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Exponential stability of dual flexible arms for grasping and orientation control

IET CONTROL THEORY AND APPLICATIONS 2019年第16期13卷 2546-2555页

作者： Endo, Takahiro Umemoto, Kazuki Matsuno, Fumitoshi Kyoto Univ Dept Mech Engn & Sci Kyoto Japan Nagaoka Univ Technol Dept Mech Engn Nagaoka Niigata Japan

The stability of two one-link flexible arms for grasping and orientation control of an object is studied. Flexible arms are modelled by Euler-Bernoulli beam model and the overall system is represented by a hybrid partial differential equation (PDE)-ordinary differential equation (ODE) model. The authors' primary concern is the stability analysis of this hybrid PDE-ODE model. In particular, they use the frequency domain method and prove the exponential stability of this system under their previously proposed boundary controller. In addition, they discuss the robustness of the closed-loop system with respect to the several disturbances including disturbances distributed over the arms and disturbances acting at boundaries. Finally, simulation results are presented to investigate the theoretical results.

关键词： flexible manipulators closed loop systems distributed parameter systems partial differential equations beams (structures) asymptotic stability exponential stability dual flexible arms grasping orientation control one-link flexible arms Euler-Bernoulli beam model stability analysis hybrid PDE-ODE model frequency domain method boundary controller closed-loop system hybrid partial differential equation ordinary differential equation

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Delayed Fuzzy Control of a 1-D Reaction-Diffusion Equation Using Sampled-in-Space Sensing and Actuation

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IEEE TRANSACTIONS ON FUZZY systems 2019年第4期27卷 802-809页

作者： Kang, Wen Ding, Da-Wei Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Minist Educ Key Lab Knowledge Automat Ind Proc Beijing 100083 Peoples R China

This paper considers delayed fuzzy control of one-dimensional (1-D) reaction-diffusion equation under distributed in-domain point actuation and measurements. The delay may be uncertain, but bounded by a known upper bound. We propose an observer-based controller that employs the averaged values of the observer. Sufficient conditions ensuring exponential stability of the closed-loop system are established in terms of linear matrix inequalities by using the Lyapunov-Krasovskii method and the descriptor method. A numerical example demonstrates the efficiency of the results.

关键词： distributed parameter systems input delay parabolic systems point actuation Takagi-Sugeno (T-S) fuzzy model

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A New Type of distributed parameter Control systems: Two-Point Boundary Value Problems for Infinite-Dimensional Dynamical systems

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JOURNAL OF APPLIED MATHEMATICS 2013年第unknown期2013卷 1-3页

作者： Kong, De-Xing Wu, Fa Zhejiang Univ Dept Math Hangzhou 310027 Zhejiang Peoples R China

This survey note describes a new type of distributed parameter control systems-the two-point boundary value problems for infinite-dimensional dynamical systems, particularly, for hyperbolic systems of partial differen... 详细信息

关键词： distributed parameter systems BOUNDARY value problems INFINITE-dimensional manifolds DYNAMICAL systems HYPERBOLIC differential equations APPLIED mathematics

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Model reduction of parabolic PDEs using multivariate splines

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INTERNATIONAL JOURNAL OF CONTROL 2019年第1期92卷 175-190页

作者： Tol, H. J. de Visser, C. C. Kotsonis, M. Delft Univ Technol Fac Aerosp Engn Delft Netherlands

A new methodology is presented for model reduction of linear parabolic partial differential equations (PDEs) on general geometries using multivariate splines on triangulations. State-space descriptions are derived that can be used for control design. This method uses Galerkin projection with B-splines to derive a finite set of ordinary differential equations (ODEs). Any desired smoothness conditions between elements as well as the boundary conditions are flexibly imposed as a system of side constraints on the set of ODEs. Projection of the set of ODEs on the null space of the system of side constraints naturally produces a reduced-order model that satisfies these constraints. This method can be applied for both in-domain control and boundary control of parabolic PDEs with spatially varying coefficients on general geometries. The reduction method is applied to design and implement feedback controllers for stabilisation of a 1-D unstable heat equation and a more challenging 2-D reaction-convection-diffusion equation on an irregular domain. It is shown that effective feedback stabilisation can be achieved using low-order control models.

关键词： distributed parameter systems multivariate splines Galerkin's method parabolic partial differential equations

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Model-Based Battery Thermal Fault Diagnostics: Algorithms, Analysis, and Experiments

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IEEE TRANSACTIONS ON CONTROL systems TECHNOLOGY 2019年第2期27卷 576-587页

作者： Dey, Satadru Perez, Hector E. Moura, Scott J. Univ Colorado Dept Elect Engn Denver CO 80204 USA Univ Calif Berkeley Dept Civil & Environm Engn Energy Controls & Applicat Lab Berkeley CA 94720 USA

Safety and reliability remain critical issues for lithium-ion (Li-ion) batteries. Out of many possible degradation modes, thermal faults constitute a significant part of critical causes that lead to battery degradation and failure. Therefore, it is extremely important to diagnose these thermal faults in real time to ensure battery safety. Motivated by this fact, we propose a partial differential equation (PDE) model-based real-time scheme in this paper for diagnosing thermal faults in Li-ion batteries. The objective of the diagnostic scheme is to detect and estimate the size of the thermal fault. We utilize a distributed parameter 1-D thermal model for cylindrical battery cells in conjunction with PDE observer-based techniques to design the scheme. Furthermore, we apply threshold-based technique to ensure robustness against modeling and measurement uncertainties. The effectiveness of the scheme is illustrated by: 1) analytical convergence verification of the PDE observers under heathy and faulty conditions utilizing Lyapunov stability theory;2) extensive simulation case studies;3) robustness analysis against model parametric uncertainties;and 4) experimental studies on a commercial Li-ion battery cell.

关键词： Detection distributed parameter systems estimation lithium-ion (Li-ion) batteries thermal faults

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Axial and torsional self-excited vibrations of a distributed drill-string

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JOURNAL OF SOUND AND VIBRATION 2019年 444卷 127-151页

作者： Aarsnes, Ulf Jakob F. van de Wouw, Nathan Forskningsparken AS Int Res Inst Stavanger Gaustadalleen 21 NO-0349 Oslo Norway Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands Univ Minnesota Dept Civil Environm & Geoengn Minneapolis MN USA Delft Univ Technol Delft Ctr Syst & Control Delft Netherlands

We consider a distributed axial-torsional drill-string model with a rate-independent bit-rock interaction law to study the occurrence and non-local characteristics of axial and torsional self-excited vibrations as caused by the regenerative effect. A first contribution of the paper is the derivation of a non-dimensional version of the full non-linear distributed drill-string-bit-rock interaction model and showing how it relates to the minimal set of characteristic quantities. Using this model the study shows how multiple axial modes of the drill-string are excited, or attenuated, depending on the bit rotation rate. This indicates that a lumped drill-string model approximation is insufficient for the general case. Then, a comprehensive simulation study is performed to create a stability map for the occurrence of stick-slip oscillations. In particular, the significance of the axial topside boundary condition, i.e., constant velocity vs. constant hook-load, is evaluated. A central finding is that increasing the axial loop gain (determined by the bit-rock parameters) tends to both increase the area of stable torsional dynamics and increase the rate of penetration for a constant imposed weight on bit. This also corresponds to a more severe axial instability. (C)2019 Elsevier Ltd. All rights reserved.

关键词： Drill-string vibrations Stick-slip distributed parameter systems Infinite dimensional systems Stability Hyperbolic systems

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Optimal Boundary Control for Selective Catalytic Reduction distributed parameter Model

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IFAC-PapersOnLine 2018年第32期51卷 286-291页

作者： Aksikas, Ahmed Aksikas, Ilyasse Hayes, Robert E. Forbes, Fraser J. Department of Chemical and Materials Engineering University of Alberta Edmonton Canada Department of Mathematics Statistics and Physics Qatar University Doha Qatar

This paper is devoted to design a model-based boundary optimal controller for selective catalytic reduction system. The mathematical model consists of coupled parabolic-hyperbolic PDEs with an ODE. The main objective is to manipulate the ammonia gas at the inlet of the SCR in order to reduce the amount of NOx and ammonia slip as much as possible. The augmented infinite-dimensional state space representation has been used in order to solve the corresponding linear-quadratic control problem. The dynamical properties of both the linearized system and its augmented version have been studied. Under some technical conditions, it has been shown that the augmented system generates an exponentially stabilizable and detectable C0-semigroups. The linear-quadratic control problem has been solved for the augmented system. A decoupling technique has been implemented to decouple and solve the corresponding Riccati equation. An algorithm has been developed to describe the steps of solving the Riccati equation. Numerical simulations for the closed-loop system have been implemented to show the controller performances. © 2018

关键词： Selective catalytic reduction Ammonia Closed loop systems Controllers distributed parameter control systems Linear control systems Riccati equations State space methods Boundary controls distributed parameter systems distributed parameter model Linear quadratic control problem Optimal controls Partial differential equations (PDE) Selective catalytic reduction systems State space representation

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Improved H∞ sampled-data control for semilinear parabolic PDE systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2019年第6期29卷 1872-1892页

作者： Wu, Huai-Ning Wang, Zi-Peng Li, Han-Xiong Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China Univ Jinan Sch Elect Engn Jinan 250022 Shandong Peoples R China City Univ Hong Kong Dept Syst Engn & Engn Management Hong Kong Peoples R China

In this paper, an H-infinity sampled-data control problem is addressed for semilinear parabolic partial differential equation (PDE) systems. By using a time-dependent Lyapunov functional and vector Poincare's inequality, a sampled-data controller under spatially averaged measurements is developed to stabilize exponentially the PDE system with an H-infinity control performance. The stabilization condition is presented in terms of a set of linear matrix inequalities. Finally, simulation results on the control of the diffusion equation and the FitzHugh-Nagumo equation are given to illustrate the effectiveness of the proposed design method.

关键词： distributed parameter systems H-infinity control linear matrix inequality (LMI) sampled-data control

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Bounded bilinear control of coupled first-order hyperbolic PDE and infinite dimensional ODE in the framework of PDEs with memory

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JOURNAL OF PROCESS CONTROL 2019年 81卷 223-231页

作者： Mechhoud, Sarah Laleg-Kirati, Taous-Meriem Univ 20 August 1955 Skikda Dept Elect Engn El Hadaik 21000 Skikda Algeria King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal 239556900 Saudi Arabia

In this work, we consider the problem of bounded bilinear tracking control of a system of coupled first-order hyperbolic partial differential equation (PDE) with an infinite dimensional ordinary differential equation (ODE). This coupled PDE-infinite ODE system can be viewed as a degenerate system of two coupled first-order hyperbolic PDEs, the velocity of the ODE part vanishing. First, we convert this PDE-infinite ODE system into a first-order hyperbolic PDE with memory and investigate the bounded bilinear control problem in this framework. We consider as manipulated variable the constrained wave propagation velocity, which makes the control problem bounded and bilinear, and we take the measurements at the boundaries. To account for the actuator's constraints, we develop conditions under which the bounded control law ensures stability and tracking performances. This leads to a specification of the state-space region that enforces the desired system's closed-loop behaviour. To overcome the lack of full-state measurements, we design an observer-based bounded output-feedback control law which guarantees the reference tracking and uniform asymptotic stability of the system in closed-loop. A strong motivation of our work is the control problem of the solar collector parabolic trough where the manipulated control variable (the pump volumetric flow rate) is bilinear with respect to the PDE-infinite ODE model, and the measurements are taken at the boundary (tube's outlet). Simulation results illustrate the efficiency of the proposed control strategy. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： distributed parameter systems System of coupled POE-infinite ODE Energy-like bilinear control Bounded control Boundary observer design Bounded output feedback control

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Platooning Maneuvers in Vehicular Networks: A distributed and Consensus-Based Approach

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2019年第1期4卷 59-72页

作者： Santini, Stefania Salvi, Alessandro Valente, Antonio Saverio Pescape, Antonio Segata, Michele Lo Cigno, Renato Univ Napoli Federico II Automat Control Dept Elect Engn & Informat Technol I-80138 Naples Italy NetCom Grp SpA R&D Dept I-80143 Naples Italy Univ Napoli Federico II Dept Elect Engn & Informat Technol I-80138 Naples Italy Univ Trento I-1438122 Trento Italy Univ Trento Dept Comp Sci & Telecommun I-1438122 Trento Italy

Cooperative driving is an essential component of future intelligent road systems. It promises greater safety, reducing accidents due to drivers distraction, improved infrastructure utilization, and fuel consumption reduction with platooning applications. Proper platoon management requires inter-vehicular communication (IVC), longitudinal control and lateral control for stability and safety, and proper application protocols and algorithms to manage platoons and perform coordinated maneuvers. This paper shows, how a longitudinal controller based on distributed consensus can, at the same time, guarantee stability and performance in regime platoon operations, and be at the hearth of maneuvering protocols and algorithms, as it remains stable in face of changes of platoon topology and control gains. The adoption of a single control algorithm for two fundamental tasks greatly simplify the overall design of the system and improves stability and safety as it is not required to switch between different controllers during platoon operation. The theoretical properties are proven in the first part of the paper. The second part of the paper is devoted to its implementation in a state-of-the-art mobility and IVC simulator, which is used for an extensive experimental campaign showing the dynamic properties of the system and its performance in a set of typical platoon maneuvers as join, leave, and inclusion of a vehicle in the middle of the platoon. All simulations include realistic details of the vehicle dynamics (mass, dimensions, power train dynamics) as well as extremely detailed modeling of the communication network, from IEEE 802.11p protocol details, to collisions, packet errors, path loss and fading on the channel, and source-destination-based delays.

关键词： Ad hoc networks autonomous vehicles communication systems computer networks cruise control decentralized control distributed parameter systems 5G mobile communication intelligent vehicles mobile communication networked control systems vehicles

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