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Adaptive distributed Control of a Flexible Manipulator Using an Iterative Learning Scheme

IEEE ACCESS 2019年 7卷 145934-145943页

作者： Yang, Yan Liu, Zhijie Ma, Ge Xidian Univ Sch Electromech Engn Xian 710071 Shaanxi Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing 100083 Peoples R China Guangzhou Univ Sch Mech & Elect Engn Guangzhou 510006 Guangdong Peoples R China

This paper presents an adaptive distributed control method based on an iterative learning scheme for a flexible manipulator to realize trajectory tracking and vibration reducing. The dynamical model of the flexible manipulator is captured by partial differential equations (PDEs). The control objective is to design a boundary controller and a distributed controller so that the motion of the flexible manipulator can track a desired position, and the deflection can be suppressed simultaneously subjecting to system parameters uncertainties and spatio-temporal distributed disturbances. A Lyapunov based stability analysis is carried out to achieve stability of the controlled system. Finally, simulation results evaluate the validity of the derived control scheme.

关键词： distributed control iterative learning control adaptive control flexible manipulator distributed parameter system

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Receding horizon optimal operation and control of a solar-thermal district heating system

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AICHE JOURNAL 2018年第4期64卷 1217-1233页

作者： Xu, Xiaodong Yuan, Yuan Dubljevic, Stevan Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2G6 Canada

This work focuses on the receding horizon optimal control for a solar-thermal district heating (STDH) system containing lumped parameter and distributed parameter subsystems. A common STDH system includes solar collector system, a short-term energy storage tank and a district heating loop system with a secondary gas boiler system. The inclusion or exclusion of these components leads to different operational and working modes. Detailed system description and mathematical models are provided, and three working modes are introduced and in each mode several operations are demonstrated and addressed. Single-objective and multiobjective problems are formulated. Moreover, in the mode where gas boiler system is included to help addressing the district heating demand, the internal model based boundary servo-control approach is proposed and applied to obtain desired boiler water temperatures such that the expected district heating demand can be satisfied. Moreover, a boundary state observer is designed for the considered solar collector system. (c) 2017 American Institute of Chemical Engineers AIChE J, 64: 1217-1233, 2018

关键词： distributed parameter system partial differential equation receding horizon optimal control single-objective optimization multiobjective optimization internal model control boundary state observer

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Microvia Superfilling Process Control

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IFAC-PapersOnLine 2019年第7期52卷 85-90页

作者： R. Tenno A. Pohjoranta Aalto University School of Electrical Engineering PO Box 15500 Aalto Finland VTT Technical Research Centre of Finland PO Box 1000 02014 VTT Finland

Electrochemical thermodynamics is the foundation of the microvia fill process, whose model represents the mass conservation of species (copper ions and surfactants) in the condition of moving boundary. The shape of via changes due to the deposed metallic copper, whose growth depends on the blocking effect of surfactants, which in turn depends on the boundary curvature. The via filling process is controlled through the boundary by adjusting the electric current flowing through the bath system. Maximizing the current raises the via fill process speed but ends up in depletion of the copper ions at the bottom of via causing an incomplete via fill (poorly fabricated board). In this paper the problem is solved by adjusting the concentration of copper ions to a reference value near the panel surface of the plated board. The stabilizing control is proposed based on the developed via fill model. By applying the control, the via fill process can be sped up by ca. 20% and the via dimple minimized 5% without risking product output quality.

关键词： electrodeposition distributed parameter system boundary control

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On approximation and implementation of transformation based feedback laws for distributed parameter systems

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IFAC-PapersOnLine 2017年第1期50卷 6786-6792页

作者： Woittennek F. Riesmeier M. Ecklebe S. Institute of Automation and Control Engineering University of Health Sciences Medical Informatics and Technology Hall in Tirol 6060 Austria Institute of Control Theory Technische Universität Dresden Dresden 01069 Germany

This paper presents an approach for the efficient numerical implementation of transformation based state feedback laws for linear distributed parameter systems. The control laws considered may originate from backstepping or flatness-based design methods. They are, therefore, directly based on the underlying distributed parameter systems. In general, they are given as unbounded functionals on the infinite-dimensional state-space. By approximating a carefully chosen bounded part, the implementation of these feedback-operators can be considerably simplified. This is achieved by approximating the state in appropriate finite-dimensional sub-spaces of the state-space. The choice of these sub-spaces as well as the controller implementation are discussed for both, a particular motivating example specific and the general case. For the implementation and validation of the obtained approximated controllers the python-based software toolbox PyInduct is introduced. © 2017

关键词： backstepping distributed parameter system feedback control flatness hyperbolic system late lumping parabolic system state feedback

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Iterative Learning Control for distributed parameter systems Based on Actuator-Sensor Network 7

Iterative Learning Control for Distributed Parameter Systems...

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7th International Conference on Information Science and Technology (ICIST)

作者： Zhang, Jianxiang Cui, Baotong Lou, Xuyang Jiangnan Univ Sch IoT Engn Wuxi 214122 Peoples R China

ISBN: (纸本)9781509054015

The iterative learning control technique is generalized to distributed parameter systems based on actuator-sensor network. Firstly, an open-loop D-type and a closed-loop D-type ILC schemes are presented for a class of distributed parameter system with single sensor-actuator respectively. Then, we derive sufficient conditions for tracking error convergence. Secondly, we consider distributed parameter systems with multiple sensors-actuators and obtain the convergence of tracking error under an open-closed-loop D-type ILC scheme. The numerical simulation results illustrate the effectiveness of the proposed ILC schemes.

关键词： iterative learning control distributed parameter system actuator-sensor network

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Flatness-based control design for the Saint-Venant equations with experimental results

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IFAC-PapersOnLine 2019年第16期52卷 60-65页

作者： Justus Kopp Frank Woittennek Institute of Automation and Control Engineering UMIT 6060 Hall in Tirol Austria

Control design for a fluid in a pipe with arbitrary cross-sectional area is considered. The position (resp. the velocity) of a piston moving within the tube acts as control input. The system dynamics are described by the so-called Saint-Venant equations defined on a varying spatial domain. The flatness-based approach is utilized in order to parameterize rest-to-rest transitions of the system by means of the water level at the uncontrolled boundary. This way the contribution extends previous results to systems with moving boundary. The proposed control scheme is validated in experimental studies.

关键词： distributed parameter system feedforward control flatness nonlinear systems Saint-Venant equations hyperbolic system trajectory planning partial differential equations

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Vibration control for a flexible spacecraft in the presence of external disturbance 33

Vibration control for a flexible spacecraft in the presence ...

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33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Fu, Yun Liu, Yu Wu, Yilin Wu, Xinsheng South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Guangdong Univ Educ Dept Comp Sci Guangzhou 510310 Guangdong Peoples R China

ISBN: (纸本)9781538672556

In this paper, the vibration reduction of spacecraft with flexible appendages subject to external boundary disturbance and input restriction is focused on. Under Hamilton's principle, a spacecraft system with restricted input is modeled as a set of partial differential equations (PDEs) and ordinary differential equations (ODEs). By Lyapunov direct method, a boundary control is developed to suppress the elastic deflection of flexible appendages. Two disturbance observers are developed to compensate fir the influences of external disturbances. Two auxiliary systems are considered for eliminating the influences of input constraints. The uniformly ultimate houndness stability of system states is proved under the designed boundary control. Numerical simulation is carried out to demonstrate the performance of the studied boundary control scheme.

关键词： Vibration control distributed parameter system Boundary control Disturbance observer Input saturation

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Boundary Control of Reacting Species in Semi-infinite and Finite Diffusion Processes

Boundary Control of Reacting Species in Semi-infinite and Fi...

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17th IFAC Technical-Committee-on-Optimal-Control (TC 2.4) Workshop on Control Applications of Optimization (CAO)

作者： Tenno, R. Aalto Univ Sch Elect Engn POB 15500 Aalto Finland

Boundary control of oxidizing species at the cathode surface is considered in an electrochemical system, which is the plant of two electrodes and plant of three electrodes submerged in the stirred and unstirred electrolytes. The exact feedforward controls are found using ideas of motion planning, Laplace transform and other techniques that in the end solve the inverse problem for the given time-variable reference of species at the cathode surface. The uncertainty of surface reaction existing in the system is suppressed with two modifications of controls. In the first case, the feedforward control is extended with a PI feedback that uses measured in the process electric current passing through the system. In the second case, an adaptive feedforward control is established for the case when the exchange current density is unknown drifting parameter and is estimated as it changes using a conditionally Gaussian filter. In both cases, the process control is simulated and revealed to be effective. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed parameter system stochastic process boundary control

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Vibration Control for a Floating Ocean Thermal Energy Conversion system 33

Vibration Control for a Floating Ocean Thermal Energy Conver...

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33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Song, Yuhua He, Xiuyu Li, Guang He, Wei Sun, Changyin Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Peoples R China Queen Mary Univ London Sch Engn & Mat Sci London England Southeast Univ Sch Automat Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781538672556

A floating ocean thermal energy conversion (FOTEC) is investigated with considering the mooring dynamics and the effect of the external disturbances In this paper. The main contributions of this paper are to analyze and describe the dynamics of the flexible string-beam-coupled system where the flexible pipe is with free motion, and to design boundary cooperative controls to position the vessel and reduce the deformation of the flexible pipe. The theoretic analysis and experimental experiments are made to present the effectiveness of the proposed cooperative control laws.

关键词： Flexible String-Beam-Coupled system Cooperative Vibration Control distributed parameter system Floating Ocean Thermal Energy Conversion

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Observers' Synthesis via transformation for complex system: Application to a biologic system 15

Observers' Synthesis via transformation for complex system: ...

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15th International Multi-Conference on systems, Signals and Devices (SSD)

作者： Saadi, Wided Boutat, Driss Abdelhedi, Abdessamad Sbita, Lassaad Natl Engn Sch Gabes Zrig 6029 Gabes Tunisia Orlans Univ INSA Ctr Val Loire F-18022 Bourges France

ISBN: (纸本)9781538653050

This paper focuses on observer design for the biologic system to estimate the sensitive population S. In fact, we synthesis two types of observer: the first one concerns this non-linear system when the state variables depend only on time (finite dimension). It is done by transforming the system into a form of extended nonlinear normal form observability. The second one is constructed while considering the development of modelisation researches where engineers propose a new model of the biological system which state variables depend on both time and space (infinite dimension). This system model is called distributed parameter system. The conception of the observer is based on the backstepping technique which transforms the original system into an exponentially stable error system.

关键词： Observer Transformation Normal Extended Form distributed parameter system Backstepping Epidemic system

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