Locomotives Nonlinear control systems Nonlinear systems Optimization Predictive control systems Railroads Constraint Satisfaction Nonlinear model predictive control Optimization variables Predictive control Realistic simulation Substation networks switching algorithms Train control

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