Efficient control of Networked control System (NCS) is a challenge, as the control methods need to deal with non-deterministic variable delays and data loss. This paper presents a novel hybrid approach to NCS where Mo...
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In this paper, we propose a discrete-time Sequential Quadratic Programming (SQP) algorithm for nonlinear optimal control problems. Using the idea by Hauser of projecting curves onto the trajectory space, the introduce...
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ISBN:
(纸本)9781467357159
In this paper, we propose a discrete-time Sequential Quadratic Programming (SQP) algorithm for nonlinear optimal control problems. Using the idea by Hauser of projecting curves onto the trajectory space, the introduced algorithm has guaranteed recursive feasibility of the dynamic constraints. The second essential feature of the algorithm is a specific choice of the Lagrange multiplier update. Due to this ad hoc choice of the multiplier, the algorithm converges locally quadratically. Finally, we show how the proposed algorithm connects standard SQP methods for nonlinear optimal control with the Projection Operator Newton method by Hauser.
Component Based Software engineering (CBSE) is being increasingly applied in the distributed embedded systems (DES) domain as long as these systems are getting more and more complex in terms of flexibility, dynamism o...
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Component Based Software engineering (CBSE) is being increasingly applied in the distributed embedded systems (DES) domain as long as these systems are getting more and more complex in terms of flexibility, dynamism or heterogeneity. Besides that, safety critical systems must cope with the fulfillment of safety requirements and certification standards. This factor increases considerably the development cost of safety distributed embedded systems, even more if they must cope with flexibility, dynamism and heterogeneity. This paper focuses on the distribution aspects of such systems, and more specifically on safe communication channels for safety critical distributed systems. The proposed approach describes a certifiable general purpose safety communication layer that could be reused in different systems, thereby reducing the cost of system development and certification.
In this paper a study of the application of methods based on Computational Intelligence (CI) procedures to a forecasting problem in railway maintenance is presented. Railway maintenance is an important and long-standi...
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The problem of maintaining balance between consumption and production of electric energy in the presence of a high share of intermittent power sources in a transmission grid is addressed. A distributed, asynchronous o...
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The problem of maintaining balance between consumption and production of electric energy in the presence of a high share of intermittent power sources in a transmission grid is addressed. A distributed, asynchronous optimization algorithm, based on the ideas of cutting-plane approximations and adjustable robust counterparts, is presented to compute economically optimal adjustable dispatch strategies. These strategies guarantee satisfaction of the power balancing constraint as well as of the operational constraints for all possible realizations of the uncertain power generation or demand. The communication and computational effort of the proposed distributed algorithm increases for each computational unit only slowly with the number of participants, making it well suited for large scale networks. A distributed implementation of the algorithm and a numerical study are presented, which show the performance in asynchronous networks and its robustness against packet loss.
This paper addresses the control design for a nonlinear vessel manoeuvring model. The authors consider a highly nonlinear vessel 4 DOF model. The proposed control algorithm consists of a combination of an iteration te...
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ISBN:
(纸本)9781467357159
This paper addresses the control design for a nonlinear vessel manoeuvring model. The authors consider a highly nonlinear vessel 4 DOF model. The proposed control algorithm consists of a combination of an iteration technique that approximates the original nonlinear model by a sequence of linear time varying (LTV) equations whose solution converge to the solution of the original nonlinear problem and, a lead compensation design in which for each of the iterated linear time varying systems, the controller is optimized at each time on the interval. The control designed for the last iteration is then applied to the original nonlinear problem. Simulations results show good performance of this approximation methodology and accurate tracking for certain manoeuvring cases under the control of the designed lead controller. The main characteristic of the nonlinear system's response are the reduction of the settling time and the elimination of the steady state error and overshoot.
We study supervisor localization for real-time discrete-event systems (DES) in the Brandin-Wonham timed supervisory control framework. We view a real-time DES as comprised of asynchronous agents which are coupled thro...
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ISBN:
(纸本)9781479901777
We study supervisor localization for real-time discrete-event systems (DES) in the Brandin-Wonham timed supervisory control framework. We view a real-time DES as comprised of asynchronous agents which are coupled through imposed logical and temporal specifications;the essence of supervisor localization is the decomposition of monolithic (global) control action into local control strategies for the individual agents. This study extends our previous work on supervisor localization for untimed DES, in that monolithic timed control action typically includes not only disabling action as in the untimed case, but also "clock preempting" action which enforces prescribed temporal behavior. The latter action is executed by a class of special events, called "forcible" events;and accordingly, we localize monolithic preemptive action with respect to these events. We demonstrate the new features of timed supervisor localization on a manufacturing cell case study, and discuss a distributed control implementation.
In this article a fault detection scheme for broken rotor bar fault detection in three phase induction motor is presented. In the proposed scheme the induction motor has been transformed in the equivalent two phase (q...
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ISBN:
(纸本)9781479909964
In this article a fault detection scheme for broken rotor bar fault detection in three phase induction motor is presented. In the proposed scheme the induction motor has been transformed in the equivalent two phase (q - d) space, while the modeling of the faulty case has been also formulated. The model has been identified by the utilization of the Set Membership Identification (SMI) algorithm that has the merit of identifying both the parameters of the motor as also providing uncertainty bounds in both the healthy and the faulty cases. Based on the adopted methodology, the uncertainty bounds and the corresponding identified parameters of the induction motor is presented as 3D-ellipsoids, while a novel fast and efficient fault detection scheme has been proposed that is able to track iteratively the ellipsoid centers, the distance among centers, the intersection between the initial and a priori known converged states of the motor and the current ones, before or after the fault occurrence. Detailed analysis of the proposed approach and the fault detection strategy, as also extended simulation results are being presented that prove the efficiency of the suggested scheme.
The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation...
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The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs. Furthermore, there is considerable interest in reducing the number of sensors involved in acoustic navigation/positioning systems to reduce the costs involved and the time consumed in the deployment, callibration, and recovery phases. Motivated by these considerations, in this paper we address the problem of single underwater target positioning based on measurements of the ranges between the target and a moving sensor at the sea surface, obtained via acoustic ranging devices. In particular, and speaking in loose terms, we are interested in determining the optimal geometric trajectory of the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning. To this effect, an appropriate Fisher Information Matrix is defined and its determinant is maximized to yield the sensor trajectory that maximizes the accuracy of the target position estimate that can possibly be obtained with any unbiased estimator. It is shown that the optimal trajectory depends on the relative velocity of the sensor, the sampling time between measurements, and the number of measurements acquired for the FIM computation. Simulation examples illustrate the key results derived.
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