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检索条件"机构=Center for Control Engineering and Computation University of California"

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Hybrid systems with memory: Modelling and stability analysis via generalized solutions 19

Hybrid systems with memory: Modelling and stability analysis...

引用

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

作者： Liu, Jun Teel, Andrew R. Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783902823625

Hybrid systems with memory are dynamical systems exhibiting both hybrid and delay phenomena. We present a general modelling framework for such systems using hybrid functional inclusions, whose generalized solutions are defined on hybrid time domains and evolve in the phase space of hybrid memory arcs equipped with the graphical convergence topology. We prove a general existence result based on some basic conditions on the data of hybrid systems. We further establish sufficient conditions for the stability analysis of hybrid systems with memory using Lyapunov-Razumikhin (L-R) functions. We demonstrate the stability results on a general nonlinear system with switching dynamics and state jumps. © IFAC.

关键词： System stability

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Further results on robust control of nonlinear systems with input unmodeled dynamics

Further results on robust control of nonlinear systems with ...

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American control Conference (ACC)

作者： M. Arcak P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara CA USA

We show that the robustification method of Krstic et al. (1996) for nonlinear systems with linear input unmodeled dynamics guarantees global boundedness of closed loop solutions when the unmodeled dynamics subsystem is relative degree zero and minimum phase. We also prove that the solutions can be made to converge to an arbitrarily small ball around the origin.

关键词： Robust control Nonlinear systems Nonlinear dynamical systems Uncertainty Transfer functions control engineering control engineering computing Military computing Eigenvalues and eigenfunctions Feedback

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Robust output-feedback design using a new class of nonlinear observers

Robust output-feedback design using a new class of nonlinear...

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IEEE Conference on Decision and control

作者： M. Arcak P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara CA USA

ISBN: (纸本)0780366387

Analyzes the robustness of a nonlinear observer design introduced previously by the authors. For uncertainties in the nonlinearities, bounds are given within which the observer error gradually increases with an increase in the uncertainty. For dynamic modeling errors, a robust output-feedback design is developed using ISS small-gain tools. A jet engine compressor example is used to illustrate the design.

关键词： Robustness Uncertainty Jet engines Time varying systems Vectors control engineering control engineering computing Robust control Ear Feedback

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Robust Source-Seeking Hybrid controllers for Autonomous Vehicles

Robust Source-Seeking Hybrid Controllers for Autonomous Vehi...

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American control Conference (ACC)

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation University of California Santa Barbara CA USA

We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.

关键词： Robust control Remotely operated vehicles Mobile robots Convergence Sea measurements Minimization methods Position measurement Stability Temperature sensors control systems

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Reducing noise through translational control in an auto-regulatory gene network

Reducing noise through translational control in an auto-regu...

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2009 American control Conference (ACC 2009)

作者： Abhyudai Singh Joao Pedro Hespanha Center for Control Engineering and Computation University of California Santa Barbara CA 93101

ISBN: (纸本)9781424445233

Auto-regulatory transcriptional feedback, where the protein expressed from a gene inhibits its own transcription, is known to reduce stochastic fluctuations in protein numbers. Recent work has demonstrated the existence of negative feedback loops not only at the transcriptional level but also at the translational level. We investigate the noise suppression abilities of feedback loops at the translational level and compare them with transcriptional feedback. In particular, we consider two feedbacks at the translational level: translation blocking feedback, where the protein inhibits the translation of its mRNA, and degradation enhancing feedback, where the protein increases the degradation rate of its mRNA. We derive analytical formulas for the protein noise level corresponding to different feedback mechanisms. These noise levels are then compared with each other for fixed steady-state average number of protein and mRNA molecules. We show that translation blocking feedback always yields smaller levels of protein noise than transcriptional feedback. We further show that the difference between the protein noise levels with translation blocking and transcriptional feedback critically depends on how fast the protein dynamics is compared to the mRNA dynamics. In particular, this difference increases as we make the protein dynamics faster than the mRNA dynamics, while making it slower has an opposite effect. Finally, we show that degradation enhancing feedback provides the same noise level as transcriptional feedback. This result shows that regulation at the translational level may not always be better than regulation at the transcriptional level in terms of reducing noise in the protein population.

关键词： Noise reduction Proteins Noise level Degradation Fluctuations Gene expression Steady-state Negative feedback Stochastic resonance Negative feedback loops

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Robust nested saturation redesign for systems with input unmodeled dynamics

Robust nested saturation redesign for systems with input unm...

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American control Conference (ACC)

作者： M. Arcak A. Teel P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara CA USA

We consider nonlinear systems in feedforward form and redesign nested saturation control laws to guarantee global asymptotic stability in the presence of unmodeled dynamics appearing at the system input. Unlike most previous results, this redesign is applicable to a large class of unmodeled dynamics, including actuators that change the relative degree of the system.

关键词： Robustness Nonlinear dynamical systems control systems Robust control Nonlinear systems Nonlinear control systems Actuators Robust stability Positron emission tomography control engineering

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Anti-windup design for manual flight control

Anti-windup design for manual flight control

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American control Conference (ACC)

作者： C. Barbu R. Reginatto A.R. Teel L. Zaccarian Center for Control Engineering and Computation University of California Santa Barbara CA USA

We address the windup problem arising from actuator rate and magnitude limits in the context of manual flight control for an open loop unstable aircraft. We present a new anti-windup solution tailored for this problem... 详细信息

关键词： Military aircraft Elevators Aerospace control Prototypes Steady-state control engineering control engineering computing Windup Aircraft propulsion Airplanes

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Design and experimental implementation of multi-loop LQR, PID, and LQG controllers for the trajectory tracking control of twin rotor MIMO system 3rd

Design and experimental implementation of multi-loop LQR, PI...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Ayush Dharavath, Abhiraj Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

One DOF (degree of freedom) Twin Rotor multi-input multi-output system (TRMS) is one of the benchmarked dynamical systems which has striking comparability with Helicopter. Design of controllers for such complex air vehicle is a daunting task as it has inherent nonlinearities and cross-coupling between its main and tail rotors. Therefore, it is an interesting laboratory benchmarked control problem, to test the performance of various controllers. The control techniques focused in this paper are the experimental implementation of multi-loop controllers such as Linear Quadratic Regulator (LQR), linear proportional integral derivative (L-PID), and Linear Quadratic Gaussian (LQG) controllers on TRMS system to verify the performance of these controllers. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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Robust global asymptotic attitude synchronization by hybrid control

Robust global asymptotic attitude synchronization by hybrid ...

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作者： Mayhew, Christopher G. Sanfelice, Ricardo G. Arcak, Murat Teel, Andrew R. Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ 85721 United States Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 United States

ISBN: (纸本)9781424474264

We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The proposed synchronization scheme relies on a hysteretic hybrid feedback based on the unit quaternion representation of rigid body attitude to achieve a global synchronization result that is robust to measurement noise. While the hysteretic feedback manages a trade-off between robustness to measurement noise and unwinding, the scheme necessitates the communication of a single binary logic variable between neighboring rigid bodies. © 2010 AACC.

关键词： Feedback

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Feedback limitations in nonlinear systems: from Bode integrals to cheap control

Feedback limitations in nonlinear systems: from Bode integra...

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IEEE Conference on Decision and control

作者： M.M. Seron J.H. Braslavsky P.V. Kokotovic D.Q. Mayne Center for Control Engineering and Computation University of California Santa Barbara CA USA

ISBN: (纸本)0780341872

This paper links the Bode integral characterization of performance limitations in linear control systems with the limiting cost of a particular linear cheap control. This link allows us to establish analogous feedback limitations in nonlinear systems. We show how unstable zero dynamics impose unavoidable obstructions to the closed-loop performance.

关键词： Nonlinear systems Nonlinear control systems control systems Optimal control Poles and zeros Cost function Linear feedback control systems Force control Mirrors Attenuation

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