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CAD FOR THE DESIGN AND EVALUATION OF INDUSTRIAL CONTROL-SYSTEMS

IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS 1984年第4期131卷 125-139页

作者： SANDOZ, DJ Department of Electrical Engineering University of Manchester Manchester UK

The paper reviews the current state of development of a CAD facility for the design and evaluation of industrial process control systems. The facility is generalised to support multiple control systems and to coordinate their operations. The individual control systems may involve compensation for interaction, disturbance and time delay. The design procedures use least-squares analysis for identification, dynamic programming for control system design and simulation for evaluation of performance. The facility permits a systematic approach for building sets of hierarchical controllers with the objective of supervising the operation of complex processes. Design studies relating to real plant data are presented.

关键词： CAD facility Control engineering computing hierarchical systems control system CAD control system design industrial control systems hierarchical controllers Control in industrial production systems Industrial applications of IT multiple control systems dynamic programming least-squares analysis identification industrial control control system analysis computing

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A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2004年第4期12卷 524-539页

作者： Hagras, HA Univ Essex Dept Comp Sci Colchester CO4 3SQ Essex England

Autonomous mobile robots navigating in changing and dynamic unstructured environments like the outdoor environments need to cope with large amounts of uncertainties that are inherent of natural environments. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully handle such uncertainties. A type-2 FLC using type-2 fuzzy sets can handle such uncertainties to produce a better performance. In this paper, we present a novel reactive control architecture for autonomous mobile robots that is based on type-2 FLC to implement the basic navigation behaviors and the coordination between these behaviors to produce a type-2 hierarchical FLC. In our experiments, we implemented this type-2 architecture in different types of mobile robots navigating in indoor and outdoor unstructured and challenging environments. The type-2-based control system dealt with the uncertainties facing mobile robots in unstructured environments and resulted in a very good performance that outperformed the type-1-based control system while achieving a significant rule reduction compared to the type-1 system.

关键词： behavior-based mobile robots hierarchical controllers reactive navigation type-2 fuzzy logic systems

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Contract-based Predictive Control for Modularity in hierarchical Systems

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IFAC-PapersOnLine 2018年第20期51卷 499-504页

作者： Bäthge, Tobias Kögel, Markus Cairano, Stefano Di Findeisen, Rolf Laboratory for Systems Theory and Automatic Control Otto von Guericke University Magdeburg Germany Cambridge MA United States

hierarchical control architectures pose challenges for control, as lower-level dynamics, such as from actuators, are often unknown or uncertain. If not considered correctly in the upper layers, the requested and the applied control signals will differ. Thus, the actual and the predicted plant behavior will not match, likely resulting in constraint violation and decreased control performance. We propose a model predictive control scheme in which the upper and lower levels—the controller and the actuator—agree on a “contract” that allows to bound the error due to neglected dynamics. The contract allows to guarantee a desired accuracy, enables modularity, and breaks complexity: Components can be exchanged, vendors do not need to provide in-depth insights into the components’ working principle, and complexity is reduced, as upper-level controllers do not need full model information of the lower level—the actuators. The approach allows to consider uncertain actuator dynamics with flexible, varying sampling times. We prove repeated feasibility and input-to-state stability and illustrate the scheme in an example for a hierarchical controller/plant cascade. © 2018

关键词： controllers Actuators Contracts Dynamics hierarchical systems Model predictive control Modular construction Robustness (control systems) Constraint violation Control performance hierarchical control hierarchical control architecture hierarchical controllers Input to state stability Modularizations Predictive control

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New Architectures for hierarchical Predictive Control

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IFAC-PapersOnLine 2016年第7期49卷 43-48页

作者： Zavala, Victor M. Department of Chemical and Biological Engineering University of Wisconsin-Madison MadisonWI53706 United States

We analyze the structure of the Euler-Lagrange (EL) conditions of a long-horizon optimal control problem. The analysis reveals that the conditions can be solved by using block Gauss-Seidel (GS) schemes. We prove that such schemes can be implemented in the primal space by solving sequences of short-horizon optimal control problems. This analysis also reveals that a traditional receding-horizon (RH) scheme is equivalent to performing a single GS sweep. We have also found that we can use adjoint information from a coarse long-horizon problem to construct terminal penalties that correct the policies of the RH scheme. We observe that this scheme can be interpreted as a hierarchical controller in which a coarse high-level controller transfers long-horizon information to a low-level, short-horizon controller of fine resolution. The results open the door to a new family of hierarchical control architectures that can handle multiple time scales systematically. © 2016

关键词： controllers Lagrange multipliers Optimal control systems Rhodium Euler Lagrange hierarchical control hierarchical control architecture hierarchical controllers High level controllers Multiple time scale Optimal control problem Time scales

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Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES

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IFAC-PapersOnLine 2018年第20期51卷 253-258页

作者： Owaki, Yuto Yuno, Tsuyoshi Kawabe, Taketoshi Kyushu University Fukuoka819-0395 Japan

We propose a non-hierarchical controller based on nonlinear model predictive control for the path following of a simple electric vehicle. Generally, tyre forces close to of friction circle limit exhibit strong nonlinearity. We deal with the nonlinearity without approximation to improve the vehicle's dynamic performance while preventing drift out and spin. The C/GMRES algorithm is used for nonlinear model predictive control, and we show that the controller can update its inputs in real time. © 2018

关键词： Model predictive control controllers Electric vehicles Nonlinear systems Predictive control systems Autonomous driving hierarchical controllers Non linear control Nonlinear model predictive control Small electric vehicles Strong nonlinearity Vehicle dynamics Vehicle's dynamics

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A method of transition conflict resolving in hierarchical control

A method of transition conflict resolving in hierarchical co...

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Conference on Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments

作者： Labiak, Grzegorz Univ Zielona Gora Inst Elect Engn Ul Podgorna 50 PL-65246 Zielona Gora Poland

ISBN: (数字)9781510604865

ISBN: (纸本)9781510604858

The paper concerns the problem of automatic solving of transition conflicts in hierarchical concurrent state machines (also known as UML state machine). Preparing by the designer a formal specification of a behaviour free from conflicts can be very complex. In this paper, it is proposed a method for solving conflicts through transition predicates modification. Partially specified predicates in the nondeterministic diagram are transformed into a symbolic Boolean space, whose points of the space code all possible valuations of transition predicates. Next, all valuations under partial specifications are logically multiplied by a function which represents all possible orthogonal predicate valuations. The result of this operation contains all possible collections of predicates, which under given partial specification make that the original diagram is conflict free and deterministic.

关键词： hierarchical controllers logic controller transition conflicts Boolean modelling

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SoftMoW: Recursive and Reconfigurable Cellular WAN Architecture 14

SoftMoW: Recursive and Reconfigurable Cellular WAN Architect...

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10th ACM International Conference on Emerging Networking Experiments and Technologies (ACM CoNEXT)

作者： Moradi, Mehrdad Wu, Wenfei Li, Li Erran Mao, Z. Morley Bell Lab Alcatel Lucent Murray Hill NJ USA Univ Michigan Ann Arbor MI 48109 USA Univ Wisconsin Madison WI 53706 USA Bell Labs 600 Mt Ave Murray Hill NJ 07974 USA

ISBN: (纸本)9781450332798

The current LTE network architecture is organized into very large regions, each having a core network and a radio access network. The core network contains an Internet edge comprised of packet data network gateways (PGWs). The radio network consists of only base stations. There are minimal interactions among regions other than interference management at the edge. The current architecture has several problems. First, mobile application performance is seriously impacted by the lack of Internet egress points per region. Second, the continued exponential growth of mobile traffic puts tremendous pressure on the scalability of PGWs. Third, the fast growth of signaling traffic known as the signaling storm problem poses a major challenge to the scalability of the control plane. To address these problems, we present SoftMoW, a recursive and reconfigurable cellular WAN architecture that supports seamlessly inter-connected core networks, reconfigurable control plane, and global optimization. To scale the control plane nation-wide, SoftMoW recursively builds up the hierarchical control plane with novel abstractions of both control plane and data plane entities. To enable scalable end-to-end path setup, SoftMoW presents a novel label swapping mechanism such that each controller only operates on its logical topology and each switch along the path only sees at most one label. SoftMoW supports new network-wide optimization functions such as optimal routing and inter-region handover minimization. We demonstrate that SoftMoW improves the performance, flexibility and scalability of cellular WAN using real LTE network traces with thousands of base stations and millions of subscribers. Our evaluation shows that path inflation and inter-region handovers can be reduced by up to 60% and 44% respectively.

关键词： Cellular Networks Software-Defined Networking hierarchical controllers

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SoftMoW: A dynamic and scalable software defined architecture for cellular WANs

SoftMoW: A dynamic and scalable software defined architectur...

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3rd ACM SIGCOMM 2014 Workshop on Hot Topics in Software Defined Networking, HotSDN 2014

作者： Moradi, Mehrdad Li, Li Erran Mao, Z. Morley Bell Labs. Alcatel-Lucent United States University of Michigan Ann Arbor MI United States

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