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Controllability analysis of a rotating body with flexible beams

Controllability analysis of a rotating body with flexible be...

引用

International Workshop on Robot Motion and Control (RoMoCo)

作者： A.L. Zuyev Institute of Applied Mathematics and Mechanics National Academy of Sciences of Ukraine Donetsk Ukraine

The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.

关键词： Controllability Lagrangian functions Control systems Mechanical systems Mathematics Mechanical factors Nonlinear dynamical systems Resonance Robots distributed parameter systems

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A finite dimensional modeling with explicit error bounds for spectral systems

A finite dimensional modeling with explicit error bounds for...

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IEEE Conference on Decision and Control

作者： J. Imai K. Wada Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan

In this paper, we present a reduced order modeling technique for a stable self-adjoint spectral system with unbounded input/output operators. An uncertainty model which covers the original distributed parameter system is formulated in view of finite dimensional controller design using linear robust control theory. The model is made of a finite dimensional nominal plant and frequency domain additive error bounds. The nominal model is a modal truncation containing a feed-through term with no dc errors between the nominal plant and the system. The bound is computable using elements of the system and partial knowledge of spectral structure. The formula obtained can be readily applicable to a wide class of systems including heat conduction and diffusion, and easily extended for systems with vibration.

关键词： Eigenvalues and eigenfunctions Uncertainty Robust control Frequency domain analysis Temperature control Control systems Finite difference methods Hilbert space systems engineering and theory distributed parameter systems

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Iterative Design of Suboptimal Feedback Control for Bilinear Parabolic PDE systems

Iterative Design of Suboptimal Feedback Control for Bilinear...

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2009 American Control Conference (ACC 2009)

作者： Chao Xu Eugenio Schuster Department of Mechanical Engineering and Mechanics Lehigh University 19 Memorial Drive West Bethlehem PA 18015 USA

ISBN: (纸本)9781424445233

Optimal control of infinite dimensional systems is one of the central problems in the control of distributed parameter systems. With the development of high performance computers, numerical methods for optimal control design have regained attention and achieved significant progress, mostly in the form of open-loop solutions. We consider in this work an optimal control problem for a bilinear parabolic partial differential equation (PDE) system. Based on the optimality conditions derived from Pontryagin's maximum principle for a reduced-order model, and stated as a two-boundary-value problem, we propose an iterative scheme for suboptimal closed-loop control design. In each iteration step, we take advantage of linear synthesis methods to construct a sequence of controllers. The convergence of the controller sequence is proved in appropriate functional spaces. When compared with previous iterative schemes, the proposed scheme avoids repeated numerical computation of the Riccati equation and therefore reduces significantly the number of ODEs that must be solved at each iteration step. A numerical simulation study shows the effectiveness of this new approach.

关键词： Feedback control Optimal control Riccati equations distributed control Centralized control Open loop systems Control systems distributed parameter systems High performance computing Partial differential equations

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Energy dissipation control and its applications

Energy dissipation control and its applications

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International Conference on Industrial Electronics, Control and Instrumentation

作者： Y. Hashimoto T. Tsuchiya Muroran Institute of Technology Hokkaido Japan Faculty of Engineering Hokkaido University of Education Sapporo Hokkaido Japan

A robust control is discussed for a certain class of nonlinear mechanical and distributed parameter systems whose desired state may correspond to a mechanical energy level of zero. In such systems, the control objectives are achieved by only dissipating their physical energy. The design procedures were formulated to obtain an asymptotically stable controller. As application examples, the load-swing suppression control of a crane system and the vibration control of a flexible arm where demonstrated. The controllers were found to have large robustness against the changes of the parameter values of the system, as predicted by the theory.< >

关键词： Energy dissipation Control systems Cranes Robust control Mechanical energy Nonlinear equations Robots Error correction distributed parameter systems Force control

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On accommodating particular analog system models with VHDL

On accommodating particular analog system models with VHDL

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IEEE International Workshop on Behavioral Modeling and Simulation (BMAS)

作者： G.S. Popescu Gheorghe Asachi Technical University of Iasi Romania

In this paper the problem of accommodating particular analog system models, with emphasis on interconnection representation, with discrete event simulators, and particularly with VHDL circuit descriptions, is discussed and a solution is proposed. The results can be successfully used for VHDL modeling and simulation, but they are implementation independent.

关键词： Circuit simulation Discrete event simulation Integrated circuit interconnections LAN interconnection Timing Equations Hardware design languages Digital integrated circuits Linear approximation distributed parameter systems

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Robust Model Reference Adaptive Control of Parabolic and Hyperbolic systems with Spatially-varying parameters

Robust Model Reference Adaptive Control of Parabolic and Hyp...

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IEEE Conference on Decision and Control

作者： J.Y. Kim J. Bentsman Department of Mechanical and Industrial Engineering University of Illinois Urbana-Champaign Urbana IL USA

A long-standing problem of the start-up instability in the model-reference adaptive control of distributed parameter systems caused by setting the initial controller parameter values sufficiently far from the ideal ones, unknown a priori, is solved for a class of systems. The latter include systems modeled by parabolic and hyperbolic partial differential equations (PDEs) with spatially varying parameters. The stabilizing direct model reference adaptive control (MRAC) laws are synthesized using Lyapunov redesign. The controller uses plant state and for hyperbolic case, additionally, its time derivative. The key feature of the approach proposed is the elimination from the control laws of the plant state spatial derivatives that could give rise to the closed loop system ill-posedness. The approach also prevents closed-loop system instability by keeping the gains for plant state and, in the hyperbolic case - state and its time derivative, negative under arbitrary initial controller parameter setting.

关键词： Robust control Adaptive control Control systems distributed parameter systems Control system synthesis Boundary conditions Partial differential equations Closed loop systems Output feedback Numerical simulation

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Classification of adaptive observers for non-square infinite dimensional systems with structured perturbations and disturbances

Classification of adaptive observers for non-square infinite...

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American Control Conference

作者： Michael A. Demetriou Worcester Polytechnic Institute Dept of Mechanical Engineering MA 01609 USA

ISBN: (纸本)9781509045839

This paper considers the adaptive observers of systems governed by partial differential equations with structured perturbations. As there are many combinations of control, observation, and parametric uncertainty and disturbances at the boundary, a classification of the various combinations is presented. In all cases considered, the parametric uncertainty entering the boundary is expressed as the product of the measured output with unknown parameters. Similarly, the disturbances are also entering at the same boundary as the parametric uncertainties. In all cases, the plant is written as an evolution equation in a Hilbert space and the interplay between the input, output and disturbances operators are presented, and for each case, the feasibility of the adaptive observer is discussed. Selecting the case where the boundary operator associated with the disturbance and the parametric uncertainty is co-located only with the output operator, the adaptive observer that estimates on line the process state, the disturbance and the unknown parameters is presented along with the stability and convergence results. Extensive numerical studies including the special case of nonlinear terms at the boundary are presented.

关键词： distributed parameter systems adaptive observers on-line estimation boundary observation boundary control boundary sources distributed parameter systems INPUT-OUTPUT Multidimensional systems Parametric Self tuning Boundary Unknown parameter perturbation disturbance Hilbert space Partial differential equations

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Computation of empirical eigenfunctions of parabolic PDEs with time-varying domain

Computation of empirical eigenfunctions of parabolic PDEs wi...

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American Control Conference

作者： Mojtaba Izadi Stevan Dubljevic Department of Chemical & Materials Engineering University of Alberta Canada T6G 2V4

ISBN: (纸本)9781457710957

In this work, we explore a methodology to compute the empirical eigenfunctions for the order-reduction of nonlinear parabolic partial differential equations (PDEs) system with time-varying domain. The idea behind this method is to obtain the mapping functional, which relates the time-evolution scalar physical property solution ensemble of the nonlinear parabolic PDE with the time-varying domain to a fixed reference domain, while preserving space invariant properties of the raw solution ensemble. Subsequently, the Karhunen-Loeve decomposition is applied to the solution ensemble with fixed spatial domain resulting in a set of optimal eigenfunctions that capture the most energy of data. Further, the low dimensional set of empirical eigenfunctions is mapped ("pushed-back") on the time-varying domain by an appropriate mapping resulting in the basis for the construction of the reduced-order model of the parabolic PDEs with time-varying domain. Finally, this methodology is applied in the representative cases of calculation of empirical eigenfunctions in the case of one and two dimensional model of nonlinear reaction-diffusion parabolic PDE systems with analytically defined domain evolutions. In particular, the design of both mappings which relate the raw data and function spaces transformations from the time-varying to time-invariant domain are designed to preserve dynamic features of the scalar physical property and we provide comparisons among reduced and high order fidelity models.

关键词： Eigenvalues and eigenfunctions Moment methods Time varying systems Reduced order systems distributed parameter systems Jacobian matrices Chemicals

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Figure control of flexible structures: Optimal surfaces of thin deformable primary

Figure control of flexible structures: Optimal surfaces of t...

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IEEE Conference on Decision and Control

作者： J. F. Creedon Aaron J. Ostroff NASA-Langley Research Center Hampton VA USA

Application of a modal control design technique to achieve discrete control of distributed parameter systems is considered. Results are presented for application of the design technique to achieve diffraction limited ... 详细信息

关键词： Optimal control Flexible structures Control design distributed control Control systems distributed parameter systems Optical design Diffraction Mirrors Telescopes

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Decentralized direct adaptive Fuzzy-Neural control of an anaerobic digestion bioprocess plant

Decentralized direct adaptive Fuzzy-Neural control of an ana...

引用

International IEEE Conference on Intelligent systems, IS

作者： Ieroham S. Baruch Rosalba Galvan-Guerra Department of Automatic Control 740 San Pedro Zacatenco Mexico Department of Automatic Contro San Pedro Zacatenco Mexico

The paper proposed to use Fuzzy-Neural Multi-Model (FNMM) identification and control system for decentralized control of distributed parameter anaerobic wastewater treatment digestion bioprocess, carried out in a fixed bed and a recirculation tank. The distributed parameter analytical model of the digestion bioprocess is reduced to a lumped system using the orthogonal collocation method, applied in three collocation points (plus the recirculation tank), which are used as centers of the membership functions of the fuzzyfied space variable of the plant. The states of the proposed FNMM identifier are implemented by a direct feedback-feedforward hierarchical FNMM controller. The comparative graphical simulation results of the digestion anaerobic system control, obtained via learning, exhibited a good convergence, and precise reference tracking outperforming the optimal control.

关键词： Programmable control Adaptive control Neural networks Control systems Optimal control Recurrent neural networks Wastewater treatment distributed parameter systems System identification Reduced order systems

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