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A Framework for the Nonlinear control of Dual-Stage systems

IFAC Proceedings Volumes 2014年第3期47卷 1140-1145页

作者： Aurélio T. Salton Jeferson V. Flores João M. Gomes da Silva Jinchuan Zheng Zhiyong Chen Group of Automation and Control Systems (GACS) Pontifícia Universidade Católica do Rio Grande do Sul Brazil Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Brazil Faculty of Engineering and Industrial Sciences Swinburne University of Technology Australia School of Electrical Engineering and Computer Science The University of Newcastle Australia

This paper presents a framework for the nonlinear control of dual-stage actuators (DSA). Motivated by various nonlinear controllers that make use of sector bounded and £ ∞ nonlinearities for the control of saturated linear systems, a methodology for integrating such nonlinear functions in order to improve the performance of DSA is presented. The stability of the closed-loop system is assessed by casting the nonlinearities in a mixed sector-bounded plus quasi-Linear Parameter Varying (LPV) framework, leading to a set of linear matrix inequalities (LMIs) to be satisfied by the controller parameters. Taking advantage of the developed framework, a new £ ∞ function is proposed to avoid the saturation of the secondary actuator. Simulation results illustrate the validity of the proposed framework and its potential for the performance improvement of DSA.

关键词： DSA Nonlinear Feedback Time-Optimal Performance Macro-Micro Manipulator

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Delay-Robustness in Distributed control of Timed Discrete-Event systems Based on Supervisor Localization

Delay-Robustness in Distributed Control of Timed Discrete-Ev...

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IEEE Annual Conference on Decision and control

作者： Renyuan Zhang Kai Cai W.M. Wonham School of Automation Northwestern Polytechnical University China Urban Research Plaza Osaka City University Japan Systems Control Group Department of Electrical and Computer Engineering University of Toronto Canada

ISBN: (纸本)9781467360890

Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed controllers with communication delay is logically equivalent to its delay-free counterpart. In this paper we extend our previous work to timed discrete-event systems, in which communication delays are counted by a special clock event tick. First, we propose a timed channel model and define timed delay-robustness;for the latter, a polynomial verification procedure is presented. Next, if the delay-robust property does not hold, we introduce bounded delay-robustness, and present an algorithm to compute the maximal delay bound (measured by number of ticks) for transmitting a channeled event. Finally, we demonstrate delay-robustness on the example of an under-load tap-changing transformer.

关键词： decentralised control discrete event systems system behavior Tautologous Supervisors Verification routine Ticks channel model delay Communication Research

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A Comparative Analysis of Repetitive and Resonant controllers to a Servo-Vision Ball and Plate System

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IFAC Proceedings Volumes 2014年第3期47卷 1120-1125页

作者： Rafael da Silveira Castro Jeferson Vieira Flores Aurélio Tergolina Salton Luís Fernando Alves Pereira PUCRS - Group of Automation and Control Systems Av. Ipiranga 6681 90619-900 Porto Alegre (RS) Brazil UFRGS - Department of Electrical Engineering Av. Osvaldo Aranha 103 90035-190 Porto Alegre (RS) Brazil

This paper presents a comparative analysis of two alternative control strategies based on the Internal Model Principle: the Repetitive controller and the Multiple Resonant controller. The proposed implementations are evaluated experimentally in a servo-vision ball and plate balancing system. The plant is composed by an orientable platform with a free rolling sphere on top, where the controlled variable is the ball position. The methodology considered to synthesize the associated state gains parameters is the Linear Quadratic Regulator approach. The experimental results compare characteristics such as steady-state error, transient response and input signal for each implemented control strategy.

关键词： Ball and Plate System Internal Model Principle Repetitive controller Multiple Resonant controller Linear Quadratic Regulator

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Optimal Tracking control for a Class of Continuous Time Complex-valued systems Based on Adaptive Dynamic Programming Algorithm

Optimal Tracking Control for a Class of Continuous Time Comp...

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第三十三届中国控制会议

作者： Ruizhuo Song Frank L.Lewis Qinglai Wei Wendong Xiao School of Automation and Electrical Engineering University of Science and Technology Beijing University of Texas at Arlington Research Institute University of Texas at Arlington State Key Laboratory of Synthetical Process Automation Northeastern University The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781479947249

Based on the adaptive dynamic programming(ADP) algorithm,a new optimal tracking control method is proposed for a class of complex-valued nonlinear systems in this *** tracking error is rst de ned,and then the performance index function which is about the tracking error is *** transformation,the complex-valued tracking error system is mapped into *** optimal control method for the tracking error system is *** two neural networks are used to be as the critic network and action network,*** is proven that the closed-loop system is uniformly ultimately bounded based on Lyapunov ***,the simulation study is given to show the effectiveness of the proposed optimal tracking control method for complex-valued nonlinear system.

关键词： Adaptive dynamic programming,optimal control,neural network,complex-valued

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Structural controllability of Higher-Order Multi-Agent systems under Absolute and Relative Protocols

Structural Controllability of Higher-Order Multi-Agent Syste...

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第三十二届中国控制会议

作者： GUAN Yongqiang JI Zhijian ZHANG Lin WANG Long School of Automation Science and Electrical Engineering Beihang University College of Automation Engineering Qingdao Center for Systems and Control College of Engineering Peking University

ISBN: (纸本)9781479900305

The paper investigates the structural controllability of leader-follower multi-agent systems under absolute and relative protocols. Three models of agents: double integrator, high-order integrator, and generic linear are analyzed. Some necessary and sufficient graphical conditions are provided for structural controllability based on information communication graph of the system. In particular, linear absolute and relative protocols are designed for generic linear agents under which structural controllability is proved to be uniquely determined by information communication graph.

关键词： Multi-agent systems, Structural controllability, Reachable, Absolute protocol

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Event-based control for average consensus of multi-agent systems

Event-based control for average consensus of multi-agent sys...

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International Conference on Mechatronics and control (ICMC)

作者： Yuan Fan Shi Wang Jianbin Qiu School of Electrical Engineering and Automation Anhui University Hefei P. R. China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479925391

Average consensus is critical in synchronization and coordination control of networked dynamical systems. In this note the event-based average consensus problem is studied. By appropriate event design, discontinuous threshold is employed and thus continuous communication among agents can be avoided to reduce energy consumption in practice. Moreover, it is showed that the proposed event-triggered control can achieve average consensus with fewer events and faster consensus rate compared with existing works. Simulation results have shown the effectiveness of the proposed approach.

关键词： Multi-agent systems control systems Measurement errors Generators Topology Time measurement Sensors

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PI controller design for Network control system based on minimum entropy control

PI controller design for Network control system based on min...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Xinlan-Guo Tao-Li Hongxia Zhao Mechanical and Electrical Engineering Department Nanjing Communications Institute of Technology Enterprise Custom Department Huawei Nanjing Institute The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper designs PI controller which is easy to operate in an actual random framework for NCS,for nonlinear ARMAX model is difficult to achieve in the practical *** on the nature of the network control system is a random system and PI controller design is easy to operate in an actual random framework for NCS,the iterative learning ideas to batch control system output probability density function,so that the output probability density function of the system with increasing batch tracking a given probability density *** order to achieve the NCS system of tracking error probability density function control,this paper introduces the minimum entropy control algorithm.

关键词： minimum entropy control NCS PI controller.

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Active Fault Isolation in MIMO systems

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IFAC Proceedings Volumes 2014年第3期47卷 8012-8017页

作者： Henrik Niemann Niels Kjølstad Poulsen Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 DK-2800 Kgs. Lyngby Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

Active fault isolation of parametric faults in closed-loop MIMO systems are considered in this paper. The fault isolation consists of two steps. The first step is group-wise fault isolation. Here, a group of faults is isolated from other possible faults in the system. The group-wise fault isolation is based directly on the input/output signals applied for the fault detection. It is guaranteed that the fault group includes the fault that had occurred in the system. The second step is individual fault isolation in the fault group. Both types of isolation are obtained by applying dedicated auxiliary inputs and the associated residual outputs.

关键词： Active fault isolation MIMO systems YJBK parameterization

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Adaptive Cubature Strong Tracking Information Filter Using Variational Bayesian Method

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IFAC Proceedings Volumes 2014年第3期47卷 5945-5950页

作者： Quanbo Ge Chenglin Wen Shaodong Chen Ruoyu Sun Yuan Li Institute of Systems Science and Control Engineering School of Automation Hangzhou Dianzi University Hangzhou Zhejiang 310018 China Luoyang Institute of Electro Optical Equipment of AVIC Luoyang Henan 471000 China Department of Electrical and Computer Engineering University of Minnesota Minneapolis Minnesota 55414 USA Information Engineering School Shenyang University of Chemical Technology Shenyang Liaoning 100142 China

For most practical nonlinear state estimation problems, the conventional nonlinear filters do not usually work well for some cases, such as inaccurate system model, sudden change of state-interested and unknown variance of measurement noise. In this paper, an adaptive cubature strong tracking information filter using variational Bayesian (VB) method is proposed to cope with these complex cases. Firstly, the strong tracking filtering (STF) technology is used to integrally improve performance of cubature information filter (CIF) aiming at the first two cases and an iterative scheme is presented to effectively evaluate a strong tracking fading factor. Secondly, the VB method is introduced to iteratively evaluate the unknown variance of measurement noise. Finally, the novel adaptive cubature information filter is obtained by perfectly combining the STF technology with the VB method, where the variance estimation provided by the VB method guarantees normal running of the strong tracking functionality.

关键词： Nonlinear system unknown variance of measurement noise cubature information filter strong tracking filtering variational Bayesian

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controller Modification Applied for Active Fault Detection

Controller Modification Applied for Active Fault Detection

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American control Conference

作者： Henrik Niemann Jakob Stoustrup Niels Kjolstad Poulsen Dept. of Electrical Engineering Automation and Control Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Electronic Systems Automation & Control Aalborg University DK-9220 Aalborg Denmark Dept. of Applied Mathematics and Computer Science Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781479932757

This paper is focusing on active fault detection (AFD) for parametric faults in closed-loop systems. This auxiliary input applied for the fault detection will also disturb the external output and consequently reduce the performance of the controller. Therefore, only small auxiliary inputs are used with the result that the detection and isolation time can be long. In this paper it will be shown, that this problem can be handled by using a modification of the feedback controller. By applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the external output in the fault free case. Further, in the faulty case, the signature of the auxiliary input can be optimized. This is obtained by using a band-pass filter for the YJBK parameter that is only effective in a small frequency range where the frequency for the auxiliary input is selected. This gives that it is possible to apply an auxiliary input with a reduced amplitude. An example is included to show the results.

关键词： Active fault detection parametric faults feedback controllers YJBK parameterization controller modification

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