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5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

作者： Trivedi, Megha V. Banavar, Ravi N. Kotyczka, Paul Indian Inst Technol Syst & Control Engn Bombay 400076 Maharashtra India Tech Univ Munich Inst Automat Control D-85748 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 let in the strains while modeling these flexible structures. Further, in modeling of micro and nanotechnology devices, the micro length scale parameter effects can be accounted by the use of a 2 dimensional stress-strain relationship. This paper studies the buckling effect, for a slender, vertical beam with a tip mass at one end and fixed on a movable platform at the other. For the purpose of illustration, the movable platform is assumed to be a cart. Accounting for a 2 dimensional stress-strain relationship, nonlinear expressions for strains, and incorporating an inextensibility constraint of the beam, the Hamiltonian equations of motion are obtained. The equations of motion are then cast in a port-Hamiltonian form with appropriately defined flows and efforts. We then carry out a preliminary modal analysis of the system 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. (C) 2015, ILAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear beam model distributed-parameter systems port-Hamiltonian systems boundary conditions buckling

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

Backstepping design of robust state feedback regulators for ...

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

作者： Deutscher, Joachim Univ Erlangen Nurnberg Lehrstuhl Regelungstech Cauerstr 7 D-91058 Erlangen 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. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

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

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Trade-off design for fault detection of DPSs using integral transformations 4th

Trade-off design for fault detection of DPSs using integral ...

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4th IFAC Workshop on Control of systems Governed by Partial Differential Equations (CPDE)

作者： Fischer, Ferdinand Deutscher, Joachim Ulm Univ Inst Measurement Control & Microtechnol Albert Einstein Allee 41 D-89081 Ulm Germany

The fault detection problem for parabolic or biharmonic PDEs is solved. Additive and multiplicative actuator, sensor and process faults without knowing the signal form can be taken into account. In addition, disturbances with a finite signal energy on a moving horizon can be present and are considered by a threshold. Integral transformations are used to derive a residual generator and the threshold. The corresponding integral kernels are determined by a flatness-based realization of a nontrivial setpoint change for a DPS. Moreover, a trade-off design based on L-2 norms is systematically achieved for the fault detection. The efficiency of this design approach is demonstrated with simulations of a faulty cantilever beam. Copyright (C) 2022 The Authors.

关键词： distributed-parameter systems fault detection integral transformation flatness motion planning trade-off design

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Social Organisation of Mobile Sensors for Wildfire Spread Estimation 21st

Social Organisation of Mobile Sensors for Wildfire Spread Es...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Plenet, T. Raievsky, C. Lefevre, L. El Yacoubi, S. Univ Perpignan IMAGES UMR ESPACE DEV Via Doinitia Perpignan France Univ Grenoble Alpes LCIS Grenoble INP F-26000 Valence France

In this paper, we focus on social organisation of mobile sensor network for the observation of distributed parameter systems. We built a framework that allows us to compare different social organisation in terms of observation performance. First, we studied the topology of generic social organisation with graph theory criteria. Then, we benchmarked some of these organisations when we applied them to mobile sensor network for the observation of a cellular-automaton simulated wildfire. Copyright (C) 2020 The Authors.

关键词： Forest Fire Spread Dynamics Mobile Sensors Multi-agent systems Cellular Automaton distributed-parameter systems Observers

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Flatness-based tracking control for a pneumatic system with distributed parameters

Flatness-based tracking control for a pneumatic system with ...

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9th Vienna International Conference on Mathematical Modelling (MATHMOD)

作者： Gehring, Nicole Kern, Richard Johannes Kepler Univ Linz Inst Automat Control & Control Syst Technol Linz Austria Tech Univ Munich Chair Automat Control Garching Germany

This paper considers the flatness-based tracking control design for a pneumatic system, where a tank and a proportional valve are connected via a long transmission line of approximately 20 m. Motivated by this test bench set-up and the aim to implement fast pressure changes in the tank, three distributed-parameter models of different complexity and physical accuracy are presented, involving linear and quasi-linear hyperbolic partial differential equations. A flatness-based state feedback control is derived based on a linear distributed-parameter model of the pneumatic system. In combination with flatness-based feedforward controllers, designed for two of the three models, tracking controllers are obtained. Based on a simulation model of the test bench, verified to match the measurement data almost perfectly, the controllers are shown to execute fast pressure changes in the tank very accurately. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： pneumatic systems distributed-parameter systems partial differential equations model-based control feedforward control feedback control flatness

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Realtime-capable FE-based railway catenary emulation via pantograph test rig impedance control

Realtime-capable FE-based railway catenary emulation via pan...

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

作者： Aschauer, Guilherme Schirrer, Alexander Kozek, Martin Jakubek, Stefan Tech Univ Wien Inst Mech & Mechatron Div Control & Proc Automat Getreidemarkt 9-325-A5 A-1060 Vienna Austria

This work shows novel results of emulating railway catenary dynamics on a test rig for pantograph testing in order to provide for virtual test rides of railway pantograph current collectors under laboratory conditions. A realtime-capable finite-element model of a railway catenary is formulated efficiently in moving coordinates. An advanced test rig impedance control architecture is adopted for the finite-element model structure, and detailed simulations of an existing full-size pantograph test rig are carried out. The high fidelity of the realtime catenary model as well as the emulation performance of the closed-loop test rig setup in contact with a pantograph model provides promising results for the future implementation of the simulation/control architecture on the test rig hardware. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Impedance control predictive control finite elements partial differential equations distributed-parameter systems railways

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Feedforward Control of the Temperature Field in an Experimental Annealing Furnace

Feedforward Control of the Temperature Field in an Experimen...

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

作者： Jadachowski, L. Steinboeck, A. Kugi, A. Vienna Univ Technol Automat & Control Inst Christian Doppler Lab Model Based Control Steel I Gusshausstr 27-29 A-1040 Vienna Austria Vienna Univ Technol Automat & Control Inst Gusshausstr 27-29 A-1040 Vienna Austria

Two feedforward control strategies for an experimental annealing furnace equipped with electrically powered infrared (IR) lamps are developed and compared. For the first controller, the optimal time evolution of the electric power supplied to IR-lamps is computed from a dynamic optimization problem. This ensures optimal temperature trajectories and temperature uniformity in the specimen fillet. The second controller is based on an amplified adjustment of the steady-state power distribution obtained from static optimization at an operating point. Here, the temperature uniformity during transients is traded-off against the computing time while still ensuring the best temperature uniformity at the final temperature level. For both strategies, a tailored control-oriented reduced-order model of the 2D spatial temporal temperature evolution is used. The evaluation of the feedforward controllers is carried out with an experimentally validated simulation model. The temperature non-uniformity during transients is less than 0.9 % and reduces to 0.3 % of the setpoint value at the steady state. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Optimal feedforward control Optimal operating point distributed-parameter systems Parabolic quasilinear PDE Model reduction FE method

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Backstepping Control of Linear 2 × 2 Hyperbolic systems with Dynamic Boundary Conditions

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IFAC-PapersOnLine 2017年第1期50卷 4522-4527页

作者： Deutscher J. Gehring N. Kern R. Lehrstuhl für Regelungstechnik Universität Erlangen-Nünberg Cauerstraße 7 Erlangen D-91058 Germany Lehrstuhl für Regelungstechnik TU München oltzmannstraße 15 Garching bei MünchenD-85748 Germany

In this paper the boundary control of linear 2 × 2 hyperbolic systems with spatially-varying coefficients and dynamic boundary conditions is considered. This leads to the stabilization problem for a bidirectionally coupled PDE-ODE system. For its solution a two-step backstepping approach is developed, that yields the usual kernel equations and additional decoupling equations of simple form. The latter can be traced back to a Volterra integral equation of the second kind, which is directly solvable with a successive approximation. The results of the paper are illustrated for a heavy rope with load. © 2017

关键词： backstepping boundary control coupled PDE-ODE systems distributed-parameter systems hyperbolic systems

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Optimal Boundary Control of Kuramoto-Sivashinsky Equation

Optimal Boundary Control of Kuramoto-Sivashinsky Equation

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American Control Conference 2009

作者： Dubljevic, Stevan Univ Calif Los Angeles Dept Chem & Biomol Engn Los Angeles CA 90095 USA

ISBN: (纸本)9781424445233

This work focuses on optimal boundary control of highly dissipative Kuramoto-Sivashinsky equation (KSE) which describes the long-wave motions of a thin film over vertical plane. A standard transformation is initially used to reformulate the original boundary control problem as an abstract boundary control problem of the KSE partial differential equation (PDE) in an appropriate functional space setting. Low dimensional representation of the KSE is used in the synthesis of a finite dimensional linear quadratic regulator (LQR) in the full-state feedback control realization and in a compensator design with a Luenberger-type observer. The proposed control problem formulation and the performance and robustness of the closed-loop system in the full state-feedback, output-feedback and in the output-feedback with the presence of noise controller realization have been evaluated through simulations.

关键词： distributed-parameter systems Kuramoto-Sivashinsky Equation Boundary control LQR State/Output Feedback Control

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Spectral Shift of Cylindrical Heat Equations by Full-State Boundary Feedback

Spectral Shift of Cylindrical Heat Equations by Full-State B...

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

作者： Schmidt, Kevin Wittmuess, Philipp Sawodny, Oliver Univ Stuttgart Inst Syst Dynam Waldburgstr 17-19 D-70569 Stuttgart Germany

This contribution introduces a full-state boundary feedback for cylindrical heat conductors. The desired decay properties are imposed to the spectrum of linear, second-order parabolic partial differential equations (PDEs). The feedback-scheme exploits periodicity in angular direction for cylindrical coordinates to reduce the 3-dimensional (3-D) system to a set of 2-D subsystems by means of a Fourier transformation. A backstepping-based controller for shifting the spectra for each of the decoupled systems on 2-D domains is presented. It can be shown, that any decay rate of the overall tracking error can be achieved by superposing solely a finite number of these controllers. The validity of the approach is shown by simulations. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Heat transfer distributed-parameter systems feedback control boundary control cylindrical coordinates

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