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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Fischer, F. Deutscher, J. Univ Erlangen Nurnberg Lehrstuhl Regelungstech Cauerstr 7 D-91058 Erlangen Germany

An algebraic method to the fault detection for parabolic systems with distributed inputs and outputs is presented in this contribution. The modulation functions method is used to derive an algebraic expression for the fault detection, that only depends on known signals. This allows the detection of the absolute value of piecewise constant faults without a system approximation, despite the occurrence of disturbances. It is shown that the modulation function can be described by a distributed-parameter signal model with a distributed input. For its derivation a systematic approach is proposed, which involves the introduction of suitable in domain pointwise and boundary measurements. Then, the modulation function follows from solving a trajectory planning problem for its signal model. The results of the paper are illustrated for the actuator and sensor fault detection of a heat conductor. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed-parameter systems fault detection modulation function set-point change trajectory planning

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Backstepping design of robust state feedback regulators for parabolic PIDEs with in-domain outputs

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IFAC-PapersOnLine 2017年第1期50卷 5567-5573页

作者： Deutscher J. Lehrstuhl für Regelungstechnik Universität Erlangen-Nürnberg Cauerstraße 7 Erlangen D-91058 Germany

This paper considers the robust output regulation problem for boundary controlled parabolic partial integro-differential equations (PIDEs) of Volterra type, where the output to be controlled is an in-domain distributed or pointwise output. By assuming a finite-dimensional model for the exogenous signals a constructive solution is presented by making use of the backstepping approach. For this, a new backstepping-based stabilization of parabolic PIDE-ODE cascades with an in-domain coupling is proposed. It is shown that the solvability of the output regulation problem can be checked by utilizing the nominal plant transfer behaviour. Robust output regulation is verified for model uncertainties, that do not lead to an unstable closed-loop system. The regulator design for a coupled parabolic/hyperbolic system illustrates the presented results. © 2017

关键词： backstepping boundary control distributed-parameter systems output regulation parabolic systems

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Output feedback boundary control of series interconnections of 2 × 2 semilinear hyperbolic systems

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IFAC-PapersOnLine 2017年第1期50卷 663-670页

作者： Strecker T. Aamo O.M. Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim N-7491 Norway

In this paper, we present an output feedback controller for systems consisting of n 2 × 2 semilinear hyperbolic systems in series interconnection where actuation and sensing are restricted to one boundary. The output-feedback control law consists of a state-feedback controller combined with an observer. The control and estimation laws are based on the dynamics on the characteristic lines of the hyperbolic system, and achieve stabilization of the origin or tracking at one location, and full state estimation, respectively, globally and in minimum time. We demonstrate the controller performance in a numerical example, and apply the controller to a relevant disturbance rejection problem in oil well drilling. © 2017

关键词： Boundary control distributed-parameter systems Estimation Minimum-time control Regulation Stabilization

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Infinite-dimensional decentralized damping control of large-scale manipulators with hydraulic actuation

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AUTOMATICA 2016年 63卷 101-115页

作者： Henikl, Johannes Kemmetmueller, Wolfgang Meurer, Thomas Kugi, Andreas Vienna Univ Technol Automat & Control Inst A-1040 Vienna Austria Univ Kiel Chair Automat Control Kiel Germany

The control design for decentralized active damping of large-scale manipulators with hydraulic actuation is considered in a distributed-parameter framework. The concepts of modern light-weight construction enable the production of machines like mobile concrete pumps or maritime crane systems with extended operating range and less static load. However, due to the reduced weight the elasticity of the construction elements has a significant influence on the dynamic behavior of the boom. In this paper, a modular decentralized control strategy is presented and the asymptotic stability of the closed-loop system is rigorously proven in the infinite-dimensional setting. The proposed damping control strategy features a robust behavior since it is independent of the number and pose of the boom segments and of the exact knowledge of the system parameters. At the end, the practical implementation of the control strategy is discussed and validated by means of measurements on an industrial mobile concrete pump with four joints and an operating range of about 40 m. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Flexible link manipulator Hydraulic actuators Concrete pump Feedback control distributed-parameter systems Passivity Euler-Bernoulli beams

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LQ-optimal boundary control of infinite-dimensional systems with Yosida-type approximate boundary observation

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AUTOMATICA 2016年 67卷 94-106页

作者： Dehaye, Jeremy R. Winkin, Joseph J. Univ Namur Namur Ctr Complex Syst NaXys B-5000 Namur Belgium Univ Namur Dept Math B-5000 Namur Belgium

A class of boundary control systems with boundary observation is considered, for which the unbounded operators often lead to technical difficulties. An. extended model for this class of systems is described and analyzed, which involves no unbounded operator except for the dynamics generator. A method for the resolution of the LQ-optimal control problem for this model is described and the solution provides a stabilizing feedback for the nominal system with unbounded operators, in the sense that, in closed loop, the state trajectories converge to zero exponentially fast. The model consists of an extended abstract differential equation whose state components are the boundary input, the state (up to an affine transformation) and a Yosida-type approximation of the output of the nominal system. It is shown that, under suitable conditions, the model is well-posed and, in particular, that the dynamics operator is the generator of a C-0-semigroup. Moreover, the model is shown to be observable and to carry controllability, stabilizability and detectability properties from the nominal system. A general method of resolution based on the problem of spectral factorization of a multi-dimensional operator-valued spectral density is described in order to solve a LQ-optimal control problem for this model. It is expected that this approach will lead hopefully to a good trade-off between the cost of modeling and the efficiency of methods of resolution of control problems for such systems. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Boundary Control Observation LQR control method Spectral factorization distributed-parameter systems Modeling

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Hamiltonian modelling and buckling analysis of a nonlinear flexible beam with actuation at the bottom

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MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL systems 2016年第5期22卷 475-492页

作者： Trivedi, Megha V. Banavar, Ravi N. Kotyczka, Paul Indian Inst Technol Syst & Control Engn Bombay Maharashtra India Tech Univ Munich Inst Automat Control Garching Germany

The use of beams and similar structural elements is finding increasing application in many areas including micro and nanotechnology devices. For the purpose of buckling analysis and control, it is essential to account for nonlinear terms in the strains while modelling these flexible structures. Further, the Poisson's effect can be accounted in modelling by the use of a two-dimensional stress-strain relationship. This paper studies the buckling effect for a slender, vertical beam (in the clamped-free configuration) with horizontal actuation at the fixed end and a tip-mass at the free end. Including also the inextensibility constraint of the beam, the equations of motion are derived. A preliminary modal analysis of the system has been carried out to describe candidate post-buckling configurations and study the stability properties of these equilibria. The vertical configuration of the beam under the action of gravity is without loss of generality, since the objective is to model a potential field that determines the equilibria. Neglecting the inextensibility constraint, the equations of motion are then casted in port-Hamiltonian form with appropriately defined flows and efforts as a basis for structure-preserving discretization and simulation. Finally, the finite-dimensional model is simulated to obtain the time response of the tip-mass for different loading conditions.

关键词： Boundary conditions Buckling distributed-parameter systems nonlinear beam model port-Hamiltonian systems

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A parametric approach to finite-dimensional control of linear distributed-parameter systems

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INTERNATIONAL JOURNAL OF CONTROL 2010年第8期83卷 1674-1685页

作者： Deutscher, J. Harkort, Ch. Univ Erlangen Nurnberg Lehrstuhl Regelungstech D-91058 Erlangen Germany

This article considers the design of finite-dimensional compensators for distributed-parameter systems using eigenvalue assignment. The proposed compensator consists of an observer estimating additional outputs and a static feedback of the measurable and the estimated outputs. Since the additional outputs can be asymptotically reconstructed, the compensator can be designed using the separation principle, i.e. the closed-loop eigenvalues are given by the observer eigenvalues and the eigenvalues resulting from the static output feedback control. In order to solve the corresponding eigenvalue assignment problem, the parametric approach for the design of static output feedback controllers in finite-dimensions is extended to distributed-parameter systems. By using a parameter optimisation it is possible to assign all closed-loop eigenvalues within specified regions of the complex plane in order to stabilise the system and to assure a desired control performance. A heat conductor is used to demonstrate the proposed design procedure.

关键词： linear systems distributed-parameter systems static output feedback compensator design eigenvalue assignment parameter optimisation

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Boundary control of coupled reaction-advection-diffusion equations having the same diffusivity parameter

Boundary control of coupled reaction-advection-diffusion equ...

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2nd IFAC Workshop on the Control of systems Modeled by Partial Differential Equations (CPDE)

作者： Pisano, Alessandro Baccoli, Antonello Orlov, Yury Usai, Elio Univ Cagliari Dept Elect & Elect Engn Cagliari Italy CICESE Res Ctr Ensenada Baja California Mexico

We consider the problem of boundary stabilization for a system of n coupled parabolic linear PDEs of the reaction-diffusion-advection type. Particularly, we design a state-feedback law with Dirichlet-type actuation on only one end of the domain and prove exponential stability of the closed-loop system with an arbitrarily fast convergence rate. The backstepping method is used for controller design, and the transformation kernel matrix is derived by using the method of successive approximations to solve the corresponding PDE. Simulation results support the effectiveness of the suggested design. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed-parameter systems Reaction-advection-diffusion equation Boundary Control Backstepping

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Design of a Nonlinear, Dynamic Feedforward Part for the Evaporator Control of an Organic Rankine Cycle in Heavy Duty Vehicles

Design of a Nonlinear, Dynamic Feedforward Part for the Evap...

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8th IFAC Symposium on Advances in Automotive Control (AAC)

作者： Seitz, D. Gehring, O. Bunz, C. Brunschier, M. Sawodny, O. Univ Stuttgart Inst Syst Dynam D-70511 Stuttgart Germany Daimler AG D-70546 Stuttgart Germany

A model-based two degree of freedom (2DOF) controller for the evaporator outlet condition in an organic Rankine cycle (ORC) system is presented. The ORC is used in a heavy duty vehicle to convert exhaust gas heat into mechanical power which increases the fuel efficiency. The evaporator outlet condition of the working fluid is a crucial variable for the ORC efficiency which thus has to be controlled very accurately. However, the exhaust., gas thermal energy, which serves as heat source to the evaporator, is highly transient depending on the actual engine load. Therefore: excellent disturbance rejection is required with help of an efficient feedforward part. Its novel derivation is based on an exact inversion of a nonlinear, dynamic evaporator model, obtained by the finite volume method that is reduced subsequently. The resulting;feedforward controller is therefore very close to the exact inverse dynamic model. Furthermore, online parameter adaption enhances I, lie steady state accuracy of the feed forward part and compensates for model uncertainties. The improvements by the feedforward controller are shown in simulations and its applicability on the vehicle control unit is demonstrated by measurements on a DAIMLER prototype truck-tinder real traffic conditions. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： ORC fluid dynamics distributed-parameter systems finite volume method disturbance rejection: 2DOF

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Rejecting pressure fluctuations induced by string movement in drilling

Rejecting pressure fluctuations induced by string movement i...

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2nd IFAC Workshop on the Control of systems Modeled by Partial Differential Equations (CPDE)

作者： Strecker, Timm Aamo, Ole Morten Norwegian Univ Sci & Technol Dept Engn Cybernet NTNU N-7491 Trondheim Norway

Keeping the pressure within predefined bounds is essential for the safety of managed pressure drilling operations, but drill string movements can induce pressure fluctuations that violate these margins. We extend previous results on disturbance rejection for a 2 x 2 hyperbolic model of the fluid dynamics in the borehole. We perform a simulation study, in which we illustrate the controller performance for heave induced oscillations and compare it to the previously available controller. The stochasticity of sea waves induces limitations on the achievable performance. Further, the controller is applied to intended string movements, where control can be used to remove conservative limitations on the speed of the movement. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： distributed-parameter systems Disturbance rejection Boundary control Managed pressure drilling Well control

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