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Proceedings of the 46th IEEE Conference on Decision and control, Pages 3220-3677

作者： Guang Li William P Heath Barry Lennox Automatic Control and Test Laboratory Department of Mechanical Engineering University of Bristol Bristol UK Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK

ISBN: (纸本)9781424414970;1424414970

We consider the stability of the feedback connection of a linear time invariant (LTI) plant with a static nonlinearity expressed by a certain class of quadratic program. By generalizing the class of candidate Lyapunov functions we improve on existing results in the literature. A Lyapunov function is constructed via the S-procedure from quadratic constraints established using the Karush-Kuhn-Tucker (KKT) conditions. The stability criterion can be expressed as a linear matrix inequality (LMI) condition. We discuss some simple examples that demonstrate the improved results.

关键词： Stability criteria feedback connection Liapunov function Attractants Quadratic kamikihi-to LTI

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Adaptive SDRE-Based Nonlinear Sensorless Speed control for PMSM Drives

Adaptive SDRE-Based Nonlinear Sensorless Speed Control for P...

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Annual North-American Power Symposium

作者： Peda V. Medagam Tansel Yucelen Farzad Pourboghrat Embedded Control Systems Laboratory Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA

This paper presents a new adaptive nonlinear control approach for permanent magnet synchronous motor (PMSM) drives, without requiring speed sensors. The proposed approach is based on state-dependent Riccati equation (SDRE) control technique and its real-time computation method by gradient-type neural networks, that allows one to control PMSM online. For this purpose, the unknown parameters of the PMSM drive; stator resistance, load torque, and motor speed, are also estimated using an extended Kalman filter (EKF) algorithm. The resulted adaptive algorithm is independent from any initial conditions, relatively fast to achieve nonlinear system speed tracking control, numerically not complex, and easily applicable to real-time control of PMSM drives. This new adaptive approach for sensorless control of PMSM drives is demonstrated through an illustrative simulation for the proof of concept.

关键词： Programmable control Adaptive control Velocity control Sensorless control Riccati equations Nonlinear control systems control systems Permanent magnet motors Magnetic sensors Nonlinear equations

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Nonlinear Quadratic Optimal control for Cascaded Multilevel Static Compensators

Nonlinear Quadratic Optimal Control for Cascaded Multilevel ...

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Annual North-American Power Symposium

作者： Tansel Yucelen Peda V. Medagam Farzad Pourboghrat Embedded Control Systems Laboratory Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA

This paper presents a novel nonlinear quadratic optimal control technique for multiple-input, multiple-output (MIMO) cascaded multilevel static compensators (STATCOM), based on state-dependent Riccati equation (SDRE) technique. The proposed approach is applied online, using a gradient-type neural network algorithm for the computation of SDRE based nonlinear control. The algorithm is fast, computationally simple, and independent of initial conditions. This new control strategy is applied, in a detailed simulation, to the average d-q model of STATCOM to track a desired DC voltage and a reactive current, that demonstrates a relatively fast control ability and good dynamic performance.

关键词： Optimal control STATCOM automatic voltage control Riccati equations Voltage control MIMO Nonlinear equations Neural networks computer networks Computational modeling

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Parallel operation of uninterruptible power supply systems in microgrids

Parallel operation of uninterruptible power supply systems i...

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European Conference on Power Electronics and Applications

作者： Josep M. Guerrero Juan C. Vasquez Jose Matas Jorge L. Sosa Luis Garcia de Vicuna Department of Automatic Control Systems and Computer Engineering Universitat Poliltècnica de Catalunya Spain Universidad de los Andes Merida Venezuela Department of Electrical Engineering UPC Spain Department of Electronic Engineering UPC Spain

In this paper, a control scheme applied to distributed UPSs forming a microgrid is proposed. The control architecture consists of two levels of hierarchy: 1) the P/Q droop control method of every UPS unit and 2) the management of the microgrid through the control of the setpoints of the units, and the connection or disconnection to the utility mains.

关键词： Uninterruptible power systems Inverters Communication system control Energy storage Energy management Voltage Switches Distributed control Renewable energy resources Power generation economics

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Online H∞ speed control of sensorless induction motors with rotor resistance estimation

Online H∞ speed control of sensorless induction motors with...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Peda V Medagam Farzad Pourboghrat Embedded Control Systems Laboratory Southem Illinois University Carbondale USA Electrical & Computer Engineering Department Southem Illinois University Carbondale USA

This paper proposes an online technique for the H ∞ control of speed and flux norm of current-fed induction motors (IM). Integrals of the speed and flux norm tracking errors are considered as elements of the state variables. A robust H ∞ , optimal control strategy for this problem is determined by solving the algebraic Riccati equation (ARE), using multilayer recurrent neural networks. The proposed controller allows for the simultaneous and independent control of both speed and flux norms of the induction motors. The control implementation involves estimating the rotor flux, rotor resistance, and speed of the induction motor, using continuous-time extended Kalman filter (EKF). The simulation results show the effectiveness of the proposed controller even in the presence of rotor resistance and load torque disturbances.

关键词： Induction motors Rotors Sliding mode control Sensorless control Optimal control Robust control Riccati equations Torque control Stators control systems

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Global Output-Feedback Stabilization for a Class of Stochastic Non-Minimum-Phase Nonlinear systems

Global Output-Feedback Stabilization for a Class of Stochast...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Shu-Jun Liu Zhong-Ping Jiang Ji-Feng Zhang Laboratory of Systems and Control Academy of Mathematics and Systems Science슠Chinese Academy of Sciences China Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA Laboratory of Systems and Control Academy of Mathematics and Chinese Academy of Sciences China

In this paper, the output-feedback stabilization problem is investigated for the first time for a class of stochastic nonlinear systems whose zero dynamics may be unstable. Under the assumption that the inverse dynamics of the system is stochastic input-to-state stabilizable, a stabilizing output-feedback controller is constructively designed by the integrator backstepping method together with a new reduced-order observer design and the technique of changing supply functions. It is shown that, under small-gain type conditions, the resulting closed-loop system is globally asymptotically stable in the probabilistic sense. The obtained results extend the existing methodology from deterministic systems to stochastic systems.

关键词： Stochastic systems Nonlinear systems control systems Nonlinear control systems Backstepping Nonlinear dynamical systems Mathematics control theory Linear systems Programmable control

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping Robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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