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On a controller parameterization for infinite-dimensional feedback systems based on the desired overshoot

WSEAS Transactions on Systems 2013年第6期12卷 325-335页

作者： Pekař, Libor Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín nam. T. G. Masaryka 5555 76001 Zlín Czech Republic

The aim of this paper is to introduce, in detail, a novel approach for tuning of anisochronic singleinput single-output controllers for infinite-dimensional feedback control systems. A class of Linear Time- Invariant Time Delay Systems (LTI TDSs) is taken as a typical representative of infinite-dimensional systems. control design to obtain the eventual controller structure is made in the special ring of quasipolynomial meromorphic functions (RMS). The use of this algebraic approach with a simple feedback loop for unstable or integrating systems leads to infinite-dimensional (delayed) controllers as well as the whole feedback loop. A natural task is to set tunable controller parameters in order to form the crucial area of the infinite closed-loop spectrum. It is worth noting that not only poles yet also zeros are taken into account. The prescribed positions of the right-most reference-to-output poles and zeros are given on the basis of the desired overshoot for a simple finite-dimensional matching model the detailed analysis of which is provided. The dominant poles and zeros are shifted to the prescribed positions using the Quasi-Continuous Shifting Algorithm (QCSA) followed by the use of an advanced optimization algorithm. The whole methodology is called the Pole-Placement Shifting based controller tuning Algorithm (PPSA). The PPSA is demonstrated on the setting of parameters of delayed controller for an unstable time delay plant of a skater on the controlled swaying bow. This example, however, shows a treachery of the algorithm and a natural feature of an infinite-dimensional system - namely, that its spectrum or even its dominant part can not be placed arbitrarily. Advantages and drawback as well as possible modification of the algorithm are also discussed.

关键词： controllers

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Nonlinear Model Predictive control for a multi-rotor with heavy slung load

Nonlinear Model Predictive Control for a multi-rotor with he...

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International Conference on Unmanned Aircraft Systems

作者： Jan Trachte Felipe Gonzalez Aaron McFadyen Institute of Flight Mechanics and Control Universitat Stuttgart Science and Engineering Faculty Queensland University of Technology Australian Research Centre for Aerospace Automation (ARCAA)

ISBN: (纸本)9781479923779

In this paper a novel controller for stable and precise operation of multi-rotors with heavy slung loads is introduced. First, simplified equations of motions for the multi-rotor and slung load are derived. The model is then used to design a Nonlinear Model Predictive controller (NMPC) that can manage the highly nonlinear dynamics whilst accounting for system constraints. The controller is shown to simultaneously track specified waypoints whilst actively damping large slung load oscillations. A Linear-quadratic regulator (LQR) controller is also derived, and control performance is compared in simulation. Results show the improved performance of the Nonlinear Model Predictive control (NMPC) controller over a larger flight envelope, including aggressive maneuvers and large slung load displacements. Computational cost remains relatively small, amenable to practical implementation. Such systems for small Unmanned Aerial Vehicles (UAVs) may provide significant benefit to several applications in agriculture, law enforcement and construction.

关键词： nonlinear model predictive control LOAD Small unmanned aerial vehicles controllers linear quadratic regulators Simulation results Nonlinear Dynamics control performance Equations of motion FLIGHT ENVELOPE Heavy

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Improved stability and stabilization criteria of singular system with time-delay and parameter uncertainties

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Journal of Information and Computational Science 2013年第18期10卷 6067-6076页

作者： Ding, Yuanchun Weng, Falu Mao, Weijie School of Resources and Environmental Engineering Jiangxi University of Science and Technology Jiangxi 341000 China Faculty of Electrical Engineering and Automation Jiangxi University of Science and Technology Ganzhou Jiangxi 341000 China State Key Lab of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

The problems of delay-dependent robust stability and stabilization for continuously singular timedelay systems with norm-bounded uncertainties are investigated in this paper. Based on a Lyapunov functional, which includes some non-positive items, the modified delay-dependent LMIs-based conditions are established for the singular time-delay systems to be regular, impulse free, and stable. Then, by solving the obtained LMIs, the state-feedback control law can be obtained. These conditions are also extended to the uncertain case. Finally, numerical examples are given to illustrate that the proposed results are effective and less conservative than the existing ones. © 2013 Binary Information Press.

关键词： Time delay

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Towards an inclusive Parkinson's screening system

Towards an inclusive Parkinson's screening system

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Oana Geman Saeid Sanei Iuliana Chiuchisan Adrian Graur Aleš Procházka Oldřich Vyšata Department of Health and Human Development “Stefan eel Mare” University of Suceava Romania Department of Computer Science Electronics and Automation “Stefan cel Mare” University of Suceava Romania Faculty of Engineering and Physical Sciences University of Surrey United Kingdom Department of Computing and Control Engineering Institute of Chemical Technology Czech Republic Department of Neurology Charles University Czech Republic

In this study, brain, and gait dynamic information were combined and used for diagnosis and monitoring of Parkinson's disease (the most important Neurodegenerative Disorder). Analysis of the information corresponding to a prescribed movement involving tremor, and the related changes in brain connectivity is novel and original. Analytically, developing a space-time nonlinear adaptive system which fuses brain and gait information algorithmically is proposed here for the first time. The overall dynamic system will be constrained by the clinical impressions of the patient symptoms embedded in a knowledge-based system. The entire complex constrained problem were solved to enable a powerful model for recognition and monitoring of Parkinson's disease and establishing appropriate rules for its clinical following up.

关键词： Brain modeling Adaptation models Parkinson's disease Chaos Signal processing algorithms Nonlinear dynamical systems

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Task and Motion Planning for Selective Weed Conrol using a Team of Autonomous Vehicles

Task and Motion Planning for Selective Weed Conrol using a T...

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International Conference on control, automation, Robotics & Vision

作者： I A Hameed A la Cour-Harbo K D Hansen Aalborg University Faculty of Engineering and Science Dept. of Electronic Systems Section of Automation and Control Fredrik Bajers Vej 7C 9220 Aalborg Denmark

ISBN: (纸本)9781479952007

Conventional agricultural fields are sprayed uniformly to control weeds, insects, and diseases. To reduce cultivation expenses, to produce healthier food and to create more environmentally friendly farms, chemicals should only be applied to the right place at the right time and exactly with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals in farming is presented. Field data are collected by small unmanned helicopters equipped with a range of sensors, including multispectral and thermal cameras. Data collected are transmitted to a ground station to be analyzed and triggers aerial and ground-based vehicles to start close inspection and/or plant/weed treatment in specified areas. A complete trajectory is generated to enable ground-based vehicle to visit infested areas and start chemical/mechanical weed treatment.

关键词： path planning turning trajectory motion control ASETA

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An introduction to the special issue on advanced control methods: Theory and application

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WSEAS Transactions on Systems 2013年第6期12卷 301-303页

作者： Pekař, Libor Neri, Filippo Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Zlín Czech Republic WSEAS Transactions on Systems Department of Computer Science University of Naples Federico II Naples Italy

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Identification and self-tuning control of electro-pneumatic actuator system with control valve

Identification and self-tuning control of electro-pneumatic ...

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2013 IEEE 3rd International Conference on System engineering and Technology, ICSET 2013

作者： Sunar, N.H. Rahmat, M.F. Faudzi, Ahmad'Athif Mohd Ismail, Z.H. Salim, Sy Najib Sy Dept. of Mechatronics and Control Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Center for Artificial Intelligence and Robotic Universiti Teknologi Malaysia Jalan Semarak Kuala Lumpur Malaysia Dept. of Control Instrument and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malaysia

ISBN: (纸本)9781479910304

In this paper, a mathematical modeling of pneumatic actuator system is developed by using RLS algorithm. An ARX model is chosen for the model structure. In order to cater the time-varying parameter of pneumatic system, a self-tuning controller is implemented based on the pole-assignment controller. An online RLS algorithm update the parameter estimation at every sample interval. The pole-assignment control parameter is then updated accordingly to the changes of the system parameters. Result of the system performance is compared with the conventional PID controller optimized by PSO algorithm. It is observed that the self-tuning controller performed well with almost zero error at steady state condition and overshoot less than 1%. © 2013 IEEE.

关键词： Pneumatics

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A novel feed-forward controller for PMSMs

A novel feed-forward controller for PMSMs

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2013 3rd International Conference on Electric Power and Energy Conversion Systems, EPECS 2013

作者： Altun, Yusuf Gulez, Kayhan Mumcu, Tarik Veli Kizilkaya, M. Özgür Faculty of Electrical-Electronics Control and Automation Engineering Yildiz Technical University Istanbul Turkey Aeronautics and Space Tech Inst. Electronic Engineering Department Turkish Air Force Academy Istanbul Turkey

ISBN: (纸本)9781479906888

In this study, the current tracking problem of PMSM is handled as static feed-forward controller design for Linear Parameter Varying (LPV) system. H infinity controller formulated by means of Linear Matrix inequalities (LMI) with bounded and measurable system parameters is used. Parameter-dependent Lyapunov function is preferred to achieve robust stability against inconstant parameters, throughout the control process. The LPV controller is used in two degrees of freedom (2-DOF), by jointly adding static LPV feed-forward controller on a PI feedback controller. Space vector pulse width modulation (SVPWM) is used to generate switching signals. Overall system is simulated by Matlab/Simulink Software to evaluate the validity of the method in transient and steady state response by computer simulation. Simulation results reveal that proposed method has good dynamic performance and robustness. © 2013 IEEE.

关键词： Simulink

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control of Air Flow in Air Heating Set - Algebraic Approach using Structured Singular Value

Control of Air Flow in Air Heating Set - Algebraic Approach ...

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Mediterranean Conference on control & automation

作者： Marek Dlapa Department of Automation and Control Engineering Faculty of Applied Informatics TBU in Zlin

ISBN: (纸本)9781479909964

The paper deals with the robust control of air-flow in air heating set. The identification is performed using step responses and approximation via second order system. The controller is designed using the structured singular value (SSV or μ) and algebraic approach. Since the cost function is nonconvex the optimization cannot be done using standard tools. Hence an evolutionary algorithm - Differential Migration (DM) is employed yielding good results in this case. The functionality of the controller is verified through experiments on the real plant.

关键词： Algebraic approach controller design PID control Structured singular value Differential Migration Evolutionary algorithms

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