Discrete linear repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting through to iterative learning control schemes. The main feature which makes...
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ISBN:
(纸本)0780370619
Discrete linear repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two distinct directions only occurs over a finite duration. We give an LMI based interpretation of stability for the sub-class of so-called discrete linear repetitive processes, both open loop and closed loop under a well defined practically relevant control law, and then apply this theory to solve currently open problems relating to robustness and stability margins for these processes. Also it is shown that the LMI approach to the computation of the stability margins for these processes can be combined with a concept of a pole for them to link these margins to expected performance-a key feature which is missing from the analysis of stability margins currently available in the 2D systems literature.
This paper addresses networking and traffic control problems in network systems along with the potential for introducing soft-computing applications at supervisory control level. The incentive Stackelberg strategy con...
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This paper addresses networking and traffic control problems in network systems along with the potential for introducing soft-computing applications at supervisory control level. The incentive Stackelberg strategy control concept was introduced to the networking model that comprises subsidiary systems of users and of network. A linear strategy is proposed for the elastic traffic problem, and results are demonstrated and illustrated via Kelly's (1997) example. The presented method is extended to the non-elastic traffic problem and results are also illustrated via a slightly modified Kelly example. Ways of employing combined analytical and soft-computing approaches and techniques in a hybrid framework have been investigated. A fuzzy-Petri-net supervisor is proposed to implement the strategic decision and control layer. Insofar obtained results are rather encouraging, and this research continues further towards possible implementation as well as some open theoretical issues.
The extended Kalman filter is known to have excellent filtering characteristics, but its convergence is guaranteed only if it is initialized close enough to the true state value. Numerical differentiation based observ...
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ISBN:
(纸本)0780370619
The extended Kalman filter is known to have excellent filtering characteristics, but its convergence is guaranteed only if it is initialized close enough to the true state value. Numerical differentiation based observers, on the other hand, may be designed to be globally convergent to a neighborhood of the true state value, but when the measurements are corrupted by significant uncertain signals their state estimates are delayed. In a previous work we proposed an observer design scheme for nonlinear systems which combines these two techniques to yield a globally exponentially converging observer. The necessity to implement an extended Kalman filter has two shortcomings. One is it does not apply when we face a system with an observability condition weaker than that the linearized dynamics about the estimated trajectory is completely uniformly observable. The other limitation is the computation burden. In this paper we propose an alternative which is still a global exponential observer. While the computation burden may not have been significantly reduced, definitely, it applies to a wider class of nonlinear systems. Noteworthy we prove that this global exponential observer is also bounded which is a feature the nonlinear observers in the literature rarely possess. The observer scheme is illustrated through a bioprocess example whose linearization is not completely uniformly observable.
作者：
F. PlestanJ.W. GrizzleE.R. WesterveltG. AbbaIRCCyN
Ecole Centrale Université et Ecole des Mines de Nantes CNRS BP 92101 1 rue de la Noë 44321 Nantes cedex 03 France Control Systems Laboratory
Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI 48109-2122 USA LGIPM
Université de Metz IUT de Thionville Espace Cormontaigne 57970 Yutz France
The goal is to demonstrate a means to prove asymptotically stable walking in a planar, under actuated, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and ...
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The goal is to demonstrate a means to prove asymptotically stable walking in a planar, under actuated, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and an instantaneous double-support phase: under theses hypotheses, the robot is modeled by a dynamic nonlinear system and an impulse model. The controller induces finite-time stabilization of four of the robot's five degrees of freedom, resulting in a reduced Poincaré stability analysis that can be carried out by computing a one dimensional map.
An electromagnetic-type vibratory feeder of is a typical transportation device used in automatic weighers. As existing feeders are driven by feedforward control, the so-called "firing angle control", the dri...
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An electromagnetic-type vibratory feeder of is a typical transportation device used in automatic weighers. As existing feeders are driven by feedforward control, the so-called "firing angle control", the driver cannot negate sudden disturbances. In this study, we consider applying a feedback control for such a feeder system. First, we give the two details of modelings for the vibration part and for the electromagnetic force part. Next, a feedback control system is constructed for the electromagnetic vibration feeder for which we propose a two-degrees-of-freedom proportional plus integral plus derivative (PID) controller with nonlinear elements. Next, we apply the feedback control to the feeder with a standard trough. Finally, we consider a method compatible with many varieties of troughs by adjusting a nonlinear element. On the basis of the results of some experiments, we confirm that the two-degrees-of-freedom PID control is more effective than the conventional firing angle control.
In this paper the output-tracking problem of a class of composite nonlinear systems is studied. Composite system can be represented solely by models on the grounds of its inputs and measurable outputs. It is assumed t...
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In this paper the output-tracking problem of a class of composite nonlinear systems is studied. Composite system can be represented solely by models on the grounds of its inputs and measurable outputs. It is assumed that (i) the plant system belongs to aclass of composite non linear systems, and that the fuzzy logic control system applied can efficiently use adjustable parameters to approximate its non linear system function. The new theorem guarantees the synthesized indirect fuzzy adaptive control does ensure stable output tracking and possesses the ability to reduce the number of fuzzy rules.
This paper presents a method of enhancing the execution time of a processor in implementing signal processing and control algorithms, through a process of minimisation of memory access time of the processor. The metho...
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This paper presents a method of enhancing the execution time of a processor in implementing signal processing and control algorithms, through a process of minimisation of memory access time of the processor. The method is based on the design and corresponding software coding of an algorithm, and thus can be adopted for a variety of real-timesignal processing and control applications. The finite difference simulation algorithm ofa flexible beam is considered to demonstrate the effectiveness of the proposed method. The algorithm is implemented on a general-purpose computing platform, and a comparative performance evaluation of the processor with the proposed method is presented and discussed.
The emergence of intelligent control has seen a focus of attention on the ideas of learning control. This paper introduces the current state of the art in the area of iterative learning control (ILC). Together with a ...
The emergence of intelligent control has seen a focus of attention on the ideas of learning control. This paper introduces the current state of the art in the area of iterative learning control (ILC). Together with a general description of the problems that must be addressed, the paper explores the relationship between the performance of learning algorithms and the structure of the system to be controlled. The importance of system's relative degree (pole-zero excess) and the system's zeros are described and the role of prediction in improving performance is stated.
Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. We use work in behavioral theory for nD linear systems to characterize poles for the case of so-called discrete linea...
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ISBN:
(纸本)0780366387
Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. We use work in behavioral theory for nD linear systems to characterize poles for the case of so-called discrete linear repetitive processes. A unique feature is that the resulting poles lead to a physically based interpretation of stability for these processes.
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