This paper presents a distributed decision making approach to the problem of control effort allocation to robotic team members. The objective is for a team of autonomous robots to coordinate their actions in order to ...
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This paper introduces a systematic approach to synthesize linear parameter-varying (LPV) representations of nonlinear (NL) systems which are originally defined by control affine state-space representations. The conver...
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The paper deals with the optimal control (extremum seeking algorithm) of an anaerobic digestion process. It uses a simplified version of the anaerobic digester model. Three cases of optimization criteria are considere...
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The paper deals with the optimal control (extremum seeking algorithm) of an anaerobic digestion process. It uses a simplified version of the anaerobic digester model. Three cases of optimization criteria are considered taking into account the quality variable of the process: 1. the methane quantity in gaseous form, 2. the level of pollutants (it is expressed as the difference between the influent substrate and the substrate quantities accumulated in the digester) and 3. an aggregated quality variable resulted from the combination of the first two criteria. The analysis of anaerobic digestion process static characteristics shows that each characteristic reaches a point of maximum. The extremum seeking algorithm aims to keep the operating point in this point of maximum. The simulation results confirm the good behaviour of the extremum seeking algorithm.
This paper makes contribution in the area of model based predictive control (MPC) and in particular examines to what extent structured optimisation dynamics can improve regions of attraction, performance and computati...
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This paper makes contribution in the area of model based predictive control (MPC) and in particular examines to what extent structured optimisation dynamics can improve regions of attraction, performance and computational burden in the robust case. This paper focuses on the use of structured prediction dynamics within a robust triple mode MPC context and demonstrates that these can simplify the design significantly while retaining good robust feasibility regions and performance. The improvements, with respect to existing algorithms are demonstrated by numerical examples using statistical analysis.
Radiation portal monitors (RPMs) are an effective mean of detecting radioactive material inside cargo containers. Polyvinyl toluene (PVT) monitors are the most broadly extended mainly due to their cost. The drawback w...
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ADAPTIVE control is a proven method for learning feedback controllers for systems with unknown dynamic models,exogenous disturbances,nonzero setpoints,and unmodeled *** control has been applied for years in process co...
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ADAPTIVE control is a proven method for learning feedback controllers for systems with unknown dynamic models,exogenous disturbances,nonzero setpoints,and unmodeled *** control has been applied for years in process control,industry,aerospace systems。
This paper concerns the input/output stability of two systems in closed-loop where stability is ensured by using open-loop properties of each subsystem. The literature is divided into consideration of time-domain and ...
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ISBN:
(纸本)9781479978878
This paper concerns the input/output stability of two systems in closed-loop where stability is ensured by using open-loop properties of each subsystem. The literature is divided into consideration of time-domain and frequency-domain conditions. A complete time-domain approach is given by dissipative and topological separation theory, where both conditions are given in the time-domain. On the other hand, the frequency-domain integral quadratic constraints (IQCs) framework uses only frequency-domain conditions. Between both extremes, the classical multiplier approach and the time-domain IQC framework can be seen as hybrid versions where one condition is tested in the time-domain and other condition is tested in the frequency-domain. The time-domain is more natural for nonlinear systems, and subsystems may be unbounded in time-domain analysis. However, the frequency-domain has two advantages: firstly if one block is linear, then frequency-domain analysis leads to elegant graphical and/or LMI conditions;secondly noncausal multipliers can be used. Recently the connection between frequency domain IQCs and dissipativity has been studied.. Here we use graph separation results to provide a unifying framework. In particular we show how a recent factorization result establishes a straightforward link, completing an analysis suggested previously. This factorization leads to a simple and insightful dissipative condition to analyse stability of the feedback interconnection.
Recently the control methods based on disturbance rejection have largely renewed our understanding of automaticcontrol, especially the role of feedforward control. With the renewed understanding, this work presents a...
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An approach to loop-shaping feedback control design in the frequency domain via extremum seeking is proposed. Both plants and controllers are linear time-invariant systems of possibly infinite dimension. The controlle...
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Lecture flipping is a relatively new concept (Mazur, 2012) in higher education. This paper serves as a test case of lecture flipping used in the context of some classical control courses. Specifically the paper discus...
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