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Robust output feedback NMPC with guaranteed constraint satisfaction

IFAC-PapersOnLine 2015年第14期48卷 326-331页

作者： Sankaranarayanan Subramanian Sergio Lucia Radoslav Paulen Sebastian Engell Process Dynamics and Operations Group TU Dortmund Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

Nonlinear Model Predictive control (NMPC) employs a plant model to compute a sequence of optimal control inputs for a finite horizon. As, in reality, there always exists a plant-model mismatch and not all states of the plant can be measured, the NMPC scheme must be robust to plant uncertainties and to estimation errors. Different robust NMPC strategies have been proposed to deal with these uncertainties. Among them, a multi-stage NMPC, which is based upon a scenario tree of future plant evolutions, is less conservative compared to worst-case open-loop approaches because the presence of feedback at future sampling instants is explicitly considered. In multi-stage output feedback NMPC, additional scenarios are created by sampling the innovations that are used to estimate the future states of the plant along the scenario tree. In this paper, we refine our previously published approach to include state estimation errors. Moreover we extend the scheme to guarantee robust constraint satisfaction by calculating reachable sets using Taylor models. The method is demonstrated for a nonlinear chemical process example.

关键词： Predictive control Robust control Output feedback Nonlinear control systems

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Actuator fault estimation based adaptive polytopic observer for a class of LPV descriptor systems

Actuator fault estimation based adaptive polytopic observer ...

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作者： Rodrigues, M. Hamdi, H. Theilliol, D. Mechmeche, C. Benhadj Braiek, N. Laboratory of Automatic and Process Control CNRS Université de Lyon LyonF-69003 France Laboratory for Advanced Systems Tunisia Polytechnic School University of Carthage Carthage Tunisia Université de Lorraine CNRS B.P. 70239 Vandœuvre lès NancyF-54506 France

This paper presents an Adaptive Polytopic Observer (APO) design in order to develop an actuator fault estimation method dedicated to polytopic Linear Parameter Varying (LPV) descriptor systems. This paper extends a fault diagnosis method developed for regular LTI systems to polytopic LPV descriptor systems. Here, time-varying actuator faults are also considered, whereas in many papers, actuator faults are generally assumed to be constant. The design and convergence conditions of this APO are provided. The design is formulated through LMI techniques under equality constraints. The performances of the proposed actuator fault estimation scheme are illustrated using an electrical circuit. Copyright © 2014 John Wiley & Sons, Ltd.

关键词： Linear systems

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Goal seeking of mobile robot using fuzzy actor critic learning algorithm

Goal seeking of mobile robot using fuzzy actor critic learni...

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International Conference on Modelling, Identification and control (ICMIC)

作者： F. Lachekhab M. Tadjine Laboratory of Automatic Applied and Signal Processing University of Mhamed Bougara Boumerdes Algeria Process Control Laboratory National Polytechnic School Algiers Algeria

In this paper, we present a study of a basic behavior of mobile robot, which is goal seeking. Firstly, we use the heuristics approaches to develop a controller based on fuzzy logic to control the robot and bring it from an initial position to a final position. Secondly, we use the learning technique-Fuzzy actor critic learning algorithm (FACL)-. The reinforcement learning FACL has to select the actions available in each fuzzy rule. The main advantage of the proposed method is the automatic construction of these rules. So far, simulation has shown that the controller is able to perform successful navigation task in known environments, and it has smooth action and exceptionally good robustness.

关键词： Robot kinematics Fuzzy logic Learning (artificial intelligence) Mobile robots Input variables process control

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Modelling, Simulation and control of Hybrid System Integrating Logic, dynamics, and constraints: Using hybrid Automaton, APROS and Mixed Integer Quadratic Optimization Algorithm

Modelling, Simulation and Control of Hybrid System Integrati...

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International Conference on Modelling, Identification and control

作者： M. F. Belazreg K. Halbaoui M. H. Boulheouchat D. Boukhetala Department of Automatic CRNB Nuclear Research Centre of Birine B.P 180 A?n-Oussera Djelfa Algeria Electrical Engineering CRNB Nuclear Research Centre of Birine B.P 180 A?n-Oussera Djelfa Algeria Nuclear Safety CRNB Nuclear Research Centre of Birine B.P 180 A?n-Oussera Djelfa Algeria Process Control Laboratory ENP National Polytechnic School 10 avenue Pasteur Hassan Badi BP 182 El-Harrach Algiers Algeria

ISBN: (纸本)9781509015948

This paper present modeling, simulation and control of hybrid system who integrating logic, dynamics and constraints. System. The Hybrid Automaton is used to modelling a transition system with continuous dynamics. The framework it consist of a finite set of location and transition for the specification of discrete dynamics or states called control mode. Each control mode is indexed set of continuous variables describing continuous dynamics. Using APROS tools, it permit to simulate the behavior of the hybrid system approaching in the experiment case to taking into account several aspects: type and model of fluid, actuators, pipes, loss of pressure, drive time of valve. The Mixed Logic, dynamics formalism we permit to describe the both dynamics defining by logic rules, continuous dynamics and operating constraints. These are described by linear dynamic equations subject to linear inequalities involving continuous, discrete and auxiliary variables take into account the interconnections between themes. This model is used to synthesis of a predictive control law under constraints over a prediction horizon. The controller requires solution of on line mixed integer quadratic algorithm to solve an optimization problem. Simulation was performed to illustrate performances and efficiently of these methods.

关键词： Hybrid system Hybrid Automaton Nonlinear systems Nodalization APROS Mixed logical and dynamical Stateflow Model predictive control Mixed integer quadratic optimzation OPC Interface

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Fault-tolerant control for discrete linear systems with consideration of actuator saturation and performance degradation 9

Fault-tolerant control for discrete linear systems with cons...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical processes, SAFEprocess 2015

作者： Wang, Z. Rodrigues, M. Theilliol, D. Shen, Y. School of Astronautics Harbin Institute of Technology Harbin150001 China Automatic and Process Control Laboratory University of Lyon CNRS UMR 5007 VilleurbanneF-69622 France Centre de Recherche en Automatique de Nancy Université de Lorraine CNRS UMR 7039 Vandoeuvre-les-NancyF-54506 France

This paper proposes an active fault-tolerant control method for discrete-time linear systems with actuator faults. The main contribution of this paper lies in the capability of dealing with the actuator saturation and accepting the performance degradation. In this paper, a fault estimation observer is first designed by constructing an equivalent descriptor system model of the original plant. To accept performance degradation of the post-fault system, a degradation factor is introduced into the reference model. In the fault-tolerant control design, both the actuator saturation and performance degradation are considered, and the fault-tolerant control input and the degradation factor are simultaneously designed by solving a constrained optimization problem. Finally, an aircraft example is simulated to demonstrate the effectiveness and performance of the proposed method. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault tolerance

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Mathematical Modelling and Sensitivity Analysis of Multipolar Radiofrequency Ablation in the Spine ∗

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IFAC-PapersOnLine 2015年第20期48卷 243-248页

作者： Janine Matschek Andreas Himmel Friedrich von Haeseler Eric Bullinger Martin Skalej Rolf Findeisen Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany Forschungscampus STIMULATE Magdeburg Germany Department of Process Systems Engineering Otto-von-Guericke University Magdeburg Germany Institute for Neuroradiology University Hospital of Magdeburg

Mathematical models of the radiofrequency ablation enable to plan, monitor and control interventions allowing to predict and improve their outcome. A system of coupled partial differential equations suitable for planning, analysis and real time implementation is proposed to model the multipolar radiofrequency ablation under consideration of capillary blood perfusion in the spine. To address the multipolar operation, time dependent boundary conditions to the model are introduced. Accounting for the application in the spine, consisting of various tissue types, we consider spatially distributed model parameters. Since the spatially distributed parameters play a key role, analytic expressions for a sensitivity analysis are derived. Based on the model, simulations are performed underlining the quality of the approach and analysing the influence of the spatially distributed parameters.

关键词： Multipolar radiofrequency ablation sensitivity analysis spinal column mathematical modelling

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Online identification of multivariable nonlinear processes with iterative structure learning and application to a diesel engine 19

Online identification of multivariable nonlinear processes w...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Kowalczyk, Marek Yi, Boliang Isermann, Rolf Institute of Automatic Control and Mechatronics Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

ISBN: (纸本)9783902823625

This contribution presents a new methodology for the online identification, which allows the modeling of the stationary and dynamic behavior of nonlinear combustion engines with many input and output variables in short time with an appropriate model structure. The used models are local polynomial model trees. The necessary enhancements and adaptations of the identification algorithm for local polynomial model trees for the online methodology are presented. To enable an online identification, not only the parameters but also the structure of the models has to be adapted to the ongoing measuring procedure at a test bench. This structure adaptation methods use iteratively recorded measured data for the determination of an optimized model partition and regressor selection regarding the quality and complexity of the model. This maximizes the iterative improvement of the mathematical model, leading to a reduced test bench time. The applicability of the developed methodology is shown for the identification of a model from both, an artificial test function as well as a real diesel engine. © IFAC.

关键词： Iterative methods

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Robust control of a parallel robot

Robust control of a parallel robot

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International Conference on Advanced Robotics (ICAR)

作者： M. Rachedi M. Bouri B. Hemici Automatic and Instrumentation Department U.S.T.H.B University Algiers Algeria Laboratory of Robotic Systems Polytechnique Fédérale de Lausanne (EPFL) Swistzerlands Laboratory of Process Control Polytechnic National School (ENP) Algiers Algeria

This work presents the implementation of two model based control schemes in parallel mechanisms; the H∞ robust control designed by the mixed sensitivity approach and the Computed Torque control (CTC). Simulations results are illustrated for the 3DOF parallel robot namely the “Delta robot”. Performances of the CTC and the H∞ controllers are compared for a semi elliptic pick and place trajectory and with a parabolic position profile. The movement dynamic is increased up to the acceleration of 12 G and a velocity of 1m/s. For robustness tests, parametric disturbances are introduced by additional loads on the travelling plate of the Delta robot. The simulation results performed on a SimMechanics model of the Delta robot show that the H∞ controller presents better performances and robustness compared to the CTC controller. It is implemented in the control scheme without the incorporation of the inverse dynamic model (IDM) of the system which reduces significantly the computation time of the control law.

关键词： Robustness Mathematical model Robot kinematics Computational modeling Trajectory Sensitivity

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Backstepping observers for periodic quasi-linear parabolic PDEs 19

Backstepping observers for periodic quasi-linear parabolic P...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Jadachowski, L. Meurer, T. Kugi, A. Christian Doppler Laboratory for Model-Based Process Control in the Steel Industry Automation and Control Institute Vienna University of Technology Austria Department of Automatic Control Christian-Albrechts-University Kiel Germany

ISBN: (纸本)9783902823625

The extension of the backstepping-based state observer design is considered for general periodic quasi-linear parabolic PDEs in one space dimension. Here, the extended linearization combined with a suitable coordinate and state transformation is employed. This allows for the application of the backstepping method for the determination of an extended Luenberger observer with observer gains entering the PDE and the boundary condition which ensures an exponential decay of the linearized observer error dynamics. This is confirmed analytically, while the convergence of the quasi-linear observer error system is studied in numerical simulations. © IFAC.

关键词： Backstepping

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Online Identification of Multivariable Nonlinear processes with Iterative Structure Learning and Application to a Diesel Engine

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IFAC Proceedings Volumes 2014年第3期47卷 9216-9222页

作者： Marek Kowalczyk Boliang Yi Rolf Isermann Institute of Automatic Control and Mechatronics Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

关键词： Engine modeling Mechatronic combustion engine Iterative measurements Identification methods Online identification Model structure adaptation

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