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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Yang, Kaijun Morris, Kirsten Shaanxi Univ Sci & Technol Sch Elect & Control Engn Xian 710021 Peoples R China Univ Waterloo Dept Appl Math Waterloo ON Canada

ISBN: (纸本)9781713872344

This paper is concerned with optimal actuator location for a class of diffusion equations with boundary control. The problem of optimal actuator location based on a linear quadratic cost in case of the worst initial condition is formulated. This leads to a cost involving the operator norm of the Riccati operator. The existence of optimal locations within the uniform operator norm is guaranteed. A Galerkin-based algorithm for approximating the optimal locations, and the convergence of the approximation of the optimal locations is also presented. Copyright (c) 2023 The Authors.

关键词： Optimal actuator location Riccati operator Unbounded input operator distributed parameter systems partial differential equations infinite-dimensional systems.

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Adaptive output synchronization of networked positive real infinite dimensional systems using adaptive functional estimation

Adaptive output synchronization of networked positive real i...

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American Control Conference (ACC)

作者： Demetriou, Michael A. Worcester Polytech Inst Aerosp Engn Dept Worcester MA 01609 USA

ISBN: (纸本)9798350328066

This paper considers the synchronization of identical structurally perturbed infinite dimensional systems. Due to the structured perturbations, represented by nonlinear functions of output signals, a standard synchronization via standard consensus protocols cannot provide any form of agreement unless one removes the presence of structured perturbations. When the structured perturbations are estimated adaptively, via an adaptive functional estimation scheme, the inclusion of their adaptive estimates facilitates and enhances the synchronization of the networked systems. Adaptive consensus protocols are applied to both the synchronization controllers ensuring that all networked systems agree with each other, and to the functional estimates ensuring that all functional estimates are synchronized.

关键词： distributed parameter systems kernel approximation static output feedback synchronization functional estimation adaptive estimation

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Sub-Predictors and Classical Predictors for Finite-Dimensional Observer-Based Control of Parabolic PDEs

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IEEE CONTROL systems LETTERS 2022年 6卷 626-631页

作者： Katz, Rami Fridman, Emilia Tel Aviv Univ Sch Elect Engn IL-6997801 Tel Aviv Israel

We study constant input delay compensation by using finite-dimensional observer-based controllers in the case of the 1D heat equation. We consider Neumann actuation with nonlocal measurement and employ modal decomposition with N + 1 modes in the observer. We introduce a chain of M sub-predictors that leads to a closed-loop ODE system coupled with infinite-dimensional tail. Given an input delay r, we present LMI stability conditions for finding M and N and the resulting exponential decay rate and prove that the LMIs are always feasible for any r. We also consider a classical observer-based predictor and show that the corresponding LMI stability conditions are feasible for any r provided N is large enough. A numerical example demonstrates that the classical predictor leads to a lower-dimensional observer. However, it is known to be hard for implementation due to the distributed input signal.

关键词： distributed parameter systems observer-based control time-delay

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Single-Input Perturbative Control of a Quantum Symmetric Rotor

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IEEE CONTROL systems LETTERS 2022年 6卷 2425-2430页

作者： Chambrion, Thomas Pozzoli, Eugenio Univ Bourgogne Franche Comte CNRS UMR 5584 Inst Math Bourgogne F-21000 Dijon France

We consider the Schrodinger partial differential equation of a rotating symmetric rigid molecule (symmetric rotor) driven by a z-linearly polarized electric field, as prototype of degenerate infinite-dimensional bilinear control system. By introducing an abstract perturbative criterium, we classify its simultaneous approximate controllability;based on this insight, we numerically perform an orientational selective transfer of rotational population.

关键词： Controllability Eigenvalues and eigenfunctions Mathematical models Rotors Prototypes Hilbert space Volume measurement Algebraic geometric methods distributed parameter systems quantum control

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Leader-Follower Synchronization of a Network of Boundary-Controlled Parabolic Equations With In-Domain Coupling

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IEEE CONTROL systems LETTERS 2022年 6卷 2006-2011页

作者： Kabalan, Abbas Ferrante, Francesco Casadei, Giacomo Cristofaro, Andrea Prieur, Christophe Mines Paris PSL Univ Dept Mech Engn F-75006 Paris France Univ Perugia Dept Engn I-06125 Perugia Italy Univ Lyon Ecole Cent Lyon Dpt EEA Lab Ampere F-69134 Ecully France Sapienza Univ Rome Dept Comp Control & Management Engn I-00185 Rome Italy Univ Grenoble Alpes CNRS GIPSA Lab Grenoble INP Grenoble France

In this letter, we study the leader-synchronization problem for a class of partial differential equations with boundary control and in-domain coupling. We describe the problem in an abstract formulation and we specialize it to a network of parabolic partial differential equations. We consider a setting in which a subset of the followers is connected to the leader through a boundary control, while interconnections among the followers are enforced by distributed in-domain couplings. Sufficient conditions in the form of matrix inequalities for the selection of the control parameters enforcing exponential synchronization are given. Numerical simulations illustrate and corroborate the theoretical findings.

关键词： Synchronization Couplings Mathematical models Linear matrix inequalities Visualization Symmetric matrices Space heating distributed parameter systems network analysis and control control of networks

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Regional Stabilization of the 1-D Kuramoto-Sivashinsky Equation via Modal Decomposition

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IEEE CONTROL systems LETTERS 2022年 6卷 1814-1819页

作者： Katz, Rami Fridman, Emilia Tel Aviv Univ Sch Elect Engn IL-7843932 Ashqelon Israel

In this letter, we suggest regional stabilization of the semilinear 1D KSE under nonlocal or boundary actuation. We employ modal decomposition and derive regional H-1 stability conditions for the closed-loop system. Given a decay rate that defines the number of state modes in the controller, we provide LMIs for finding the the controller gain as well as a bound on the domain of attraction. In the case of boundary control, we suggest a dynamic extension with a novel internally stable dynamics. The latter allows to enlarge a bound on the domain of attraction. Numerical examples illustrate the efficiency of the method.

关键词： distributed parameter systems nonlinear parabolic PDEs boundary control

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Boundary Tracking Control for An Unstable Wave Equation with Boundary Uncertainties: A Backstepping Adaptive NN Approach

Boundary Tracking Control for An Unstable Wave Equation with...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Zhang, Jingting Gu, Yan Zeng, Wei Yuan, Chengzhi Univ Rhode Isl Dept Mech Ind & Syst Engn Kingston RI 02881 USA Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA Longyan Univ Sch Mech & Elect Engn Longyan Peoples R China

ISBN: (纸本)9781665476331

This paper investigates the tracking control problem of an unstable wave equation with boundary uncertainties. The wave equation under consideration has a negative damper (unstable) at the uncontrolled boundary and uncertain nonlinear dynamics at the controlled boundary. A novel boundary tracking control scheme is proposed by incorporating the backstepping method with adaptive neural networks (NN). Specifically, an adaptive radial basis function (RBF) NN model is first developed to approximate/counteract the system uncertainties. A boundary-feedback observer is then designed with such a NN model to estimate the overall state of the wave equation. Based on this, a boundary tracking controller is finally proposed using the adaptive backstepping technique. Uniquely, this new control scheme is capable of rendering stable state tracking (i.e., driving the system's holistic state to track a prescribed reference trajectory), significantly advancing the current literature that is largely focused on output tracking control. Rigorous analysis is performed to verify the well-posedness and stability of the overall closed-loop system. Simulation studies have been conducted to demonstrate effectiveness of the proposed results.

关键词： distributed parameter systems wave equation boundary tracking control backstepping adaptive neural network

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Mutual Impedance-Based Force/Velocity Transmission Improvement for Bilateral Teleoperation 22

Mutual Impedance-Based Force/Velocity Transmission Improveme...

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Shikata, Kosuke Katsura, Seiichiro Keio Univ Dept Syst Design Engn Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)9781713872344

Tackling communication delays attracts interest in improving the stability and transparency of bilateral teleoperation. This study presents a novel concept;mutual impedance. Under the delays, this impedance is intrinsic in four-channel acceleration-based bilateral control (4ch ABC). In 4ch ABC, wave propagations can characterize the transmissions of force and velocity, which are described in distributed-parameter systems. The delays induce interference between applied force and velocity response and decrease transparency. The mutual relationship between force and position controllers can explain the interference. The proposed mutual impedance is the indicator of the impact of the relationship. This study notes that the impedance comprises a ratio of force and position controllers. Thus, a force proportional-integral (PI) controller with a gain constraint between the position controller is introduced. One-degree- offreedom (1-DOF) motion experiments compare the proposed method with conventional methods in superiority. The applicability of the proposed approach to delay fluctuations and multi-DOF motion is verified through 3-DOF manipulators. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC- ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Motion control systems Telepresence Networked robotic system modeling and control distributed parameter systems Time-delay systems.

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Detection of Cyber-Attacks in Automotive Traffic Using Macroscopic Models and Gaussian Processes

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IEEE CONTROL systems LETTERS 2022年 6卷 1688-1693页

作者： Kashyap, Abhishek Chakravarthy, Animesh Menon, Prathyush P. Univ Texas Arlington Dept Mech & Aerosp Engn Arlington TX 76019 USA Univ Exeter Ctr Future Clean Mobil Dept Engn Exeter EX4 4QF Devon England

This letter considers a class of cyber-attacks wherein an attacker has the ability to hack into a subset of vehicles driving on a highway and inject subtle changes into their driving parameters. By performing such changes, these vehicles (referred to as malicious vehicles) are able to modify the driving behavior of the overall vehicle stream. The traffic system comprising the mix of malicious and normal vehicles are modeled using a system of Partial Differential Equations (PDEs). In this letter, we develop a method that employs Gaussian Processes (GP) with the two-species PDE model, to detect the presence of such malicious vehicles in such a mixed traffic scenario. Simulation results demonstrate that the proposed GP-based detection architecture can successfully detect the percentage of malicious vehicles in the traffic, as well as their mode of attack.

关键词： Mathematical models Road transportation Gaussian processes Data models Predictive models Density measurement Computer architecture distributed parameter systems fault detection machine learning traffic control

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A control-oriented model of a distributed parameter heating process

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IFAC-PapersOnLine 2022年第26期55卷 187-192页

作者： Ruven Weiss Moritz Diehl Harald Rieger Johannes Reuter Institute of System Dynamics Hochschule Konstanz Department of Microsystems Engineering Universität Freiburg HOMAG AG Schopfloch Germany

In many industrial applications a workpiece is continuously fed through a heating zone in order to reach a desired temperature to obtain specific material properties. Many examples of such distributed parameter systems exist in heavy industry and also in furniture production such processes can be found. In this paper, a real-time capable model for a heating process with application to industrial furniture production is modeled. As the model is intended to be used in a Model Predictive Control (MPC) application, the main focus is to achieve minimum computational runtime while maintaining a sufficient amount of accuracy. Thus, the governing Partial Differential Equation (PDE) is discretized using finite differences on a grid, specifically tailored to this application. The grid is optimized to yield acceptable accuracy with a minimum number of grid nodes such that a relatively low order model is obtained. Subsequently, an explicit Runge-Kutta ODE (Ordinary Differential Equation) solver of fourth order is compared to the Crank-Nicolson integration scheme presented in Weiss et al. (2022) in terms of runtime and accuracy. Finally, the unknown thermal parameters of the process are estimated using real-world measurement data that was obtained from an experimental setup. The final model yields acceptable accuracy while at the same time shows promising computation time, which enables its use in an MPC controller.

关键词： distributed parameter systems heat conduction transportation real-time furniture production

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