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INTEGRATOR RESET ANTI-SPIN FOR MARINE THRUSTERS OPERATING IN FOUR-QUADRANTS AND EXTREME SEA CONDITIONS

IFAC Proceedings Volumes 2007年第17期40卷 205-210页

作者： Jostein Bakkeheim Luca Pivano Tor A. Johansen Øyvind N. Smogeli Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Marine Cybernetics Vestre Rosten 77 NO-7075 Tiller Norway

Transient regimes arise when the propeller of a ship is operating in extreme seas, where ventilation and in-and-out of water effects results in loss of propeller thrust. By introducing Lyapunov based controller state reset, the performance in transient regimes may be increased without influencing the performance in calm seas. Improvements have been presented previously for dynamically positioned (DP) vessels. Transit operations, however, introduces additional losses due to variations in the propeller advance velocity. The controller in this paper combines an existing shaft speed reference generator that uses an estimate of the propeller torque losses with a PI shaft speed control law with integrator reset. Moreover, an anti-spin strategy is included to be able to operate also in extreme seas. The method is experimentally validated in a towing tank.

关键词： switching algorithms Lyapunov function Marine systems Anti-spin regulation PI controllers Propulsion control

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Hierarchical switching scheme for PID control of underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 439-446页

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

This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The vehicle is subjected to different load configurations, which introduce considerable variations of its mass and inertial parameters. The ensemble of possible vehicle configurations are known, but, it is here assumed that neither the time instants when these changes occur nor the new vehicle configuration following the change are "a priori" known. To cope with this problem, a switching scheme governed by two Decision Makers (DM) operating at two different hierarchical levels is proposed. Multiple plant models are defined to describe the different possible operative conditions of the vehicle. The task of the hierarchically higher Decision Maker (DM1) is to identify the model which refers to the current vehicle configuration and to drive the control law towards that corresponding to the actual operating condition. For each fixed model of the vehicle, a family of PID regulators is defined. Each PID is designed so as to obtain a specific desired feature of the step response and the hierarchically lower Decision Maker (DM2) governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour. The performance of the doubly switched controller so obtained is evaluated by numerical simulations.

关键词： Supervisory control Autonomous vehicles PID control switching algorithms Control system synthesis

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Safe switching in Multi-Controller Implementation

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IFAC Proceedings Volumes 2001年第14期34卷 127-132页

作者： Brian D.O. Anderson Thomas S Brinsmead Daniel Liberzon A. Stephen Morse RSISE Aust. Nat. Uni. ACT 0200 Australia CSL Uni. Illinois U-C IL 61801 USA Dept. Elec. Eng. Yale Uni. CT 06520-208267 USA

Multiple Model Adaptive Control involves a supervisor switching among one of a finite number of controllers as more is learnt about the plant. Safe Adaptive Control is concerned with ensuring that when the controller is changed in an adaptive control algorithm, the frozen plant-controller combination is never (closed loop) unstable. A controller scheme is proposed that combines these principles and involves a frequency-dependent performance measure based on the Vinnicombe metric. Safe switching is guaranteed to the extent which closed loop transfer function identification is accurate.

关键词： Adaptive Control switching algorithms Stability Properties

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A Design of Discrete-Time Robust PID Controllers with Adaptive switching Schemes

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IFAC Proceedings Volumes 1998年第22期31卷 267-272页

作者： Ryosuke Namba Toru Yamamoto Masahiro Kaneda Department of Communication Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan

Although many robust controllers have been proposed for the systems with uncertainties, most of them were too conservative. So, some design scheme of the controller satisfying both the robust stability and the good control performance has been desired. In this paper, a design scheme of a robust PID controller is proposed, which is composed of an adaptive switching scheme and some robust PID sub-controllers switched by the former according to a certain property of the controlled object. Finally, the proposed control scheme is investigated on a numerical simulation example.

关键词： PID control Robust stability Adaptive control switching algorithms Recursive least squares

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Mode switching and Smooth Motion Generation for Adaptive Cruise Control Systems by a Virtual Lead Vehicle

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IFAC Proceedings Volumes 2009年第15期42卷 490-496页

作者： S.G. Kim M. Tomizuka K.H. Cheng Department of Mechanical Engineering University of California Berkeley Berkeley CA 94720 USA Industrial Technology Research Institute Hsin Chu Taiwan R.O.C

The adaptive cruise control system maintains the appropriate distance to the lead vehicle when a lead vehicle exists, otherwise, it maintains the desired speed. These two objectives may be achieved by having two controllers, one for each objective, and a control mode switching logic. Introducing the virtual lead vehicle, however, only the distance control algorithm is used and the structure of the system can be significantly simplified. The speed and the location of the virtual vehicle are given by the control system according to the current situation. Smoother responses are achieved by the virtual lead vehicle scheme compared to the conventional mode switching scheme. The virtual lead vehicle scheme also generates smooth reaction for the host vehicle when the lead vehicle cut out or a vehicle cuts in from a side lane.

关键词： Automotive control Cruise control Vehicle dynamics switching algorithms Control algorithm

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GAIN REDUCTION IN HYBRID SLIDING MODE CONTROL OF SECOND ORDER SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 143-147页

作者： Antonella Ferrara Lorenza Magnani Riccardo Scattolini Dipartimento di Informatica e Sistemistica Università di Pavia - Via Ferrata 1 - 27100 Pavia - Italy

A hybrid sliding mode control strategy for a class of second order systems is presented in this paper. It is characterized by an event-driven gain reduction mechanism relying 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 two-dimensional systems sliding-mode control switching algorithms variable-structure systems

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A switching Q-Learning Approach Focusing on Partial States

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IFAC Proceedings Volumes 2013年第9期46卷 982-986页

作者： Keinosuke Matsumoto Taisuke Ikimi Naoki Mori Graduate School of Engineering Osaka Prefecture University Osaka Japan

Recently, applications of multiagent system are expected from the viewpoint of parallel and distributed processing of systems. Reinforcement learning attracts attention as an implementing method of the multiagent systems. However, there is a problem that the more the number of agents to deal with increases, the slower the speed of learning becomes. To solve this problem, we propose a new reinforcement learning that can learn quickly and reduce the amount of memory. It tries to increase learning efficiency of hunter games by paying attention to partial state of two agents among a large number of agents.

关键词： Machine learning Q-Learning switching algorithms State space Agents Hunter game

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Control of Nonlinear Systems Using Multiple Model Black-Box Identification

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IFAC Proceedings Volumes 2013年第23期46卷 582-587页

作者： Sergey Kolyubin Denis Efimov Vladimir Nikiforov Alexey Bobtsov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg 197101 RUSSIA Department of Engineering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim NORWAY Non-A INRIA — LNE Pare Scientique de la Haute Borne 40 avenue Halley Bat. A Park Plaza 59650 Villeneuve dAscq FRANCE Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St. P etersburg 199178 RUSSIA

The paper is devoted to development of control algorithms for nonlinear paramet-rically uncertain systems. Original system dynamics is approximated by a set of local NARX models combined by a special mixing rule. Algorithm for local models' parameters estimation and structure adjustment has been developed. Proposed approach allows straightforward designing of the combined feedforward/feedback controller.

关键词： Identification NARX model switching algorithms feedforward control

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Process Flow Identification Method using a Self Tuning Least Squares Algorithm

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IFAC Proceedings Volumes 1995年第24期28卷 353-355页

作者： Florin Ionescu Florin Hasler Department of Mechanical Engineering Fachhochschule Konstanz Germany

The plane Least Squares Algorithm has a relative good convergence to the stationary value of a process. Not the same about those which detains random flow mode changes or parameter slithering with comparable orders with the process noises. The method has appeared as solution of a practical on-line identification problem of a technological flow for an accurate row materials dosage. The usage of the low performances existing computing resources is a sine-qua-non condition.

关键词： Process identification Least-squares algorithm Dynamic behaviour Insensitivity switching algorithms

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Decentralized reduced-order switching control with pre-identification: Theoretical preliminaries

Decentralized reduced-order switching control with pre-ident...

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17th International Symposium of the Danube-Adria-Association-for-Automation-and-Manufacturing

作者： Perutka, K.

ISBN: (纸本)9783901509575

The paper deals with decentralized control. Firstly an introduction part is given. After this part there is given the theoretical background, which includes the description of multivariable controlled systems with disturbance and one way of decentralized control, namely the decentralized control of "P" structure of two variable system. This is followed by the main part of the paper, the formulation of the theoretical preliminaries of new modification of decentralized control including the order reduction, switching algorithm and pre-identification.

关键词： decentralized control identification algorithms switching algorithms

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