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HIERARCHICALLY SUPERVISED OUTPUT REGULATION OF LINEAR PLANTS WITH UNPREDICTABLE PARAMETER STEP CHANGES

IFAC Proceedings Volumes 2005年第1期38卷 30-35页

作者： L. Jetto V. Orsini Dipartimento di Ingegneria Informatica Gestionale e dell'Automazione Università Politecnica delle Marche Via Brecce Bianche 60131 Ancona Italy

A piece-wise time-invariant, linear process is defined allowing it to switch, from time to time, from the actual configuration to another one of a given family of linear, time-invariant plants. When and where switching occurs is not a priori known. It is required to find a stabilizing set-point following controller yielding an output step response with some desired specifications. The solution proposed is given by the connection of multiple families of linear controllers with a hierarchically supervised switching scheme.

关键词： Supervisory control switching algorithms hierarchical control control system synthesis stabilizing controllers

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Stabilization of Nonholonomic Integrators via Logic-Based switching

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IFAC Proceedings Volumes 1996年第1期29卷 2341-2346页

作者： João Pedro Hespanha Department of Electrical Engineering Yale University New Haven CT 06520 USA

This paper demonstrates how to stabilize a nonholonomic integrator using a hybrid control law employing switching and logic. Results concerning stability and performance of the resulting hybrid system are derived. One of the main advantages of this type of controller is that the stability analysis can be made using fairly straightforward arguments. The methodology used is generalizable to a larger class of control problems related to nonholonomic systems.

关键词： switching algorithms Supervisory control Nonlinear systems Stability analysis Performance analysis

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switching FROM VELOCITY TO FORCE CONTROL FOR THE ELECTRO-HYDRAULIC SERVOSYSTEM BASED ON LPV SYSTEM MODELING

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IFAC Proceedings Volumes 2002年第1期35卷 25-30页

作者： Takahiro Sugiyama Kenko Uchida Moog Japan Ltd. Engineering Group 1-8-37 Nishi Shindo Kanagawa 254-0019 Japan Department of Electrical Electronics and Computer Engineering Waseda University Tokyo 169-8555 Japan

In the hydraulic system, it is often that switch the control mode over from one to the other, such as from position to velocity or from velocity to force. In this paper, propose a flow calculation formula for the flow control valve in order to have an LPV system representation. Then, design gain scheduled controllers for the velocity and the force individually. During a switching mode, a control is generated by adding two controller outputs with appropriate ratios. Usefulness of this approach is shown by the experiment results, which are obtained from Injection molding machine application.

关键词： Injection molding Electro-hydraulic systems LPV System H-infinity switching algorithms

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switching Control Approach to Construct the Guaranteed Safe Region of A Tethered Satellite

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IFAC Proceedings Volumes 2004年第11期37卷 337-342页

作者： Masamitsu Okazaki Toshiyuki Ohtsuka Dept. of Computer-Controlled Mechanical Systems Graduate School of Engineering. Osaka University

A tethered satellite is connected with a string called tether to a mother ship. Since the tether cannot be pushed, the control tension is constrained to be nonnegative. Additionally, since the tether has flexibility, its analysis is difficult. Therefore it is difficult to guarantee that the tethered satellite does not collide with the mother ship, the tether does not twine, and so on. Nevertheless, it has not been discussed enough to guarantee safety. To operate the satellite safely avoiding aforementioned situations, we propose to give switching conditions for the control input.

关键词： Large space structures Satellite control Nonlinear control Safety analysis Constraint satisfaction switching algorithms

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switching-based Regulation of Uncertain Stable Linear Systems Affected by an Unknown Harmonic Disturbance

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IFAC-PapersOnLine 2019年第16期52卷 604-609页

作者： Yang Wang Andrea Serrani Gilberto Pin Thomas Parisini Dept. of Electrical and Electronic Engineering Imperial College London UK Dept. of Electrical and Computer Engineering The Ohio State University Columbus OH USA Electrolux Italia S.p.A Italy Dept. of Engineering and Architecture University of Trieste Italy

The problem of rejection of a sinusoidal disturbance with unknown frequency acting on an unknown single-input-single-output stable linear system is addressed in this paper. We present a new hybrid approach that does not require knowledge of the frequency response of the transfer function over the range of frequencies of interest. The proposed controller reposes upon a switching strategy within a family of linear controllers based on the adaptive feedforward / internal model control methodology. A dead-beat frequency estimation method is integrated in the controller. The method also accounts for the presence of bounded sensor noise as well as imprecise frequency estimation. It is shown that, within a finite number of switchings, the regulation error is ultimately bounded by a function of the norm of the noise that depends on the choice of the controller and the estimator gains.

关键词： output regulation disturbance rejection switching algorithms active noise control feedforward control

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Active Coordination of Thermal Household Appliances for Load Management Purposes

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IFAC Proceedings Volumes 2009年第9期42卷 149-154页

作者： Stephan Koch Marek Zima Göran Andersson ETH Zurich EEH - Power Systems Laboratory Physikstrasse 3 8092 Zurich Switzerland Web Site: http://www.eeh.ee.ethz.ch

In this paper, a coordination approach for thermostat-controlled household appliances is developed. Under consideration are heating and cooling devices such as refrigerators, freezers, water boilers and heat pumps, which are usually characterized by an intermittent (duty cycle) operation. Without influence from the outside, an internal hysteresis switching controller toggles the “on/off” state of a device when its temperature boundary is reached. In order to realize the approach proposed here, the devices are connected to a central control entity by two-way communication. The coordination consists of a step-wise heuristic solution of a binary optimization problem, which serves to select a number of devices in each time step that are subject to compulsory switching, i.e. toggling the “on/off” state. It allows a large group of devices to track a setpoint trajectory with its aggregated power consumption, acting like a distributed virtual energy storage, while the individual temperature bounds of the appliances are not violated. This behavior can be used for grid-control purposes, such as the provision of active power reserves. It will be shown that the group of appliances can be characterized by an approximate aggregated dynamical model consisting of a first-order differential equation together with an approximate aggregated nonlinear cost function penalizing the control actions. The developed methodology is evaluated in a numerical simulation with a small appliance cluster corresponding to a residential housing area.

关键词： Electrical Appliances Load Modeling On-Off-Controllers Load Regulation Binary Control switching algorithms

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Robust Control of a Manufacturing Facility with Uncertain Processing Rates

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IFAC Proceedings Volumes 1996年第1期29卷 517-522页

作者： F.E Thau C. Cao Department of Electrical Engineering City College of New York New York N. Y. 10031 Tel. 212-650-8383

A procedure is presented for designing a real-time controller that, despite imprecise knowledge of the processing rates of a multi-part-type manufacturing facility, will achieve a desired cyclical operation mode and will return the facility to this operating mode in finite time when isolated disturbances occur. To achieve finite-time disturbance correction, while compensating for the uncertainty in processing rates, the controller uses a switching strategy to specify the processing times and idling intervals for each part-type, and to dynamically allocate the raw material input rate.

关键词： Manufacturing systems Scheduling algorithms switching algorithms

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Expected Cost Optimization using Asymmetric Probability Density functions

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IFAC Proceedings Volumes 2009年第11期42卷 744-749页

作者： Bertrand Pigeon Michel Perrier Bala Srinivasan NSERC Environmental Design Engineering Chair in Process Integration Department of Chemical Engineering école Polytechnique de Montréal C.P. 6079 Succ. Centre Ville Montréal Québec Canada H3C 3A7

Abstract In the stochastic context, expected value of the cost function is optimized either by changing the mean values of the manipulated variables or by reducing their variance. An extension is to look for an optimal shape for the entire probability density function (PDF). Though the use of asymmetric PDFs is proposed in the literature, no formal proof that justifies their use has been provided. In this paper, it is shown that an asymmetric PDF is required if and only if the cost function is asymmetric and the manipulated variable is penalised. The proof uses an analytical solution of the Fokker-Planck-Kolmogorov equation derived to calculate the shape the output PDF for scalar systems. In particular, this analytical solution is adapted to a switching proportional controller. The theoretical concepts are illustrated on a simulation example, where the advantage of choosing an asymmetric PDF is shown.

关键词： Stochastic control Optimization Probability Density Functions switching algorithms

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A Calibration-Free, Self-Adjusting Stereo Visual Control System

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IFAC Proceedings Volumes 1996年第1期29卷 343-348页

作者： Wen-Chung Chang A.S. Morse Gregory D. Hager Department of Electrical Engineering Yale University P. O. Box 208267 New Haven CT 06520-8267 Department of Computer Science Yale University P.O. Box 208285 New Haven CT 06520-8285

The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters. The control strategy is based on the concepts of cyclic switching (Pait 1993) and dwell-time switching (Morse 1995a). With these techniques, it is possible to design and implement a supervisory control system capable of transferring to and holding at a prescribed set-point, the output of a process modeled by a dynamical system with large scale parametric uncertainty.

关键词： Robotic manipulators Robot vision Self-adjusting systems switching algorithms Supervisory control Set-point control

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GAIN REDUCTION IN SWITCHED SLIDING MODE CONTROL

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IFAC Proceedings Volumes 2005年第1期38卷 711-716页

作者： Antonella Ferrara Riccardo Scattolini Dipartimento di Informatica e Sistemistica – Università di Pavia – Via Ferrata 1 – 27100 Pavia – Italy Dipartimento di Elettronica e Informazione – Politecnico di Milano – Piazza Leonardo da Vinci 32 20133 Milano – Italy

A switched sliding mode control strategy for a class of nonlinear uncertain systems is presented in this paper. It is characterized by an event-driven gain reduction mechanism which relies on a decomposition of the system state into regions. By enforcing sliding mode behaviors on a suitable set of sliding manifolds, while avoiding the generation of limit cycles, the proposed strategy proves to globally asymptotically stabilize the origin of the system state space.

关键词： Nonlinear systems uncertain systems sliding–mode control switching algorithms variable-structure systems

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