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2015 American control Conference, ACC 2015

作者： Jilg, Martin Tonne, Jens Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9781479986842

This paper proposes an approach for the design of distributed state-feedback controllers for interconnected discrete-time LTI systems with uncertain communication links. These links may be subject to intermittent or persistent failure. In particular, we assume that the availability of the communication links over time can be modeled by a Markov chain. For the control design, it is shown in a first step that the combination of the LTI system dynamics and the stochastic model of the time-varying communication topology is a special case of Jump Markov Linear Systems (JMLS). Next, constraints on the information structure are introduced, restricting the subsystems' local knowledge about the global network state. This assumes that each subsystem can only detect the availability of incoming communication links. Finally, the synthesis of a stabilizing distributed feedback control law respecting the given information structure and a guaranteed bound on the expected H∞-performance is formulated and solved as a semidefinite program. © 2015 American Automatic control Council.

关键词： Stochastic systems

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Flexible robotic arm dynamics through deflection screw approach

Flexible robotic arm dynamics through deflection screw appro...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mariapaola D'Imperio Luca Carbonari Myrel Alsayegh Torsten Bertram Matteo Claudio Palpacelli Darwin Caldwell Ferdinando Cannella Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Industrial Engineering and Mathematical Sciences Universit Politecnica delle Marche Ancona Italy Institute of Control Theory and Systems Engineering Technische Universitat Dortmund Dortmund Germany

ISBN: (纸本)9781509061914

The design and control of robotic systems capable of performing dynamic tasks, such as those involving stable impact, is of growing interest within the robotic community. If their structure is conceived as rigid, it results in massive and bulky systems, so that high forces are generated in the interaction with the external environment. At the opposite, if the robotic structure is designed as flexible, the interaction with the external environment produces lower forces thanks to their weight reduction and to the energy absorption guaranteed by the structural deformations. However, adding flexibility leads to unwanted vibrations which is a major drawback, that must be taken into account by the control algorithm to prevent resonance phenomena and to guarantee precise task performance. In this paper, the authors propose a structural model of a flexible robotic arm to be implemented in a model based control algorithm. The study is based on the screw theory approach which allows for an easy-to-manipulate concise symbolic representation for both kinematics and dynamics.

关键词： Fasteners Service robots Manipulators Kinematics Aerodynamics Heuristic algorithms

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Multi-Objective Longitudinal Trajectory Optimization for Hypersonic Reentry Glide Vehicle Based on PSO Algorithm 34

Multi-Objective Longitudinal Trajectory Optimization for Hyp...

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第三十四届中国控制会议

作者： Zhang Weidong Huang Xianlin GAO Xiao-Zhi Pang Hongjun Center of control theory and guidance technology Harbin Institute of Technology Department of Automation and Systems Technology Aalto University School of Electrical Engineering

ISBN: (纸本)9781467374439

For the purpose of solving the multi-objective reentry trajectory optimization problem with multiple path and terminal constraints for a hypersonic reentry-gliding vehicle, the energy-like dynamic equations are introduced by original time-varying equations so that the problem can be finally transformed to a non-linear program NLP problem with fixed terminal values. After that, a numerical optimization method based on PSO algorithm is considered, where the adaptive penalty technique and Normalized Non-dominated Sorting technique are used to handling the multi-constraints and multi-objectives, respectively. The simulation shows that the complete longitudinal multi-objective trajectories can be generated by the proposed algorithm and the optimized angles of attack can provide multiple references for practical engineering.

关键词： multi-objective trajectory optimization,energy-like dynamic equations,NLP problem,PSO algorithm

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Communication scheduling in robust self-triggered MPC for linear discrete-time systems 5

Communication scheduling in robust self-triggered MPC for li...

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5th IFAC Workshop on Distributed Estimation and control in Networked Systems, NecSys 2015

作者： Brunner, Florian D. Gommans, T.M.P. Heemels, W.P.M.H. Allgöwer, Prank 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 consider a networked control system consisting of a physical plant, an actuator, a sensor, and a controller that is connected to the actuator and sensor via a communication network. The plant is described by a linear discrete-time system subject to additive disturbances. In order to reduce the required number of communications in the system, we propose a robust self-triggered model predictive controller based on rollout techniques that robustly asymptotically stabilizes a certain periodic sequence of sets in the state space while guaranteeing robust satisfaction of hard state and input constraints. At periodically occurring scheduling times, the self-triggered model predictive control algorithm determines the times at which the control input and plant measurement are updated in the time span until the next scheduling time. We establish a certain upper bound on the average sampling rate in the closed-loop system. Moreover, we show how increasing the asymptotic bound on the system state, which is a design parameter in the control scheme, can be used to further reduce the average number of communications in the system. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Closed loop systems

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Solving a degenerate nonlinear parabolic equation with a specified source function by the boundary element method

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AIP Conference Proceedings 2017年第1期1915卷

作者： L. F. Spevak A. L. Kazakov 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya str. 620049 Ekaterinburg Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontov str. 664033 Irkutsk Russia

A degenerate nonlinear parabolic-type equation with a specified source function is solved. Boundary value problems for various kinds of boundary conditions are considered. Solution algorithms based on the boundary element method are constructed. Some examples are discussed. The comparison of the obtained BEM solutions with known exact solutions gives good results.

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On the analytic solvability of a special boundary value problem for the nonlinear heat equation

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AIP Conference Proceedings 2017年第1期1915卷

作者： A. L. Kazakov A. A. Lempert P. A. Kuznetsov 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontova St. 664033 Irkutsk Russia

In the article we develop an approach to the study of nonlinear problems of mathematical physics, proposed in A. F. Sidorov’s school of thought, and apply it to solving boundary value problems with degeneracy for the nonlinear heat (porous medium) equation. The essence of the approach is that the solution of problems is constructed in the form of multiple power series. The convergence of the constructed series is proved by the majorant method. It allows us to propose the existence and uniqueness theorem, which is analogous to the Cauchy-Kovalevskaya theorem for the considered problem. A constructive scheme for finding the coefficients of the series is proposed. A special feature of the study is that the boundary condition is given on a moving closed manifold.

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Analysis and Application of Advanced control Strategies to a Heating Element Nonlinear Model

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Journal of Physics: Conference Series 2017年第1期783卷

作者： C. Turhan S. Simani I. Zajic G. Gokcen Akkurt Izmir Institute of Technology Department of Mechanical Engineering Gulbahce Campus Urla – 35430 Izmir Turkey. Department of Engineering University of Ferrara. Via Saragat 1E 44122 Ferrara (FE) Italy. Control Theory and Applications Centre Coventry University Coventry United Kingdom.

This paper presents the design of different control strategies applied to a heating element nonlinear model. The description of this heating element was obtained exploiting a data–driven and physically meaningful nonlinear continuous–time model, which represents a test–bed used in passive air conditioning for sustainable housing applications. This model has low complexity while achieving high simulation performance. The physical meaningfulness of the model provides an enhanced insight into the performance and functionality of the system. In return, this information can be used during the system simulation and improved model– based and data–driven control designs for tight temperature regulation. The main purpose of this study is thus to give several examples of viable and practical designs of control schemes with application to this heating element model. Moreover, extensive simulations and Monte– Carlo analysis are the tools for assessing experimentally the main features of the proposed control schemes, in the presence of modelling and measurement errors. These developed control methods are also compared in order to evaluate advantages and drawbacks of the considered solutions. Finally, the exploited simulation tools can serve to highlight the potential application of the proposed control strategies to real air conditioning systems.

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control on a molecular scale: A perspective

Control on a molecular scale: A perspective

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American control Conference

作者： Rolf Findeisen Martha A. Grover Christian Wagner Michael Maiworm Ruslan Temirov F. Stefan Tautz Murti V. Salapaka Srinivasa Salapaka Richard D. Braatz S.O. Reza Moheimani Otto-von-Guericke-Universit?t Magdeburg Laboratory for Systems Theory and Automatic Control Germany School of Chemical & Biomolecular Engineering Georgia Institute of Technology USA Peter Gruenberg Institute (PGI-3) Juelich Research Center Germany Electrical and Computer Engineering Department University of Minnesota USA Massachusetts Institute of Technology USA Department of Mechanical Engineering The University of Texas at Dalla USA

ISBN: (纸本)9781467386838

Imaging and manipulating objects down to the molecular level plays a crucial role in many disciplines. It allows to unravel molecular phenomena, to form materials with new chemical and physical properties, or to build objects on an atomic scale. Science on the nanoscale is inherently interdisciplinary. It requires knowledge and insight into many fields, spanning from modeling, measuring, imaging, actuation to control. Often feedback control facilitates operation with molecular precision, despite the fact that many physical phenomena at the molecular level are still not well understood, and that stochastic and nonlinear effects are inherently present. This work provides an insight into some of the current control related research activities on a molecular scale. This is done considering examples from different fields: control related to scanning probe microscopy such as atomic force microscopy, controlled self assembly on a molecular scale, control aspects of molecular transport, and the use of control for manipulation of single molecules using macroscopic probe tips. The hope is that control related researchers, who are not experts in these fields, become aware of the opportunities present, which could also drive new theoretical developments.

关键词： Computational modeling Mathematical model Force Atomic force microscopy Numerical models Computational modeling Atomic Force Microscopy numerical models Mathematical Model Force Standing Orders Scale formation Insight Transport Process Physical Phenomena Scanning Probe Microscopy Hopefulness Research Activities chemical and physical properties feedback control

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Nonlinear event-triggered platooning control with exponential convergence 5

Nonlinear event-triggered platooning control with exponentia...

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5th IFAC Workshop on Distributed Estimation and control in Networked Systems, NecSys 2015

作者： Linsenmayer, Steffen Dimarogonas, Dimos V. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

In this paper the control of a platoon with a nonlinear controller under event-triggered communication is investigated. The proposed nonlinear controller is a predecessor-following controller for a certain class of nonlinear functions. For the event-triggered communication scheme every agent decides based on its own state when it transmits its state information. Therefore, a trigger rule is designed that guarantees exponential convergence of the state error while it excludes Zeno behavior. The results are extended to allow heterogeneous trigger rules under certain conditions. Furthermore the case of heterogeneous controllers is analyzed and exponential convergence and exclusion of Zeno behavior is still guaranteed. The theoretical results of the paper are supported by numerical simulations. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers

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Research on nonlinear model and control strategy for permanent magnetic synchronous motor

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Journal of Information and Computational Science 2015年第4期12卷 1569-1578页

作者： Zhu, Yilin Liu, Wending Kan, Jiangming Li, Jinqing Beijing Forestry University Engineering Institute-control Theory and Engineering Beijing China

Based on the finite element analysis, this paper uses a frozen saturated permeability method to research the cross effect influences of the electric parameters of motor. After research of the current of threephase sine IPMSM under different operating point, the magnetic chain, permanent magnet flux linkage, self-inductance and mutual inductance parameters and the cogging torque curve along with the change of rotor position are calculated. The model of load open loop simulation results are in good agreement with those obtained in the finite element dynamic analysis, it proves the accuracy and reliability of the model. On the basis of the model of traditional field oriented control, a single neuron decoupling control system with nonlinear PID regulator for PMSM is studied. The results show that the system responds quickly, also has the advantage of strong anti-interference ability and high precision. ©, 2015, Binary Information Press

关键词： Flux linkage

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