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Robust H 2 Filtering for Uncertain Nonlinear systems

IFAC Proceedings Volumes 2004年第21期37卷 509-514页

作者： C.E. de Souza D.F. Coutinho K.A. Barbosa A. Trofino Department of Systems and Control Laboratório Nacional de Computação Científica - LNCC Av. Getúlio Vargas 333 25651-075 Petrópolis RJ Brazil. Department of Electrical Engineering Pontifícia Universidade Católica - RS Av. Ipiranga 6681 90619-900 Porto Alegre RS Brazil. Department of Automation and Systems Universidade Federal de Santa Catarina PO Box 476 88040-900 Florianópolis SC Brazil.

This paper addresses the design of robust H 2 filters for a class of nonlinear systems subject to uncertain parameters belonging to a given polytope. The nonlinear system is represented by differential-algebraic equations where the system matrices are allowed to be rational functions of the state and uncertain parameters. Linear matrix inequality conditions based on a parameter-dependent Lyapunov function are proposed to design a robust linear filter which ensures an optimized upper-bound on the worst-case asymptotic estimation error variance.

关键词： Robust H 2 filtering nonlinear systems uncertain systems parametric Lyapunov functions

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New approaches to generalized Hamiltonian realization of autonomous nonlinear systems

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Science in China(Series F) 2003年第6期46卷 431-444页

作者：王玉振李春文程代展 School of Control Science and Engineering Shandong UniversityJinan 250061China Department of Automation Tsinghua UniversityBeijing 100084China Institute of Systems Science Chinese Academy of ScienceBeijing 100080China

The Hamiltonian function method plays an important role in stability analysis and stabilization. The key point in applying the method is to express the system under consideration as the form of dissipative Hamiltonian systems, which yields the problem of generalized Hamiltonian realization. This paper deals with the generalized Hamiltonian realization of autonomous nonlinear systems. First, this paper investigates the relation between traditional Hamiltonian realizations and first integrals, proposes a new method of generalized Hamiltonian realization called the orthogonal decomposition method, and gives the dissipative realization form of passive systems. This paper has proved that an arbitrary system has an orthogonal decomposition realization and an arbitrary asymptotically stable system has a strict dissipative realization. Then this paper studies the feedback dissipative realization problem and proposes a control-switching method for the realization. Finally, this paper proposes several sufficient conditions for feedback dissipative realization.

关键词： generalized Hamiltonian realization feedback dissipative realization first integrals orthogonal decomposition method control-switching method.

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Guaranteed-cost control of a linear uncertain system with multiple time-varying delays: An LMI approach

Guaranteed-cost control of a linear uncertain system with mu...

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作者： Nian, X. Feng, J. Centre for Automation Engineering College of Information Engineering Central South University Changsha 410075 China Centre for Systems and Control Department of Mechanics Peking University Peking 100871 China

The guaranteed-cost control program via memoryless state feedback controllers is studied for a class of linear time varying delay systems with norm-bounded time varying parametric uncertainty and a given quadratic cost function. The time varying delays considered are assumed bounded but no information to be available. Sufficient conditions for the existence of guaranteed-cost controllers are given in terms of linear matrix inequalities (LMIs). A convex optimisation problem with LMI constraints is formulated to design the optimal guaranteed-cost controller which minimises the guaranteed cost of the closed-loop uncertain system.

关键词： Time varying systems

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Component-Based constructing approach for application specific embedded operating systems

Component-Based constructing approach for application specif...

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2003 IEEE International Conference on Intelligent Transportation systems, ITSC 2003

作者： Li-Xin, Z. Fei-Yue, W. Candidate of Intelligent Control and System Engineering Center Automation Institute of Chinese Academy of Sciences Beijing China Department of Systems and Industrial Engineering University of Arizona Tucson United States

ISBN: (纸本)0780381254

Rapid advances in the real-time embedded operating systems necessitate the development of Internet oriented, application specific embedded operating systems. The ASOS (Application Specific embedded Operating systems) has now become a promising research direction of the embedded operating system. The paper clarifies the concept of the ASOS, and takes the embedded operating system applied in the traffic signal controller we are now developing to illustrate the main characteristics of the ASOS. Benefits from the CBSE(Component-based Software engineering)include system quality improvement, shorter time to market, integration of complex systems, etc. However, as for the embedded system, the component-based technology and theories still in an exploration period, though many projects are carried on. In this paper, we present the process of our approach to construct the ASOS based on the component technology. © 2003 IEEE.

关键词： Embedded systems

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Improving tracking performance on disturbance-rejection controllers 2

Improving tracking performance on disturbance-rejection cont...

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2nd IFAC Conference on control systems Design, CSD 2003

作者： Vrancic, Damir Strmcnik, Stanko Huba, Mikulas Stefan Institute Department of Systems and Control Jamova 39 LjubljanaSI-1000 Slovenia Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak Technical University BratislavaSK-81219 Slovakia

Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on reference tracking. The only way to decrease overshoot is to use two-degrees-of-freedom (2-DOF) controllers. Unfortunately, reducing the overshoot usually results in slower tracking response when using some of the most common 2-DOF controller structures. This paper suggests using additional first-order filter on the set-point of the PI controller in order to improve tracking performance. The calculation of compensator's parameters is straightforward and can be easily performed in practice. Several examples confirmed the efficiency of the proposed approach. © 2003 IFAC.

关键词： controllers

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Reuse of information as a base for development and verification of control programs for flexible manufacturing cells

Reuse of information as a base for development and verificat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Richardsson M. Fabian Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

Shortened product life-cycles decreases the output rate of manufacturing systems as the introduction of new products into the manufacturing system becomes more frequent. Improvements of the development process of manufacturing systems are needed to increase the output. Information handling and development of control programs based on information reuse are two of the most important improvement areas. These areas, among other things, can be a support for offline verification, which promises to directly increase the output rate due to shortening product introduction times. This paper deals with two problems of the many connected to enabling offline verification. First, a general control program structure, adapted to information reuse, is needed and secondly, the information necessary to generate the control programs needs to be defined. A method is proposed where information from the mechanical design of a cell, from the product, and from manual simulation are reused and automatically converted into control programs that schedule the work in a collision-free, deadlock-free and time-optimized way. The correctness of the generated programs is guaranteed by use of formal methods, simulation and an uncorrupted conversion of specifications into control programs.

关键词： Flexible manufacturing systems control systems Manufacturing systems Computer aided manufacturing Automatic generation control Automatic control Manufacturing automation Production Computer bugs systems engineering and theory

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Composite systems control by combined math-analytical and FS/NN computing approach 3

Composite systems control by combined math-analytical and FS...

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3rd IFAC Workshop on Automatic systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003

作者： Dimirovski, Georgi M. Jing, Yuan-Wei Zhao, Jun Zhang, Si-Ying Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy IstanbulTR-34722 Turkey SS Cyril and Methodius University Institute of Automation and Systems Eng Faculty of Electrical Engineering SkopjeMK-1000 Macedonia Northeastern University Institute of Control Science School of Information Science and Eng. Shenyang Liaoning China

A control systems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems engineering. Copyright © 2003 IFAC.

关键词： Fuzzy systems

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Anti-sway system for boom cranes based on an optimal control approach

Anti-sway system for boom cranes based on an optimal control...

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American control Conference (ACC)

作者： E. Arnold O. Sawodny A. Hildebrandt K. Schneider Fraunhofer Application Center Systems Technology Ehrenberg Germany Institute of Automation and System Engineering Department of Control Engineering Technische Universität Illmenau Germany

For the operation of boom cranes a significant high level of experience is needed to achieve a large amount of handled containers. Therefore, automation systems with anti-sway abilities for boom cranes were developed to increase the handling rate especially for inexperienced crane operators. In the paper, an optimal control approach is presented as an alternative to feedback control systems. After deriving the nonlinear dynamic model, the anti-sway problem is formulated as a nonlinear constrained optimal control problem. The numerical solution method for this optimal control problem is presented. The results are illustrated at measurements for the harbour mobile crane LIEBHERR LHM400.

关键词： Cranes Optimal control Feedback control Differential equations Shape control control systems automation State feedback Costs Nonlinear dynamical systems

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Near minimax robust control of flexible structures

Near minimax robust control of flexible structures

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American control Conference (ACC)

作者： M. Muenchhof T. Singh Department of Mechanical and Aerospace Engineering SUNY at Buffalo Buffalo NY USA Institute of Automatic Control Laboratory of Control Systems and Process Automation Darmstadt University of Technology Darmstadt Germany

This paper presents an approach to calculate prefilters that are insensitive to parameter deviations. The cost function chosen for this approach is the magnitude of the time-delay filter transfer function. By approximating the cost function with a polynomial, the effort of calculating minimax robust profiles can be reduced. The resulting control profiles yield a performance similar to the minimax robust controller. This is verified by the numerical results included in this paper.

关键词： Minimax techniques Robust control Flexible structures Filters Uncertainty Frequency Cost function Vibrations control systems Delay effects

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