检索结果-内蒙古大学图书馆

Decoupling parameter variation from noise: Biquadratic Lyapunov forms in data-driven LPV control

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Verhoek, Chris Eising, Jaap Dörfler, Florian Tóth, Roland Control Systems Group Eindhoven University of Technology Netherlands Institut für Automatik ETH Zürich Switzerland Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

A promising step from linear towards nonlinear data-driven control is via the design of controllers for linear parameter-varying (LPV) systems, which are linear systems whose parameters are varying along a measurable scheduling signal. However, the interplay between uncertainty arising from corrupted data and the parameter-varying nature of these systems impacts the stability analysis and limits the generalization of well-understood data-driven methods available for linear time-invariant systems. In this work, we decouple this interplay using a recently developed variant of the Fundamental Lemma for LPV systems and the concept of data-informativity, in combination with biquadratic Lyapunov forms. Together, these allow us to develop novel linear matrix inequality conditions for the existence of scheduling-dependent Lyapunov functions, incorporating the intrinsic nonlinearity. Appealingly, these results are stated purely in terms of the collected data and bounds on the noise, and they are computationally favorable to check. © 2024, CC BY-NC-SA.

关键词： Lyapunov functions

Baseline Results for Selected Nonlinear System Identification Benchmarks

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Champneys, Max D. Beintema, Gerben I. Tóth, Roland Schoukens, Maarten Rogers, Timothy J. Dynamics Research Group University of Sheffield Sheffield United Kingdom Control System Group Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Nonlinear system identification remains an important open challenge across research and academia. Large numbers of novel approaches are seen published each year, each presenting improvements or extensions to existing methods. It is natural, therefore, to consider how one might choose between these competing models. Benchmark datasets provide one clear way to approach this question. However, to make meaningful inference based on benchmark performance it is important to understand how well a new method performs comparatively to results available with well-established methods. This paper presents a set of ten baseline techniques and their relative performances on five popular benchmarks. The aim of this contribution is to stimulate thought and discussion regarding objective comparison of identification methodologies. © 2024, CC BY.

关键词： Nonlinear simulations

Infinite-horizon Linear Quadratic Path-Following

学校读者我要写书评

暂无评论

Infinite-horizon Linear Quadratic Path-Following

IEEE Conference on Decision and control

作者： Duarte J. Antunes Dep. of Mechanical Eng. Control Systems Technology Group Eindhoven University of Technology the Netherlands

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper proposes a path-following policy for linear systems subject to stochastic disturbances. The problem is framed as that of choosing both the control inputs and the trajectory’s speed to minimize an infinite-horizon expected quadratic cost taking into account the state and the input. The path is modeled by an exosystem. It is shown that certainty equivalence holds when the path is a straight line. The proposed path-following policy improves the cost of the optimal constant speed trajectory-tracking policy associated with the exosystem. This policy guarantees that the tracking error converges to zero in the absence of disturbances. Numerical examples highlight the advantages of the method with respect to trajectory-tracking.

关键词： Linear systems Costs Stochastic processes

Kernel-based multi-step predictors for data-driven analysis and control of nonlinear systems through the velocity form

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Verhoek, Chris Tóth, Roland The Control Systems group The Dept. of Electrical Engineering The Eindhoven University of Technology Netherlands The Institute for Computer Science and Control Budapest Hungary

We propose kernel-based approaches for the construction of a single-step and multi-step predictor of the velocity form of nonlinear (NL) systems, which describes the time-difference dynamics of the corresponding NL system and admits a highly structured representation. The predictors in turn allow to formulate completely data-driven representations of the velocity form. The kernel-based formulation that we derive, inherently respects the structured quasi-linear and specific time-dependent relationship of the velocity form. This results in an efficient multi-step predictor for the velocity form and hence for nonlinear systems. Moreover, by using the velocity form, our methods open the door for data-driven behavioral analysis and control of nonlinear systems with global stability and performance guarantees. © 2024, CC BY-NC-SA.

关键词： Nonlinear simulations

Decoupling parameter variation from noise: Biquadratic Lyapunov forms in data-driven LPV control

学校读者我要写书评

暂无评论

Decoupling parameter variation from noise: Biquadratic Lyapu...

IEEE Conference on Decision and control

作者： Chris Verhoek Jaap Eising Florian Dörfler Roland Tóth Control Systems Group Eindhoven University of Technology The Netherlands Institut für Automatik ETH Zürich Switzerland Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

关键词： Linear systems Uncertainty Noise Stability analysis Robustness Trajectory Linear matrix inequalities Noise measurement Output feedback Lyapunov methods

Autonomous Hook-Based Grasping and Transportation with Quadcopters

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Antal, Péter Péni, Tamás Tóth, Roland The Systems and Control Lab. HUN-REN Institute for Computer Science and Control Budapest Hungary The Control Systems Group The Eindhoven University of Technology Netherlands

Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are attached to the quadcopter body. However, due to the large weight and power consumption of these aerial manipulators, their agility and flight time are limited. This paper proposes a motion control and planning method for transportation with a lightweight, passive manipulator structure that consists of a hook attached to a quadrotor using a 1 DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear–quadratic payload regulator for rapid setpoint stabilization of the payload swing. Furthermore, stability of the closed-loop system is mathematically proven to give safety guarantee for its operation. The proposed control architecture and design are evaluated in a high-fidelity physical simulator, and also in real flight experiments, using a custom-made quadrotor–hook manipulator platform. © 2023, CC BY-NC-SA.

关键词： Manipulators

Closed-loop Aspects of Data-Enabled Predictive control

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2023年第2期56卷 1388-1393页

作者： Rogier Dinkla Sebastiaan P. Mulders Jan-Willem van Wingerden Tom Oomen Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628 CD Delft The Netherlands Eindhoven University of Technology Control Systems Technology group De Zaale 5600 MB Eindhoven The Netherlands.

In recent years, the amount of data available from systems has drastically increased, motivating the use of direct data-driven control techniques that avoid the need of parametric modeling. The aim of this paper is to analyze closed-loop aspects of these approaches in the presence of noise. To analyze this, a unified formulation of several approaches, including Data-enabled Predictive control (DeePC) and Subspace Predictive control (SPC) is obtained and the influence of noise on closed-loop predictors is analyzed. The analysis reveals potential closed-loop correlation problems, which are closely related to well-known results in closed-loop system identification, and consequent control issues. A case study reveals the hazards of noise in data-driven control.

关键词： Data-driven control subspace predictive control data-enabled predictive control closed loop identification instrumental variables

Optimal Synthesis of LTI Koopman Models for Nonlinear systems with Inputs

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2022年第35期55卷 49-54页

作者： Lucian C. Iacob Roland Tóth Maarten Schoukens Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite dimensional) linear space through nonlinear functions called observables. In the lifted space, the dynamics are linear and represented by a so-called Koopman operator. While the Koopman theory was originally introduced for autonomous systems, it has been widely used to derive linear time-invariant (LTI) models for nonlinear systems with inputs through various approximation schemes such as the extended dynamics mode decomposition (EDMD). However, recent extensions of the Koopman theory show that the lifting process for such systems results in a linear parameter-varying (LPV) model instead of an LTI form. As LTI Koopman model based control has been successfully used in practice and it is generally temping to use such LTI descriptions of nonlinear systems, due to the simplicity of the associated control tool chain, a systematic approach is needed to synthesise optimal LTI approximations of LPV Koopman models compared to the ad-hoc schemes such as EDMD, which is based on least-squares regression. In this work, we introduce optimal LTI Koopman approximations of exact Koopman models of nonlinear systems with inputs by using ℓ 2 -gain and generalized H 2 norm performance measures. We demonstrate the advantages of the proposed Koopman modelling procedure compared to EDMD.

关键词： Nonlinear systems Koopman operator Linear Parameter-Varying systems

Design of controls for ISS and Integral ISS Stabilization of Multistable State Periodic systems

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2023年第2期56卷 4472-4477页

作者： Jesus Mendoza-Avila Angel Mercado-Uribe Denis Efimov Johannes Schiffer Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Control Systems and Network Control Technology Group Brandenburg University of Technology Cottbus 03046 Germany Fraunhofer Research Institution for Energy Infrastructures and Geothermal Systems (IEG) Cottbus 03046 Germany

This paper is devoted to the construction of continuous and periodic controllers for ISS or iISS stabilization of a class of multistable state periodic systems. For this purpose, the concepts of practical ISS-, ISS- and iISS-control Leonov functions are introduced. Then, it is proven that the existence of these functions is a sufficient condition to ensure that the system under study is ISS- or iISS stabilizable, and explicit feedback control laws can be obtained by means of a mild adaptation of Sontag's universal formula. The proposed method is illustrated by the design of an excitation controller for a synchronous generator ensuring ISS of the closed-loop system.

关键词： Input-to-state stability control Lyapunov functions Multistable systems State periodic systems