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arXiv 2017年

作者： Raj, Nidhish Banavar, Ravi N. Abhishek Kothari, Mangal IIT Kanpur IIT Gandhinagar India Systems and Control Engineering IIT Bombay Department of Electrical Engineering IIT Gandhinagar India Department of Aerospace Engineering IIT Kanpur India

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body;and the rotor, modeled as a first order system. Due to the coupling between rotor and fuselage, the complete system does not inherit the structure of a simple mechanical system. The coupled rotor fuselage dynamics is first transformed to rigid body attitude tracking problem with a first order actuator dynamics. The proposed controller is developed using geometric and backstepping control technique. The controller is globally defined on SO(3) and is shown to be locally exponentially stable. The controller is validated in simulation and experiment for a 10 kg class small scale flybarless helicopter by demonstrating aggressive roll attitude tracking. Copyright © 2017, The Authors. All rights reserved.

关键词： Navigation

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Model predictive control of a CSTR: A comparative study among linear and nonlinear model approaches

Model predictive control of a CSTR: A comparative study amon...

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Indian control Conference (ICC)

作者： Ashok Krishnan Bhagyesh V. Patil P. S. V. Nataraj Jan Maciejowski K. V. Ling School of Electrical and Electronic Engineering Nanyang Technological University Singapore Cambridge Centre for Advanced Research in Energy Efficiency Singapore IDP in Systems and Control Engineering IIT Bombay Mumbai Department of Engineering University of Cambridge Cambridge United Kingdom

ISBN: (纸本)9781509017966

This paper presents a comparative study of two widely accepted model predictive control schemes based on mixed logical dynamical (MLD) and nonlinear modeling approaches with application to a continuous stirred tank reactor (CSTR) system. Specifically, we approximate the nonlinear behavior of a CSTR system with multiple local linear models in a MLD framework. The main benefit of such a scheme is the significant improvement in model accuracy when compared with a single linearized model. The benefits and trade-offs associated with predictive control laws synthesized using MLD and nonlinear modeling approaches are also compared.

关键词： Chemical reactors Predictive models Mathematical model Optimization Numerical models Adaptation models Nonlinear systems

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CSIT: An Open Source and interactive GUI based tool for learning and analyzing control systems

CSIT: An Open Source and interactive GUI based tool for lear...

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International Conference on (ISCO) Intelligent systems and control

作者： Rutuja Moharil Paresh Yeole Sanchit Gupta Ashutosh Kumar Department of Electrical and Electronics Engineering VNIT Nagpur India Department of Instrumentation and Control Engineering NSIT Delhi India Department of Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9781509027187

This paper presents the development and features of a Scilab based user-friendly CSIT (control systems Interactive Tool). It is an Open Source Graphical User Interface (GUI) tool that contains basic functions to learn and analyze control systems at undergraduate and graduate levels. Using this tool, one can compare the system plots and parameters of different systems in time and frequency domains. The tool also supports a “know concept” button, represented in the form of “?” symbol adjacent to the function to display the concept related to the function. A student is not required to learn any programming language to use this tool.

关键词： control systems Graphical user interfaces Frequency-domain analysis Education Time-domain analysis Stability criteria

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Development of one-dimensional fractional-order two-group models for nuclear reactor

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IFAC-PapersOnLine 2016年第1期49卷 260-265页

作者： Vyawahare, Vishwesh A. Nataraj, P.S.V. Department of Electronics Engineering Ramrao Adik Institute of Technology Nerul Navi Mumbai400 706 India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai India

This paper deals with fractional-order modeling of neutron transport in a nuclear reactor considering the energy-dependence of neutrons. The paper reports, using two energy group framework, the development of two novel fractional-order models: Fractional-order Two- Group Telegraph-Subdiffusion Model and Fractional-order Two-Group Subdiffusion Model. The models are developed with one-dimensional space consideration. These models are in the form of coupled, linear partial differential equations representing the movement of fast and thermal neutrons. The proposed models can be thought as more faithful and realistic representations of movement of neutrons in a heterogeneous core of nuclear reactor. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nuclear reactors Neutron flux Transport properties Energy dependence Energy model Fractional order Fractional order models Heterogeneous cores Linear partial differential equations Neutron transport Thermal neutrons

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How to establish the exact controllability of nonlinear DPS using iterations back and forth in time

How to establish the exact controllability of nonlinear DPS ...

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American control Conference

作者： Vivek Natarajan Hua-Cheng Zhou George Weiss Systems and Control Engineering Group Indian Institute of Technology (IIT) Bombay Mumbai 400076 India School of Electrical Engineering Tel Aviv University Ramat Aviv Israel 69978

ISBN: (纸本)9781509045839

Consider a nonlinear distributed parameter system (DPS) described by x(t) = Ax(t) + Bu(t) + B_NN(x(t),t) for all t ≥ 0. Here A is the infinitesimal generator of a strongly continuous group of operators T on a Hilbert space X, B and B_N, defined on Hilbert spaces U and U_N, respectively, are admissible control operators for T and N : X × [0, ∞) |-> U_N is continuous in t and Lipschitz in x, with Lipschitz constant L_N independent of t. Thus B and B_N can be unbounded as operators from U and U_N to X, in which case the nonlinear term B_NN(x(t), t) in the DPS is in general not a Lipschitz map from X × [0, ∞) to the state space X. Our goal is to find conditions under which this DPS is exactly controllable in some time τ, which means that for any initial state x(0) ∈ X, we can steer the final state x(τ) of the DPS to any chosen point in X by using an appropriate input function u ∈ L~2([0, τ];U). We suppose that there exist linear operators F and F_b such that (A, [B B_N], F) and (-A, [B B_N], F_b) are regular triples and A + BF_Λ and -A + BF_(b,Λ) are generators of strongly continuous semigroups T~f and T~b on X such that ‖T_t~f‖ · ‖T_t~b‖ decays to zero exponentially. We prove that if L_N is sufficiently small, then the nonlinear DPS is exactly controllable in some time τ > 0. Our proof is constructive and provides a numerical algorithm for approximating the required control signal. We illustrate our approach using a simple example.

关键词： mechanical heart valve iterative methods state space Breakbulk cargo Admissible control nonlinearity

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Lyapunov based attitude constrained control of a spacecraft

Lyapunov based attitude constrained control of a spacecraft

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AAS/AIAA Astrodynamics Specialist Conference, ASC 2015

作者： Bujarbaruah, Monimoy Sukumar, Srikant Department of Aerospace Engineering Indian Institute of Technology IIT Bombay Powai MumbaiMaharashtra400076 India Systems and Control Engineering Indian Institute of Technology IIT Bombay Powai MumbaiMaharashtra400076 India

ISBN: (纸本)9780877036296

The article deals with the problem of imposing attitude constraints during trajectory tracking for a spacecraft. A Lyapunov function based approach is utilized to develop a novel nonlinear backstepping controller for implementation of the imposed attitude constraints, while guaranteeing reference attitude tracking. The result combines a static optimization and Lyapunov function based approach to ensure that initial conditions starting within the attitude constraint boundary stay within the same for all time.

关键词： Lyapunov functions

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Nuclear reactor with subdiffusive neutron transport: development of linear fractional-order models

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International Journal of Dynamics and control 2017年第4期5卷 1182-1200页

作者： Vyawahare, Vishwesh A. Nataraj, P.S.V. Espinosa-Paredes, G. Cázares-Ramírez, R.-I. Department of Electronics Engineering Ramrao Adik Institute of Technology Nerul Navi Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai India Área de Ingenierí en Recursos Energéticos Universidad Autónoma Metropolitana-Iztapalapa Av. San Rafael Atlixco 186 Col. Vicentina MexicoD.F.09340 Mexico División de Ciencias Básica e Ingeniería División de Ciencias y Biológicas de la Salud Universidad Autónoma Metropolitana-Iztapalapa Av. San Rafael Atlixco 186 Col. Vicentina MexicoD.F.09340 Mexico

This paper deals with fractional-order (FO) modeling of a nuclear reactor. Modeling neutron transport in a nuclear reactor as subdiffusion results in the development of FO neutron telegraph equation. This model predicts subdiffusive behaviour for long-time. This fact is used to develop various linear control-oriented FO models for nuclear reactor. Development and analysis of three FO linear models is reported: FO point reactor kinetics model, Zero power FO transfer function and FO transfer function with temperature feedback of reactivity. In addition to the detailed stability analysis of these FO models, a comparative study of time-domain indices is carried out with respective integer-order models. The proposed FO models give a better representation of the neutron transport in the heterogeneous reactor core and therefore can be used to develop better model-based control strategies for a nuclear reactor. © 2016, Springer-Verlag Berlin Heidelberg.

关键词： Nuclear reactors

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Optimal dictionary for least squares representation

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2017年第1期18卷

作者： Mohammed Rayyan Sheriff Debasish Chatterjee Systems and Control Engineering IIT Bombay Mumbai India

Dictionaries are collections of vectors used for the representation of a class of vectors in Euclidean spaces. Recent research on optimal dictionaries is focused on constructing dictionaries that offer sparse representations, i.e., l0-optimal representations. Here we consider the problem of finding optimal dictionaries with which representations of a given class of vectors is optimal in an l2-sense: optimality of representation is defined as attaining the minimal average l2-norm of the coefficients used to represent the vectors in the given class. With the help of recent results on rank-1 decompositions of symmetric positive semidefinite matrices, we provide an explicit description of l2-optimal dictionaries as well as their algorithmic constructions in polynomial time.

关键词： l2-optimal dictionary finite tight frames rank-1 decomposition

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Collision-free trajectory planning on Lissajous curves for repeated multi-agent coverage and target detection

Collision-free trajectory planning on Lissajous curves for r...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Aseem Borkar Arpita Sinha Leena Vachhani Hemendra Arya Systems and Control Engineering IIT Bombay India Department of Aerospace Engineering IIT Bombay India

ISBN: (纸本)9781509037636

This paper proposes a trajectory planning strategy to simultaneously address multiple surveillance objectives such as complete area coverage, periodic surveillance, and guaranteed detection of a rogue element attempting to exit the area of interest. For agents with identical sensing capability, the proposed strategy defines a time-varying multi-agent formation on a Lissajous curve, which completes the aforementioned tasks in finite time with collision free paths for all agents in a 2-D rectangular region. This obviates the need for sensing and communication for collision avoidance among agents. A sufficient upper limit on agent dimensions that ensures collision free motion is derived. An algorithm is developed for choosing the number of agents and optimal Lissajous curve for a prescribed rectangle and agents' sensing capability. The optimal Lissajous curve is chosen to minimize the time period for repeated coverage and maximize the upper bound on agent size. The proposed algorithm is validated through computer simulations and experiments using differential drive robots.

关键词： Robot sensing systems Planning Surveillance Upper bound Search problems

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Learning policies for Markov decision processes from data

arXiv

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arXiv 2017年

作者： Hanawal, Manjesh K. Liu, Hao Zhu, Henghui Paschalidis, Ioannis Ch. Industrial Engineering and Operations Research IIT-Bombay PowaiMH 400076 India Center for Information and Systems Engineering Boston University BostonMA02215 United States College of Control Science and Engineering Zhejiang University Hangzhou Zhejiang310027 China Department of Electrical and Computer Engineering Division of Systems Engineering Boston University BostonMA02215 United States

We consider the problem of learning a policy for a Markov decision process consistent with data captured on the state-actions pairs followed by the policy. We assume that the policy belongs to a class of parameterized policies which are defined using features associated with the state-action pairs. The features are known a priori, however, only an unknown subset of them could be relevant. The policy parameters that correspond to an observed target policy are recovered using `1-regularized logistic regression that best fits the observed state-action samples. We establish bounds on the difference between the average reward of the estimated and the original policy (regret) in terms of the generalization error and the ergodic coefficient of the underlying Markov chain. To that end, we combine sample complexity theory and sensitivity analysis of the stationary distribution of Markov chains. Our analysis suggests that to achieve regret within order O(√Ε), it suffices to use training sample size on the order of Ω(log n · poly(1/Ε)), where n is the number of the features. We demonstrate the effectiveness of our method on a synthetic robot navigation example.90C40 (Primary) 90C39, 93E35, 60J10 (Secondary) Copyright © 2017, The Authors. All rights reserved.

关键词： Markov processes

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