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A Generalized Piecewise Quadratic Lyapunov Function Approach to Estimating the Domain of Attraction of a Saturated system

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IFAC-PapersOnLine 2015年第11 11期48卷 120-125页

作者： Li, Yuanlong Lin, Zongli Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904-4743 United States

This paper revisits the problem of estimating the domain of attraction of a saturated system with an algebraic loop. A piecewise quadratic Lyapunov function of an augmented state vector composing of the system state and the saturated input has been proposed for use in estimating the domain of attraction for a saturated system. Considering the relationship between the system states and the saturation function, we propose in this paper a generalized piecewise quadratic Lyapunov function, which results from adding a term that characterizes the regional sector condition of the saturated input to the piecewise quadratic Lypunov function. The matrix associated with the generalized piecewise quadratic Lyapunov function is not required to be positive definite, and thus a set of less conservative stability conditions are established, from which a larger estimate of the domain of attraction can be obtained. Simulation results indicate that the effectiveness and superiority of the proposed method. © 2015

关键词： Lyapunov functions Domain of attraction Input saturation Piece wise quadratic Lyapunov function Positive definite Saturated systems Saturation function Sector condition Stability condition

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Robust fault tolerant manoeuvring and rudder control of marine vehicles with state saturation

Robust fault tolerant manoeuvring and rudder control of mari...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Xiaozheng Jin Qiuhong Liu Yu Kang Jiahu Qin School of Electrical Engineering and Automation HeFei University of Technology HeFei AnHui China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Technology in Geo-Spatial Information Processing and Application System Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467380768

In this paper, the problem of rudder-roll damping control for a class of cruise keeping ships subject to both actuator fault and state saturation is investigated. A manoeuvring and rudder control model of marine vessels is firstly reviewed based on the existing literature. Actuator faults which including partial loss of rudder effectiveness and actuator-bias faults are considered in the model. Then a switching control strategy is developed to compensate for the actuator faults and to guarantee the stability of the rudder-roll damping control system. Moreover, some relationship regarding state saturation bounds, actuator fault limits and control parameters are analyzed in this paper. Finally, simulation results are given to illustrate the proposed procedures and their effectiveness.

关键词： Actuators Vehicles Damping Mathematical model Marine vehicles Vehicle dynamics

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Reconfigurable control of input affine nonlinear systems under actuator fault 9

Reconfigurable control of input affine nonlinear systems und...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Tabatabaeipour, S. Mojtaba Galeazzi, Roberto System Operation Analysis Energinet.dk Tonne Kjærsvej 65 Fredericia Denmark Automation and Control Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark

This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal controller. The role of the RB is twofold: on one hand it transforms the output of the faulty system such that its behaviour is similar to that of the nominal one from the controller's viewpoint;on the other hand it modifies the control input to the faulty system such that the stability of the reconfigured loop is preserved. The RB is realized by a virtual actuator and a reference model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault tolerance

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Implementation of input shaping control to reduce residual vibration in industrial network motion system 15

Implementation of input shaping control to reduce residual v...

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15th International Conference on control, automation and systems, ICCAS 2015

作者： Ngo, Ha-Quang-Thinh Nguyen, Quoc-Chi Kim, Won-Ho Control and Automation Lab Department of Mechatronics Engineering Ho Chi Minh City University of Technology Viet Nam Department of Mechatronics Engineering Ho Chi Minh City University of Technology Viet Nam Department of Intelligent System Engineering Dong-Eui University Busan Korea Republic of

ISBN: (纸本)9788993215090

In this paper, a method to implement the input shaping control in Mechatrolink-III motion system is introduced. Firstly, the underdamped system is theoretically built by modeling. Then, the motion controller of Mechatrolink-III network is designed to apply the input shaper for reducing residual vibration in manufacturing machine. Later, the experimental beam is set-up to verify the effective performance of input shaping technique. The validity of the control strategy is practically performed by testing ZV, ZVD and ZVDD input shapers. Especially, the successful implementation provides an opportunity to apply the input shaper for multi-axes since Mechatrolink-III motion controller supports up to 32 axes. © 2015 Institute of control, Robotics and systems - ICROS.

关键词： Motion control

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Nonlinear adaptive control of a 3D overhead crane 15

Nonlinear adaptive control of a 3D overhead crane

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15th International Conference on control, automation and systems, ICCAS 2015

作者： Nguyen, Quoc Chi Ngo, Ha-Quang-Thinh Kim, Won-Ho Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Control and Automation Lab Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Department of Intelligent System Engineering Dong-Eui University Busan Korea Republic of

ISBN: (纸本)9788993215090

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane is developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values are used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. © 2015 Institute of control, Robotics and systems - ICROS.

关键词： Lyapunov methods

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A generalized piecewise quadratic lyapunov function approach to estimating the domain of attraction of a saturated system

A generalized piecewise quadratic lyapunov function approach...

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1st IFAC Conference on Modelling, Identification and control of Nonlinear systems, MICNON 2015

关键词： Lyapunov functions

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Super high-speed vision platform for processing 1024×1024 images in real time at 12500 fps

Super high-speed vision platform for processing 1024×1024 i...

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IEEE/SICE International Symposium on system Integration

作者： Atul Sharma Kohei Shimasaki Qingyi Gu Jun Chen Tadayoshi Aoyama Takeshi Takaki Idaku Ishii Koichi Tamura Kenji Tajima Department of System Cybernetics Graduate school of Engineering Hiroshima University Higashi-Hiroshima 739-8527 Japan Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 China Ultra-Realistic Communication Laboratory in KDDI R&D Laboratories Inc. Fujimino 356-8502 Japan Photron Ltd. Tokyo 101-0051 Japan

ISBN: (纸本)9781509033300

This paper describes a super high-speed vision platform (HSVP) that can process a 12-bit, gray level, 1024×1024 image at 12500 frames per second (fps) simultaneously by implementing parallel hardware logic on a large size field programmable gate array (FPGA) platform. Multiple experimental results demonstrate that our platform can calculate a 4096-level brightness-histogram and 4096-level edge-intensity-histogram for 1024×1024 images at 12500 fps, including the zeroth and first moment features for centroid calculation.

关键词： Histograms Field programmable gate arrays Adders Image edge detection Clocks Micromechanical devices Real-time systems

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Boundary feedback control of open canals with a Riemann invariants approach

Boundary feedback control of open canals with a Riemann inva...

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作者： Cen, Lihui Xi, Yugeng Li, Dewei Cen, Yigang Department of Control Engineering Central South University Changsha Hunan Province China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Department of Automation Shanghai Jiaotong University Shanghai200240 China School of Computer and Information Technology Beijing Jiaotong University Beijing China

This paper proposes a boundary feedback control design for open canal networks using the linearization of boundary conditions. For open canal networks with any types of cross-sections, which can be modelled by the Saint-Venant equations, the characteristic form in terms of Riemann invariants has been established. Under this established characteristic form, the stabilizing boundary control law has been developed by linearizing the boundary conditions for both a single reach and the open-channel network composed by multi-reaches in a cascade. The design of the boundary feedback control laws for both a single canal and the cascaded networks is illustrated in a unified framework, which extends the results in the literature. © The Author(s) 2014.

关键词： Boundary conditions

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Synthesis Approaches of Dynamic Output Feedback Robust MPC for LPV system with Unmeasurable Polytopic Model Parametric Uncertainty——Part *** Disturbance

Synthesis Approaches of Dynamic Output Feedback Robust MPC f...

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第27届中国控制与决策会议

作者： Baocang Ding Yugeng Xi Hongguang Pan Department of Automation School of Electronic and Information EngineeringXi'an Jiaotong University Department of Automation Shanghai Jiaotong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

For a linear parameter varying(LPV) system including unmeasurable polytopic model parametric uncertainty and polytopic disturbance,the output feedback model predictive control(MPC) is considered.A series of scalars,for relaxing the disturbance-related constraint handling,are integrated into the solution of dynamic output feedback *** approach stabilizes the system and improves the previous results.A numerical example is given to show the effectiveness of the proposed approach.

关键词： Output feedback,Model predictive control,Synthesis approach,Uncertain systems

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Performance analysis and comparison between two forms of double EWMA controllers in industrial process

Performance analysis and comparison between two forms of dou...

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International Conference on control, automation and Robotics (ICCAR)

作者： Qing-Song Gong Moon-Sang Lee Gen-Ke Yang Chang-Chun Pan Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China System Engineering Team Samsung Electronics Gyeonggi-Do Korea

ISBN: (纸本)9781467375245

The double EWMA (exponential-weighted-moving-average) controller, as one kind of R2R (Run to Run) controller has been widely used in the industrial process, especially in semiconductor manufacturing. In this paper, two forms of the most popular double EWMA controller are analysed and compared in terms of the stability conditions and long-run performance. We point out their own advantages and disadvantages in use and present each own applicable situations. Finally, a specific chemical mechanical polishing (CMP) process will be used as an example to illustrate the validity of our results.

关键词： Process control Stability analysis Manufacturing MIMO automation control systems Electronic mail

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