This paper presents a framework for the design of a joint motion controller and a control allocation strategy for dynamic positioning of marine vehicles. The key aspects of the proposed designs are a systematic approa...
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This paper presents a framework for the design of a joint motion controller and a control allocation strategy for dynamic positioning of marine vehicles. The key aspects of the proposed designs are a systematic approach to deal with actuator saturation and to inform the motion controller about saturation. The proposed system uses a mapping that translates the actuator constraint sets into constraint sets at the motion controller level. Hence, while the motion controller addresses the constraints, the control allocation algorithm can solve an unconstrained optimisation problem. The constrained control design is approached using a multivariable anti-wind-up strategy for strictly proper controllers. This is applicable to the implementation of PI and PID type of motion controllers.
In this paper we discuss minimum-time trajectory generation for input-andstate constrained continuous-time LTI systems in the light of the notion of flatness and B-splines parameterisation. Flat systems have the usefu...
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The purpose of this paper is to present some issues that arise when applying a traditional continuous-time model identification technique to highly resonant systems over a large bandwidth. A scheme based on the use of...
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This paper deals with quadratic stabilization of linear systems via a static quantized state or output feedback. The measure of quantization density introduced by Elia and Mitter (2001) is considered and used to deriv...
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A novel direct approach for modeling continuous-time stochastic processes is proposed in this paper. First the observed data is passed through an input-to-state filter and the covariance of the output state is compute...
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This paper develops a new input-output sampled-data model for a class of nonlinear systems having no finite zeros. The result extends recent work on sampled-data state space models for nonlinear systems. Important pro...
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This paper presents a novel control strategy for velocity tracking of Permanent Magnet Synchronous Machines (PMSM). The model of the machine is considered within the port-Hamiltonian framework and a control is designe...
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Synchronous machines are commonly modelled using d- and g-axis equivalent circuits. Here, we present an approach to the ensuing parameter estimation problem which employs the technique of indirect inference. In indire...
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ISBN:
(纸本)9780863967184
Synchronous machines are commonly modelled using d- and g-axis equivalent circuits. Here, we present an approach to the ensuing parameter estimation problem which employs the technique of indirect inference. In indirect inference, an intermediary model is employed which is computed for both the true system and the preferred model, in this case the equivalent circuit model. We have used frequency response data from standard standstill machine tests as the intermediary model. The circuit parameters of the model are optimised, such that the measured difference between the standstill frequency responses of the equivalent circuit model and the true system are minimised.
In this paper we describe a novel algorithm for estimating the parameters of a linear system when the observed output signal is quantized. This question has relevance to many areas including sensor networks and teleco...
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Model Predictive control (MPC) is a popular advanced control strategy that is implemented by determining an optimal control sequence at each time step. One of the major contributors to MPC's computational complexi...
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