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Robust Event-Triggered MPC for Constrained Linear Discrete-Time Systems with Guaranteed Average Sampling Rate

IFAC-PapersOnLine 2015年第23期48卷 117-122页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We propose a robust event-triggered model predictive control (MPC) scheme for linear time-invariant discrete-time systems subject to bounded additive stochastic disturbances and hard constraints on the input and state. For given probability distributions of the disturbances acting on the system, we design event conditions such that the average frequency of communication between the controller and the actuator in the closed-loop system attains a given value. We employ Tube MPC methods to guarantee robust constraint satisfaction and a robust asymptotic bound on the system state. Moreover, we show that based on a given periodically updated Tube MPC scheme, an appropriate event-triggered MPC scheme can be designed, with the same guarantees on constraints and region of attraction, but with a reduced number of average communications. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete time control systems Closed loop systems Digital control systems Linear control systems Model predictive control Predictive control systems Probability distributions Robustness (control systems) Stochastic models Stochastic systems Constraint Satisfaction Discrete time systems Event triggered controls Linear discrete time systems Linear time invariant Predictive control Region of attraction Stochastic disturbances

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Optimization Spectrum Decision Parameters in CR using Autonomously Search Algorithm

Optimization Spectrum Decision Parameters in CR using Autono...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yongcheng Li Hai Shen Manxi Wang State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Physics Science and Technology Shenyang Normal University Control Theory and Control Engineering Postdoctoral Research Station Shenyang Institute of Automation

In order to solve the contradiction between wireless communication service demand and spectrum resource shortage and enhance the utilization rate of spectrum, Cognitive Radio technology is necessary. Firstly, this paper presents a cognitive engine framework structure, and then the concept of bio-inspired and its application in CR computing were emphatically introduced. Finally, in order to solve spectrum parameters problem, this paper proposed based on autonomously search algorithm. Based on population evolution,ASA algorithm employs the foraging, reproduction, selection and mutation operators, and was tested under the multicarrier simulation environment. The experiment results show that ASA algorithm can better adjust each subcarrier communication parameters according to the requirement of cognitive engine parameters optimization, which include transmitted power,modulation mode, and bit-error-rate and so on, and finally satisfy the channel condition and the dynamic changes of the user service.

关键词： Cognitive Engine Bio-inspired Computing Cognitive Radio Automously Search Algorithm multi-objective optimization problem

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A novel NCS simulation and experimental platform

A novel NCS simulation and experimental platform

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UKACC International Conference on control (control)

作者： Jun Zhao Guo-Ping Liu Research Center of Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Engineering The University of South Wales Pontypridd United Kingdom

The simulation and experiment platforms are very important to the research of NCS(Networked control System). A novel Simulink-based platform for simulations and experiments of Networked control System is presented in this paper. Using cloud-side cross-compilation techniques, the installation becomes portable meanwhile the details of developed S-function are invisible to users. To support the NCS experiments, multiple cloud nodes are used to transmit the communication package to verify the proposed control systems in a real networked environment. A multiple-process-based time synchronization method is presented to synchronize the clocks in the NCS experiments. The proposed time synchronization is accurate and stable to implement the desired simulations and experiments. As application examples, a simulation and an experiment of the differentially driven wheeled-mobile-robot remote path tracking control are achieved on the proposed platform.

关键词： Software packages Synchronization Servers Signal processing algorithms control systems Clocks

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Complete parametric approach for eigenstructure assignment in second-order systems using displacement-plus-acceleration feedback

Complete parametric approach for eigenstructure assignment i...

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International Conference on Automation and Computing (ICAC)

作者： Dake Gu Dejiang Zhao Yindong Liu Yanming Fu School of Automation Engineering Northeast Dianli University Jilin City China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

This paper proposes a complete parametric approach for eigenstructure assignment in second-order system Mq̈+Dq̇+Kq=Cu using the displacement-plus-acceleration feedback controller. The expressions of closed-loop eigenvector matrix and feedback gains are in direct closed forms in terms of the closed-loop eigenvalues and a group parameter vectors, which represents the degree of design freedom. The main advantage of the proposed method is solved directly in matrix second-order framework, without transformation into the first-order form, and the numerical stability is better because it used only right coprime factorization and simple matrix transformation. The proposed algorithm is simple and does not contain `go back' procedures. Finally, computational results show its effect and simplicity.

关键词： Acceleration Eigenvalues and eigenfunctions Robustness Closed loop systems Linear systems Algorithm design and analysis Mathematical model

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Remote tracking of nonholonomic mobile robots via networked predictive control

Remote tracking of nonholonomic mobile robots via networked ...

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IEEE International Conference on Mechatronics and Automation

作者： Tian-Yong Zhang Guo-Ping Liu Center For Control Theory and Guidance Technology Harbin Institute of Technology Harbin Heilongjiang China School of Engineering University of South Wales Pontypridd U.K.

ISBN: (纸本)9781509023974

This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant communication delay are proposed. Simulation results verify the realizability and effectiveness of the proposed algorithm.

关键词： Mobile robots Delays Predictive control Communication channels control systems Kinematics Prediction algorithms

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A passivity based stability measure for discrete 3-D IIR system realizations

A passivity based stability measure for discrete 3-D IIR sys...

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International Symposium on Circuits and Systems

作者： Joerg Velten Anton Kummert Daniel Wagner Krzysztof Galkowski Chair for Communication Theory University of Wuppertal 42119 Wuppertal Germany Institute of Control and Computation Engineering University of Zielona Gora 65-246 Zielona Gora Poland

ISBN: (纸本)9781479953424

Increasing miniaturization of electronic systems and nano-technology enables more and more the realization of real time 3-D spatio-temporal signal processing and control systems. However, while stability is well understood for 1-D systems, open problems remain in the higher dimensional case, e.g. for 3D system realizations, especially with respect to computational complexity and thus hardware effort. We propose a basic and thus fast stability test for systems that can be given in a standard 3-D Roesser-like state space model. Most practical systems can be represented in that manner or at least be transformed into an equivalent system so that the test is applicable to most real world problems. The test itself is inspired by passivity assumptions which for example guarantee stability of electrical reactance networks. It represents a sufficient condition for stability and comprises eigenvalue computations of a sum of Gramian matrices of the same size as the system matrix, which leads in this step to the same complexity as a 1-D stability test. The latter can thus also be applied to adaptive systems, where the system matrix is periodically changing.

关键词： Mathematical model Stability criteria Solid modeling Eigenvalues and eigenfunctions System realization Thermal stability

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Distributed Containment control for Multiple-agent Systems in Nonlinear Pure-feedback form via singular perturbation analysis

Distributed Containment Control for Multiple-agent Systems i...

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第28届中国控制与决策会议

作者： Hailiaing Zhou Yuehui Ji Shun Gao Yong Ran Yunxia Guo Tianjin Institute of Metrological Supervision and Testing(TIMST) School of Electrical Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated SystemsTianjin University of Technology

ISBN: (纸本)9781467397155

The paper considers the distributed containment control problem of nonlinear multi-agent systems in pure-feedback form under switching directed communication topologies.A singular-perturbation-based command filtered back-stepping technology is addressed to design containment controller,while overcoming the "circular construction problem" in non-affine pure-feedback systems.A anti-tangent filter is proposed to estimate the virtual control and avoid the analytical deduction inherent in traditional back-stepping *** stability analysis is completed via the singular perturbation theory,revealing some novel features of the underlying *** distributed containment control can guarantee followers' outputs converge to the convex hull spanned by multiple dynamic leaders,and the containment tracking errors between leaders and followers in the overall closed-loop system is semi-global practical exponential ***,a simulation example is provided to illustrate the effectiveness of the control technology.

关键词： Distributed Containment control Nonlinear Multi-agent Systems Switching Topology Pure-feedback System Command Filtered control Singular Perturbation Analysis

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A Novel Localization Method for Indoor Mobile Robot Based on Odometry and Ceiling Visual Features 34

A Novel Localization Method for Indoor Mobile Robot Based on...

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第三十四届中国控制会议

作者： Zhao Jun Liu Guo-ping Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of South Wales

ISBN: (纸本)9781467374439

A localization method for indoor mobile robot which is composed of ceiling visual feature based position and posture corrector and odometry is represented in this paper. The vision-based position and posture corrector takes advantage of simple structure of the ceiling visual feature and correct the error of the position and posture estimated through encoders in every sample moment. The new localization method is efficacious while the deviation between the kinematic math model and the real physical model is obvious in a few of sample times. The result of the novel localization method is verified through simulations and experiments.

关键词： localization,differential driven robot,visual feature

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Algorithms for nonlinear predictive control maximizing penicillin production efficiency

Algorithms for nonlinear predictive control maximizing penic...

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American control Conference (ACC)

作者： Matej Pčolka Sergej Čelikovský Department of Control Engineering Czech Technical University in Prague Praha Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Praha Czech Republic

In this paper, maximization of efficiency of the penicillin production is addressed. To overcome the issues caused by the terminal time being an optimizable parameter, two adaptations of the Hamiltonian-based gradient method are proposed. The first algorithm incorporates the terminal time directly into the set of optimized variables while the second one makes use of a time scaling with optimizable time-dependent time scale being a virtual input. Both algorithms are verified on a set of numerical experiments and the obtained results show significant improvement of the penicillin production efficiency gained by their use, which suggests their exploitation within the industrial nonlinear predictive controllers for bioprocess optimization.

关键词： Optimization Production Minimization Heuristic algorithms Prediction algorithms control systems Biomass

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Lyapunov stability bounds mapping for descriptor and switching systems

Lyapunov stability bounds mapping for descriptor and switchi...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Rick Voßwinkel Frank Schrödel Nils Denker Klaus Röbenack Dirk Abel Hendrik Richter Department of Electrical Engineering and Information Technology HTWK Leipzig University of Applied Sciences 04107 Leipzig Germany Institute of Automatic Control RWTH Aachen University Aachen Germany Department of Electrical Engineering and Information Technology HTWK Leipzig University of Applied Sciences Leipzig Germany Institute of Control Theory TU Dresden Dresden Germany

Calculating the stabilising parameter space of descriptor and switching systems is non-trivial. In this paper a new approach for the stability region calculation for descriptor and switching systems is presented by using a Lyapunov stability mapping method. This method has several advantages over the existing parameter space approaches. Currently, the calculation of the complex root boundaries relies on frequency sweeping or decoupling at singular frequencies. The new proposed method avoids this while reducing the computational complexity and increasing the practicality of the method at the same time.

关键词： Mathematical model Aerospace electronics Stability analysis Switching systems Lyapunov methods Linear systems Matrix decomposition

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