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Active Control of a Very Large Floating Beam Structure

JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME 2016年第2期138卷 021010-021010页

作者： Yang, Jia Sheng Gao, Rui Ping Natl Univ Singapore Ctr Maritime Studies Singapore 118414 Singapore Natl Univ Singapore Dept Civil & Environm Engn Singapore 117576 Singapore

In this paper, a novel boundary control method is investigated to suppress the vertical vibration of a very large floating structure (VLFS) with regular waves. The VLFS can be described as a distributed parameter system with partial differential equation (PDE). The proposed boundary controllers are developed based on Lyapunov's direct method to act on the upstream and downstream ends of the VLFS, respectively. Along with the suitable choice of control parameters, the proposed controllers could stabilize the vertical vibration of the VLFS subjected to regular waves. This study verifies the effectiveness of the proposed control methods to the VLFS. Then, the effects of wave amplitude and bending rigidity on the hydroelastic response of the VLFS are investigated.

关键词： Waves Wave amplitude Design Control equipment Vibration Displacement Stiffness Boundary-value problems Computer simulation distributed parameter systems

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Fractional order control of the two-dimensional wave equation

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AUTOMATICA 2015年 59卷 152-163页

作者： Sirota, Lea Halevi, Yoram Technion Israel Inst Technol Fac Mech Engn IL-32000 Haifa Israel

Control of systems governed by the two-dimensional linear wave equation in finite spatial domain is considered and presented through vibrating rectangular membranes. The membranes are modeled by modal decomposition in one spatial axis and infinite dimensional transfer functions in the other. The transfer functions are built of fractional order exponents, regarded as non-pure delays, which are shown to represent traveling waves whose shape changes during motion. The membranes are controlled in closed loop to achieve position profile tracking and attenuation of disturbances. The actuation is along two opposite boundaries, which controls the entire wave motion between them. The control algorithm stops the wave propagation in the control axis by creating active non-reflecting boundaries. In addition, it compensates the remaining non-pure delay by extending the classical dead time compensation principle. As a result, despite the infinite dimension of the system and its fractional order transfer functions, the closed loop transfer function is given by a rational first order lag with a pure time delay. The resulting controllers are also of fractional order and their implementation is obtained by dedicated approximations. The system stability with the approximated controllers is investigated formally using robustness tools. The control algorithm is demonstrated by means of several examples. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Wave equations distributed parameter systems Delay compensation

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Adaptive electrodeposition process control through Zakai filtering

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JOURNAL OF PROCESS CONTROL 2015年 36卷 42-54页

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

The stochastic evolutionary process inspired by the electrodeposition of metal ions on an electrode surface is considered in one dimension. The process is fixed on one boundary and is observed-controlled on the other boundary where the process is additionally influenced by unmodelled side reactions - their effect on the boundary is considered as a random process applied to the controls and measurements. The electrodeposition process is given by a diffusion process model, whose main parameters are unknown the diffusivity of species and the thickness of the diffusion layer are unknown and no knowledge is available about the current losses in the plating bath or the throwing power of the electrolyte. Furthermore the side reactions have an unknown systematic component. Even so this paper verifies that the electrodeposition process can be boundary controlled using feed-forward and feedback controls adapted with the parameters estimated by Zakai filtering. The consistency of the estimates as well as the stabilising property of the adaptive controls is validated by simulations. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： distributed parameter systems Stochastic process Control Electrodeposition

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distributed H_∞ filtering over sensor networks with heterogeneous Markovian coupling intercommunication delays

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IET CONTROL THEORY AND APPLICATIONS 2015年第1期9卷 82-90页

作者： Ge, Xiaohua Han, Qing-Long Jiang, Xiefu Cent Queensland Univ Ctr Intelligent & Networked Syst Rockhampton Qld 4702 Australia Griffith Univ Griffith Sch Engn Brisbane Qld 4222 Australia Hangzhou Dianzi Univ Sch Automat Hangzhou 310018 Zhejiang Peoples R China

This study is concerned with distributed H filtering for continuous-time linear systems over sensor networks with heterogeneous Markovian coupling intercommunication delays. The set of sensor nodes forms a sensing and communication network whose topology is modelled by a directed graph that describes the measurement exchanged among neighbouring sensor nodes. Heterogeneous random coupling delays modelled by a Markov process are considered in the intercommunication between interacting sensor nodes. A refined two-step decoupling technique is presented to deal with the complicated coupling of exchanged measurement in the presence of the delays. A sufficient condition on the existence of desired distributed H filters is derived such that the resultant filtering error system is mean square exponentially stable with prescribed weighting average H performance. Two illustrative examples are given to show the effectiveness of the proposed results.

关键词： H filters filtering theory distributed sensors delays Markov processes asymptotic stability linear systems continuous time systems distributed parameter systems distributed H filtering sensor networks heterogeneous Markovian coupling intercommunication delays continuous-time linear systems sensing network communication network neighbouring sensor nodes directed graph heterogeneous random coupling delays Markov process refined two-step decoupling technique resultant filtering error system mean square exponential stability weighting average H performance

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Modeling and Estimation of the Humans' Effect on the CO₂ Dynamics Inside a Conference Room

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IEEE TRANSACTIONS ON CONTROL systems TECHNOLOGY 2015年第5期23卷 1770-1781页

作者： Weekly, Kevin Bekiaris-Liberis, Nikolaos Jin, Ming Bayen, Alexandre M. Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

We develop a data driven, partial differential equation-ordinary differential equation model that describes the response of the carbon dioxide (CO2) dynamics inside a conference room, due to the presence of humans, or of a user-controlled exogenous source of CO2. We conduct three controlled experiments to develop and tune a model whose output matches the measured output concentration of CO2 inside the room, when known inputs are applied to the model. In the first experiment, a controlled amount of CO2 gas is released inside the room from a regulated supply, and in the second and third experiments, a known number of humans produce a certain amount of CO2 inside the room. For the estimation of the exogenous inputs, we design an observer, based on our model, using measurements of CO2 concentrations at two locations inside the room. We perform several simulation studies for the illustration of our results.

关键词： Data-driven model distributed delay distributed parameter systems human occupancy estimation identifier design indoor carbon dioxide (CO2) dynamics observer design partial differential equation-ordinary differential equation (PDE-ODE) cascades

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Multi-Agent Deployment in 3-D via PDE Control

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2015年第4期60卷 891-906页

作者： Qi, Jie Vazquez, Rafael Krstic, Miroslav Donghua Univ Coll Informat Sci & Technol Shanghai 201620 Peoples R China Univ Calif San Diego Dept Mech Aerosp Engn San Diego CA 92093 USA Univ Seville Dept Aerosp Engn Seville 41092 Spain

This paper introduces a methodology for modelling, analysis, and control design of a large-scale system of agents deployed in 3-D space. The agents' communication graph is a mesh-grid disk 2-D topology in polar coordinates. Treating the agents as a continuum, we model the agents' collective dynamics by complex-valued reaction-diffusion 2-D partial differential equations (PDEs) in polar coordinates, whose states represent the position coordinates of the agents. Due to the reaction term in the PDEs, the agents can achieve a rich family of 2-D deployment manifolds in 3-D space which correspond to the PDEs' equilibrium as determined by the boundary conditions. Unfortunately, many of these deployment surfaces are open-loop unstable. To stabilize them, a heretofore open and challenging problem of PDE stabilization by boundary control on a disk has been solved in this paper, using a new class of explicit backstepping kernels that involve the Poisson kernel. A dual observer, which is also explicit, allows to estimate the positions of all the agents, as needed in the leaders' feedback, by only measuring the position of their closest neighbors. Hence, an all-explicit control scheme is found which is distributed in the sense that each agent only needs local information. Closed-loop exponential stability in the L-2, H-1, and H-2 spaces is proved for both full state and output feedback designs. Numerical simulations illustrate the proposed approach for 3-D deployment of discrete agents.

关键词： Backstepping boundary control deployment distributed parameter systems multi-agent systems

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Observer design for a class of nonlinear ODE-PDE cascade systems

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systems & CONTROL LETTERS 2015年 83卷 19-27页

作者： Ahmed-Ali, T. Giri, F. Krstic, M. Lamnabhi-Lagarrigue, F. Univ Caen ENSICAEN GREYC Lab F-14032 Caen France Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA EECI LSS CNRS SUPELEC F-91192 Gif Sur Yvette France

The problem of state-observation is addressed for nonlinear systems that can be modeled by an ODE-PDE series association. The ODE subsystem assumes a triangular structure while the PDE element is of heat diffusion type. The aim is to accurately estimate online the state vector of the ODE subsystem and the distributed state of the PDE element. One major difficulty is that the state observation must only rely on the global system output i.e. the PDE state at the terminal boundary. In particular, the connection point between the ODE and the PDE blocks is not accessible to measurements. The observation problem is dealt with by designing a high-gain type observer. Sufficient conditions involving the PDE domain length are formally established that ensure the observer exponential convergence. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Observer design Nonlinear systems distributed parameter systems

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Estimation of Heat Source Term and Thermal Diffusion in Tokamak Plasmas Using a Kalman Filtering Method in the Early Lumping Approach

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IEEE TRANSACTIONS ON CONTROL systems TECHNOLOGY 2015年第2期23卷 449-463页

作者： Mechhoud, Sarah Witrant, Emmanuel Dugard, Luc Moreau, Didier King Abdullah Univ Sci & Technol Jeddah 23955 Saudi Arabia Univ Grenoble 1 Grenoble Image Parole Signal Automat Lab F-38402 St Martin Dheres France French Alternat Energies & Atom Energy Commiss Res Inst Magnet Fus F-13108 St Paul Les Durance France

In this paper, early lumping estimation of space-time varying diffusion coefficient and source term for a nonhomogeneous linear parabolic partial differential equation (PDE) describing tokamak plasma heat transport is considered. The analysis of this PDE is achieved in a finite-dimensional framework using the cubic b-splines finite element method with the Galerkin formulation. This leads to a finite-dimensional linear time-varying state-space model with unknown parameters and inputs. The extended Kalman filter with unknown inputs without direct feedthrough (EKF-UI-WDF) is applied to simultaneously estimate the unknown parameters and inputs and an adaptive fading memory coefficient is introduced in the EKF-UI-WDF, to deal with time varying parameters. Conditions under which the direct problem is well posed and the reduced order model converges to the initial one are established. In silico and real data simulations are provided to evaluate the performances of the proposed technique.

关键词： Cubic bsplines finite element method distributed parameter systems extended Kalman filter with unknown inputs without direct feedthrough (EKF-UI-WDF) Galerkin formulation input state and parameter estimation thermonuclear fusion

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Modeling and Vibration Control of a Coupled Vessel-Mooring-Riser System

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2015年第6期20卷 2832-2840页

作者： He, Wei He, Xiuyu Ge, Shuzhi Sam Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 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

This paper investigates the modeling and vibration control design of a coupled vessel-mooring-riser system. The coupling among the vessel, the mooring lines, and the riser is taken into consideration, and the system is described by a set of partial differential equations and some ordinary differential equations based on energy functions of this system. A control law is proposed at the top boundary of the system to suppress the vibrations of both the mooring lines and the riser. The stability and uniform boundedness of the system under the distributed disturbance are proved via Lyapunov's direct method. Numerical simulations are given to verify the effectiveness of the control law.

关键词： distributed parameter systems flexible structures vibration control vessel-mooring-riser system

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Optimal spatial field control for controlled release

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OPTIMAL CONTROL APPLICATIONS & METHODS 2015年第6期36卷 968-984页

作者： Kishida, Masako Pack, Daniel W. Braatz, Richard D. Univ Canterbury Christchurch 8140 New Zealand Univ Kentucky Lexington KY 40506 USA MIT Cambridge MA 02139 USA Univ Illinois Champaign IL 61801 USA

Most distributed parameter control problems involve manipulation within the spatial domain. Such problems arise in a variety of applications including epidemiology, tissue engineering, and cancer treatment. This paper proposes an approach to solve a state-constrained spatial field control problem that is motivated by a biomedical application. In particular, the considered manipulation over a spatial field is described by partial differential equations (PDEs) with spatial frequency constraints. The proposed optimization algorithm for tracking a reference spatial field combines three-dimensional Fourier series, which are truncated to satisfy the spatial frequency constraints, with exploitation of structural characteristics of the PDEs. The computational efficiency and performance of the optimization algorithm are demonstrated in a numerical example. In the example, the spatial tracking error is shown to be almost entirely due to the limitation on the spatial frequency of the manipulated field. The numerical results suggest that the proposed optimal control approach has promise for controlling the release of macromolecules in tissue engineering applications. Copyright (C) 2015 John Wiley & Sons, Ltd.

关键词： optimization optimal control constraints spatial field control tissue engineering spectral decomposition distributed parameter systems

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