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25th IEEE International Symposium on Industrial Electronics (ISIE)

作者： Osawa, Yukiko Katsura, Seiichiro Keio Univ Dept Syst Design Engn Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)9781509008735

Technique of rendering thermal sensation can connect people who are in remote locations, such as teletherapy and a multimodal system. Humans feel detailed temperature distribution and recognize the characteristic of a contacting object. Although, conventional method can only render the thermal sensation of a fingertip or a part of a hand. In the case of combining these techniques with robot for human support, the robot can only touch one point of a material. This paper proposed the method of temperature control for rendering thermal sensation considering spatial diffusion. The method can spread the area of rendering and help rendering spatial sensations. The validity of the proposed method is verified through some experiments.

关键词： distributed parameter system Thermal diffusion equation Temperature control Peltier device

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Active disturbance rejection controller design for distributed parameter systems

Active disturbance rejection controller design for distribut...

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Chinese Automation Congress (CAC)

作者： Xiao, Jing Li, Dazi Zhou, Jinglin Beijing Univ Chem Technol Coll Informat Sci & Technol Beijing Peoples R China

ISBN: (纸本)9781467371896

A control problem of dynamic processes described by partial differential equations (PDE's) is proposed and studied in this paper. They are linear distributed parameter models. The inputs of the models discussed are position-independent. As is known to all, distributed parameter systems always demand high tracking precision and good stability. However, it is difficult for classical approaches to achieve a high performance in disturbance rejection. Active disturbance rejection controller (ADRC) has great ability of resisting disturbance and could meet the demand of fast-track. In order to ensure the system output converging to the reference value, ADRC controller is designed. Extended state observer (ESO) is a key part of ADRC and a reasonable designed ESO can improve the performance of ADRC. In this study, the Gaussian approximation is used to design a higher order ESO to eliminate the model uncertainty and total disturbance. Simulation results indicate that ADRC controller is superior to traditional PI controller both in terms of set-point tracking and disturbance rejection.

关键词： ADRC distributed parameter system heat exchanger non-isothermal plug flow reactor

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Event-triggered control of spatially distributed processes via unmanned aerial vehicle

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC systemS 2016年第6期13卷 1-9页

作者： Lou, Xuyang Jiang, Zhengxian Jiangnan Univ Inst Syst Engn Wuxi 214122 Peoples R China

This article concerns the problem of event-triggered observer-based output feedback control of spatially distributed processes under the autonomous operation of an unmanned aerial vehicle. The specific spatially distributed process is modeled within the distributed parameter systems framework. To control the considered distributed parameter system efficiently, we first estimate the states with an observer based on the measurement information from sensors. Then, an event-triggered observer-based controller is designed, which can reduce the frequency of signal transmissions between the observer and the controller. In contrast to normal sampled-data controller that is updated periodically, the event-triggered controller is updated only when an "event'' happens. Moreover, the Zeno behavior is also excluded by proving there exists a lower bound for interexecution time. Numerical simulations are finally presented to illustrate the effectiveness of the proposed control method.

关键词： Unmanned aerial vehicle event-triggered control distributed parameter system observer

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Boundary control of a Timoshenko beam system with input dead-zone

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INTERNATIONAL JOURNAL OF CONTROL 2015年第6期88卷 1257-1270页

作者： He, Wei Meng, Tingting Liu, Jin-Kun Qin, Hui Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Ctr Robot Chengdu 611731 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

In this paper, boundary control is designed for a Timoshenko beam system with the input dead-zone. By the Hamilton's principle, the dynamics of the Timoshenko beam system is represented by a distributed parameter model with two partial differential equations and four ordinary differential equations. The bounded part is separated from the input dead-zone and then forms the disturbance-like term together with the boundary disturbance, which finally acts on the Timoshenko beam system. Boundary control, based on the Lyapunov's direct method, is proposed to ensure the Timoshenko beam converge into a small neighbourhood of zero, where stability of the system is also analysed. Besides, the existence and uniqueness of the solution of the Timoshenko beam system are proved. Simulations are provided to reveal the applicability and effectiveness of the proposed control scheme.

关键词： distributed parameter system vibration control input dead-zone Timoshenko beam

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Modeling and state estimation for gas transmission networks

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JOURNAL OF NATURAL GAS SCIENCE AND ENGINEERING 2015年 22卷 551-570页

作者： Behrooz, Hesam Ahmadian Boozarjomehry, R. Bozorgmehry Sharif Univ Technol Dept Chem & Petr Engn Tehran Iran

In this paper, a non-isothermal model of natural gas in pipelines including mass, momentum and energy balance equations are used as model equations for modeling and state estimation in gas pipeline systems. It is shown that differential equations describing the dynamic behavior of a high-pressure and long-distance gas transmission network (GTN) can be solved efficiently using the orthogonal collocation method. The issues corresponding to the presence of discontinuities in the dynamic model is substantially discussed and studied. The non-isothermal model of a GTN can experience discontinuities during transient operations, which causes challenges in simulation and state estimation in this system. An algorithm is proposed to handle the discontinuities that appear in the dynamic model of a GTN. The states of GTN are estimated using the continuous/discrete form of the extended Kalman filter for two benchmarks and some heuristic rules for sensor placement in a GTN are concluded. To avoid the singularity in the observability analysis of GTNs, a recursive method for the observability analysis of these networks is used. (C) 2015 Elsevier B.V. All rights reserved.

关键词： High-pressure gas networks Orthogonal collocation Flow reversal Discontinuity Kalman filtering distributed parameter system

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Modeling and Vibration Control for a Nonlinear Moving String With Output Constraint

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2015年第4期20卷 1886-1897页

作者： He, Wei Ge, Shuzhi Sam Huang, Deqing Univ Elect Sci & Technol China Sch Automat Engn Ctr Robot Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Ctr Robot Chengdu 611731 Peoples R China Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Univ London Imperial Coll Sci Technol & Med Dept Aeronaut London SW7 2AZ England

In this paper, boundary control laws are developed to stabilize the transverse vibration for a nonlinear vertically moving string system. The control system is considered with varying length, varying speed, and the constrained boundary output. Based on the integral-barrier Lyapunov function, the exponential stability is proved with the proposed control without consideration of the disturbance. When the external boundary disturbance is taken into account, the disturbance observer is designed to eliminate its effect. The vibration is regulated and the boundary output always remains in the constrained space by appropriately choosing the control parameters. The control design and the stability analysis are based on the original infinite-dimensional dynamic equations. Extensive numerical examples illustrate the performance of the control system.

关键词： Boundary control distributed parameter system flexible structures vibration control

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Optimal Gyricity Distribution for Space Structure Vibration Control

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2015年第7期38卷 1218-1228页

作者： Chee, Stephen A. Damaren, Christopher J. McGill Univ Dept Mech Engn Montreal PQ H3A 0C3 Canada Univ Toronto Inst Aerosp Studies Toronto ON M3H 5T6 Canada

Many space vehicles have been launched with large flexible components such as booms and solar arrays. These large space structures may require active shape control given the possibility of lightly damped vibrations. Such vibrations can be controlled using a collection of control moment gyros, which consist of a spinning wheel in gimbals and produce a torque when the orientation of the wheel is changed. This study investigates the optimal distribution of these control moment gyros on large space structures for vibration suppression. Initially, a continuum model is adopted that represents the distribution of control moment gyros by a continuous distribution of stored angular momentum (gyricity). The optimal control solution for the gimbal motions (for a given gyricity distribution) is then optimized with respect to the gyricity distribution. Further investigation considers discrete parameter models of beam and a plate structures with evenly placed discrete pointwise control moment gyros. Numerical optimization of a suitable cost function allocates the amount of stored angular momentum possessed by these control moment gyros.

关键词： Large Space Structures Vibration Control distributed parameter system Control Moment Gyros Optimal Control Vibration Suppression Numerical Optimization Finite Element Method Flexible Structures Momentum Bias

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Top Tension Control of a Flexible Marine Riser by Using Integral-Barrier Lyapunov Function

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2015年第2期20卷 497-505页

作者： He, Wei Sun, Chen Ge, Shuzhi Sam Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Inst Robot Chengdu 611731 Peoples R China Univ Toronto Edward S Rogers Sr Dept Elect & Comp Engn Toronto ON M5S 3G4 Canada Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Univ Elect Sci & Technol China Sch Comp Sci & Engn Inst Robot Chengdu 611813 Peoples R China

This paper presents a boundary controller for a flexible marine riser to suppress the riser's vibration with a top tension constraint. The flexible marine riser is described by a distributed parameter system with a partial differential equation and four ordinary differential equations. The boundary controller is designed at the top boundary of the riser based on an integral-barrier Lyapunov function to suppress the riser's tension at top. Adaptive control is designed when the system parametric uncertainty exists. With the proposed robust adaptive boundary control, uniformed boundedness under the ocean disturbance can be achieved. Stability analysis of the closed-loop system is given using the Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed boundary controller with top tension constraint.

关键词： Boundary control distributed parameter system flexible riser flexible structures vibration control

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Polynomial Input-Output Stability for Linear systems

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2015年第10期60卷 2797-2802页

作者： Paunonen, Lassi Laakkonen, Petteri Tampere Univ Technol Dept Math FIN-33101 Tampere Finland

We introduce the concept of polynomial input-output stability for infinite-dimensional linear systems. We show that this stability type corresponds exactly to the recent notion of P-stability in the frequency domain. In addition, we show that on a Hilbert space a regular linear system whose system operator generates a polynomially stable semigroup is always polynomially input-output stable, and present additional conditions under which the system is input-output stable. The results are illustrated with an example of a polynomially input-output stable one-dimensional wave system.

关键词： distributed parameter system stability

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Vibration Control of a Flexible Beam With Output Constraint

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2015年第8期62卷 5023-5030页

作者： He, Wei Ge, Shuzhi Sam Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Ctr Robot Chengdu 611731 Peoples R China Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

In this paper, we present the vibration control design for a Euler-Bernoulli beam with the boundary output constraint. To prevent the constraint violation, a novel barrier Lyapunov function is employed for the control design and stability analysis. This paper represents an important step in extending the barrier Lyapunov function theory to distributed parameter systems. Model-based barrier control is proposed to suppress the vibration of a flexible Euler-Bernoulli beam under the boundary output constraint. Then, adaptive control is designed to handle the system parametric uncertainties. The vibration suppression is well achieved without violation of the constraint. Numerical simulations are provided to illustrate the performance of the control system.

关键词： Boundary control distributed parameter system Euler-Bernoulli beam flexible structure output constraint vibration control

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