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Constrained control for linear time-varying systems in the presence of disturbances

IFAC Proceedings Volumes 2013年第2期46卷 923-928页

作者： H.-N. Nguyen S. Olaru P.-O. Gutman M. Hovd Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology SUPELEC Systems Sciences (E3S) - Automatic Control Department Department of Engineering Cybernetics Norwegian University of Science and Technology

The aim of this paper is twofold. In the first part, we revisit the robust invariance for ellipsoidal sets with respect to discrete-time linear time-varying and uncertain systems with bounded additive disturbances. In this context we provide an extension of the invariance condition of the previously published results in the literature. In the second part a novel robust interpolation based control method involving several local unconstrained robust optimal controls is proposed. Among them, one controller plays the role of a performance candidate, while the remaining controllers are used in the interpolation scheme for enlarging the domain of attraction. By using an appropriate objective function, recursive feasibility and a robustly asymptotically stable closed loop behavior are guaranteed.

关键词： Constrained control Interpolation Invariant set Linear matrix inequality

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Robust optimization-based control of constrained linear discrete time systems with bounded disturbances

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IFAC Proceedings Volumes 2013年第2期46卷 917-922页

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology SUPELEC Systems Sciences (E3S) - Automatic Control Department Department of Engineering Cybernetics Norwegian University of Science and Technology

In this paper we consider robust control of discrete-time linear time-invariant systems affected by bounded additive disturbance inputs with state and control constraints. The method is based on an interpolation technique between several local unconstrained robust optimal controllers. At each time instant a quadratic programming (QP) problem is solved on-line. Proofs of recursive feasibility and input-to-state stability of the closed loop are provided.

关键词： Constrained control Interpolation Invariant set Input-to-state stability

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control synthesis for switched systems with control and state constraints

Control synthesis for switched systems with control and stat...

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Mediterranean Conference on control & Automation

作者： H. N. Nguyen S. Olaru P. O. Gutman Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology SUPELEC Systems Sciences (E3S) - Automatic Control Department

ISBN: (纸本)9781479909964

In this paper, a new interpolation based control is developed for constrained control of switched linear discrete-time systems. The interpolation is done between a global gain-scheduled vertex controller and a local gain-scheduled stabilizing controller in order to achieve both the large domain of attraction and performance. At each time instant a linear programming problem is solved on-line. Proofs of recursive feasibility and asymptotic stability are given.

关键词： Switched systems Standing Orders region of attraction asymptotic stability region System control linear programming Interpolation controllers synthesis

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One-step receding horizon control for LPV systems in presence of constraints

One-step receding horizon control for LPV systems in presenc...

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American control Conference

作者： H. N. Nguyen S. Olaru P. O. Gutman Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology SUPELEC Systems Sciences (E3S) - Automatic Control Department

ISBN: (纸本)9781479901777

This paper proposes a novel receding horizon based controller for LPV discrete-time systems. The main idea exploited in the proposed algorithm is to use a parameter-dependent Lyapunov function together with an interpolation based control approach. At each time instant, the solution is obtained by means of a quadratic programming algorithm. Proofs of recursive feasibility and asymptotic stability are given.

关键词： Horizon asymptotic stability region Interpolation controllers Constraint quadratic programming Liapunov function instant based Standing Orders algorithms Recursive

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Broken bar detection using current analysis — A case study

Broken bar detection using current analysis — A case study

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IEEE International Symposium on Diagnostics for Electric Machines, Power Electronics and Drives (SDEMPED)

作者： Dragan Matić Željko Kanović Dejan Reljić Filip Kulić Dura Oros Veran Vasić Sub-department for Automatic Control and Systems Engineering Faculty of Technical Sciences University of Novi Sad Serbia Chair of Power Electronics and Converters Faculty of Technical Sciences University of Novi Sad Serbia

This paper covers a case study of broken bar detection for 3.15 MW motor in a thermal power plant application. The motor current is measured in one phase. Feature extraction is based on transient and steady state analysis. Hilbert and Wavelet transforms are used to extract broken bar features. To discuss rotor condition in time domain skewness and kurtosis of current envelope are also considered. Low shaft-load conditions are present. In case of high-voltage, high-power induction motor reliable broken bar detection is possible when contemporary digital signal processing techniques are used.

关键词： Induction motors Rotors Educational institutions Feature extraction Transforms Bars Fault detection

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Constrained decomposition based control approach for linear parameter varying systems

Constrained decomposition based control approach for linear ...

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European control Conference (ECC)

作者： H.-N. Nguyen P.-O. Gutman S. Olaru Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Haifa Israel SUPELEC Systems Sciences (E3S) - Automatic Control Department Gif sur Yvette France

ISBN: (纸本)9781479901890

Considering a constrained discrete-time linear time-varying system, this paper proposes a novel approach which aims at achieving high performance and enlarging the domain of attraction with respect to any particular linear controller. The main idea of the paper is to use a linear decomposition principle together with a parameter dependent Lyapunov function. At each time instant a quadratic programming problem is solved on-line. Proofs of recursive feasibility and asymptotic stability are given.

关键词： Optimization Equations Matrix decomposition Asymptotic stability Linear matrix inequalities Lyapunov methods Closed loop systems

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Structured coprime factorizations description of Linear and Time-Invariant networks

Structured coprime factorizations description of Linear and ...

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IEEE Conference on Decision and control

作者： Şerban Săbau Cristian Oară Sean Warnick Ali Jadbabaie Stevens Institute of Technology Hoboken NJ US Faculty of the Automatic Control Dept. University “Politehnica” Bucharest Romania The Faculty of the Computer Science Department Brigham Young University Faculty of the Electrical and Systems Engineering Dept University of Pennsylvannia

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology.

关键词： Transfer functions Equations Indium phosphide Mathematical model Network topology Topology Electronic mail

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Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

Screw theory based-design and tracking control of an endosco...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Fanni Yo Kobayashi Ahmed Abo-Ismail Masakatus G. Fujie Egypt-Japan University Technology Alexandria Egypt Computers Engineering and Automatic Control Department Tanta University Tanta Egypt Prod. Engineering & Mechanical Design Mansoura University Mansoura Egypt The faculty of Science and Engineering Waseda University Tokyo Japan Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781467356404

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU_2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

关键词： Joints Mathematical model Solid modeling Kinematics Manipulator dynamics Surgery

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Obstacle avoidance for trajectory tracking control of wheeled mobile robots

Obstacle avoidance for trajectory tracking control of wheele...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Solea, Razvan Cernega, Daniela Cristina Dunarea de Jos University of Galati Faculty of Automatic Control Computers Electrical and Electronics Engineering Romania

ISBN: (纸本)9783902661982

In this paper the authors investigated a new trajectory-tracking method for the wheeled mobile robots in the presence of static and dynamic obstacles. The model of steering and obstacle avoidance consists in a system of differential equations. The sensory perception is based on a laser range finder (LRF) system. The trajectory tracking control problem is solved using the sliding mode control. Simulation results are presented to verify the effectiveness of the proposed local navigational system in unknown environments with static and moving objects, corresponding to a flexible manufacturing system. © 2012 IFAC.

关键词： Mobile robots

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Practical applications for robotic arms using image processing

Practical applications for robotic arms using image processi...

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2012 16th International Conference on System Theory, control and Computing, ICSTCC 2012

作者： Dragusu, Mihai Mihalache, Anca Nicoleta Solea, Razvan Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University of Galati Romania

ISBN: (纸本)9786068348483

The following paper presents various applications for a robotic arm using image processing. These applications have as a basis a video camera that captures the images to be processed for either recognition and sorting or for contour coordinates extraction. Based on these captures, there were developed algorithms that enable the arm to either sort objects recognized to be having different shapes, or to draw shapes based on the coordinates received. Both the object detection and the contour coordinates extraction methods are implemented using a series of image processing techniques like border extraction, contour detection, contour extraction, along with match template and the aid of OpenCV library. Also, a PI controller that ensures the position of the robotic arm was developed. © 2012 Dunarea de Jos University.

关键词： Computation theory

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