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2014 American control Conference, ACC 2014

作者： Müller, Matthias A. Angeli, David Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart 70550 Germany Department of Electrical and Electronic Engineering Imperial College London United Kingdom

ISBN: (纸本)9781479932726

In this paper, we further analyze an economic model predictive control (MPC) algorithm with self-tuning terminal cost, which was recently proposed in [1]. It is shown that if a generalized terminal region constraint instead of a generalized terminal equality constraint is used, improved closed-loop asymptotic average performance bounds can be obtained. In particular, in contrast to the results in [1], these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with a numerical example. © 2014 American Automatic control Council.

关键词： Model predictive control

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Duality and network theory in passivity-based cooperative control

Duality and network theory in passivity-based cooperative co...

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作者： Bürger, Mathias Zelazo, Daniel Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel

This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equilibrium independent passivity is introduced and it is shown that networks of systems possessing this property asymptotically approach the solutions of a dual pair of network optimization problems, namely an optimal potential and an optimal flow problem. This connection leads to an interpretation of the dynamic variables, such as system inputs and outputs, to variables in a network optimization framework, such as divergences and potentials, and reveals that several duality relations known in convex network optimization theory translate directly to passivity-based cooperative control problems. The presented results establish a strong and explicit connection between passivity-based cooperative control theory on the one side and network optimization theory on the other, and they provide a unifying framework for network analysis and optimal design. The results are illustrated on a nonlinear traffic dynamics model that is shown to be asymptotically clustering.

关键词： Convex optimization

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Fast-slow analysis for parametrically and externally excited systems with two slow rationally related excitation frequencies

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Physical Review E 2015年第1期92卷 012911-012911页

作者： Xiujing Han Qinsheng Bi Peng Ji Jürgen Kurths Faculty of Civil Engineering and Mechanics Jiangsu University Zhenjiang Jiangsu 212013 People's Republic of China Potsdam Institute for Climate Impact Research Potsdam 14473 Germany Department of Physics Humboldt University Berlin 12489 Germany Institute for Complex Systems and Mathematical Biology University of Aberdeen Aberdeen AB24 3UE United Kingdom Department of Control Theory Nizhny Novgorod State University Gagarin Avenue 23 606950 Nizhny Novgorod Russia

We present a general method for analyzing mixed-mode oscillations (MMOs) in parametrically and externally excited systems with two low excitation frequencies (PEESTLEFs) for the case of arbitrary m:n relation between the slow frequencies of excitations. The validity of the approach has been demonstrated using the equations of Duffing and van der Pol, separately. Our study shows that, by introducing a slow variable and finding the relation between the slow variable and the slow excitations, PEESTLEFs can be transformed into a fast-slow form with a single slow variable and therefore MMOs observed in PEESTLEFs can be understood by the classical machinery of fast subsystem analysis of the transformed fast-slow system.

关键词： OSCILLATIONS RESEARCH DYNAMICAL systems HOPF bifurcations FREQUENCIES of oscillating systems VAN der Pol oscillators (Physics) DUFFING oscillators EXCITATION spectrum

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Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm

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IFAC Proceedings Volumes 2014年第3期47卷 320-325页

作者： Jörn Malzahn Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44227 Dortmund Germany

In contrast to the common understanding of robot link elasticity as a detrimental effect the paper presents a novel approach to beneficially exploit the intrinsic link compliance for the detection and reaction to unpredicted collisions between the robot and its environment. The paper employs an inner loop controller to rapidly attenuate structural oscillations. Next, a linear relationship between the actuator joint torques as well as the damped link surface strains is derived to accurately model the residual dynamics. The model is identified for an experimental multi-elastic link robot arm under the influence of gravity. Experimental results are provided using a generalized momentum based technique for the detection and reaction to collisions with fragile objects placed on a force sensor as well as interactions with a human.

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Learning to Catch Moving Objects with Reduced Impulse Exchange

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IFAC Proceedings Volumes 2014年第3期47卷 3036-3041页

作者： A.S. Phung J. Malzahn F. Hoffmann T. Bertram Institute of Control Theory and System Engineering Technische Universität Dortmund 44221 Dortmund Germany

The paper presents a learning from demonstration approach to the catching of moving objects with a robot manipulator. The work explicitly reduces the impulse exchange by minimizing the relative velocity during the contact phase by learning relative relation between the object and the catcher instead of learning separate forward model of the object and trajectory generator for the robot. This contributes to the damage prevention on both, the object and the robot. The demonstrated catching movements are modelled by a Gaussian mixture model (GMM), which describes the probability distribution over the demonstrated data set. Gaussian mixture regression (GMR) is employed for motion prediction. A timing controller is designed to trade-off the catch location and the catching time. The learning scheme comprises the relative position and velocity profile between the object and the catcher. The approach allows to generate the movement of the catcher with guaranteed position and velocity convergence to the reference inferred from the position and velocity of the object. Experimental results with a five degree of freedom arm and a Photonic-Mixing-Device (PMD) camera for object detection validate the approach.

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A distributed model predictive control scheme for networks with communication failure 19

A distributed model predictive control scheme for networks w...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Schaich, Rainer M. Müller, Matthias A. Allgöwer, Frank Department of Engineering Science University of Oxford OX1 3PJ United Kingdom Institute of Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783902823625

A method to ensure recursive feasibility and asymptotic stability for a distributed model predictive control scheme in case of temporary communication failure is presented. The considered networks are made up of dynamically uncoupled nonlinear systems, coupled through constraints and objectives. The proposed method substitutes affected coupling constraints in such a way that the scheme can not become infeasible, while a decrease in the cost is guaranteed. © IFAC.

关键词： Model predictive control

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Collective control of multiple unicycle agents with non-identical constant speeds: Tracking control and performance limitation

Collective control of multiple unicycle agents with non-iden...

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Conference on control Applications

作者： Zhiyong Sun Georg S. Seyboth Brian D. O. Anderson Shandong Computer Science Center SCSC (National Supercomputer Center in Jinan) and Shandong Provincial Key Laboratory of Computer Networks Jinan China Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany National ICT Australia and Research School of Engineering The Australian National University Canberra ACT 0200 Australia

ISBN: (纸本)9781479977970

This paper discusses collective control of multiple unicycle-type vehicles with nonholonomic constraints and nonidentical constant speeds, with focus on the design of a tracking controller for a desired target's position and velocity. The tracking control task is divided into several sub-tasks. The group centroid is controlled to track a desired reference velocity, while the reference velocity is constructed with information from the target's position and velocity so that the group centroid can successfully track both the position and velocity of a target vehicle. In order to keep all the agents close to the centroid within a reasonable spacing, an additive spacing controller is devised. We also discuss in detail the performance limitation and trade-offs of the tracking control due to the constraint of non-identical and constant speeds in such a heterogeneous agent group.

关键词： position velocity reasonable

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Identifiability of population models via a measure theoretical approach 19

Identifiability of population models via a measure theoretic...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Waldherr, Steffen Zeng, Shen Allgöwer, Frank Institute for Automation Engineering Otto-von-Guericke-Universität Magdeburg Universitätsplatz 2 Magdeburg Germany Institute for Systems Theory and Automatic Control Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany

ISBN: (纸本)9783902823625

Heterogeneity in cell populations is a major factor in the dynamics of cellular systems in living tissue or microbial colonies. This heterogeneity needs to be taken into account for the interpretation of experimental observations as well as in the construction of predictive models for cellular systems. A common modelling framework for heterogeneous cell population is by an infinite ensemble of single cell models. The state of a cell population is in this framework modelled by the distribution of the single cell states. In this paper we study under which conditions the population model is identifiable, i.e., we can determine the initial distribution of cell states and parameters from a dynamic output distribution. We derive a necessary condition on the single cell model based on the classical observability results from linear and nonlinear control theory. Our results are illustrated via examples. Copyright © 2014 IFAC.

关键词： Population distribution

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Gain scheduling output feedback control of linear plants with partial actuator saturation 19

Gain scheduling output feedback control of linear plants wit...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Ban, Xiaojun Wu, Fen Huang, Xianlin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Mechanical and Aerospace Engineering North Carolina State University RaleighNC27695 United States

ISBN: (纸本)9783902823625

From a gain-scheduling control perspective, we will study the output feedback control problem for linear systems with some of control channels subject to actuator saturation. This includes the scenario of all actuator saturation as a special case. A feedback controller, expressed in the form of linear fractional transformation, is proposed to guarantee regional stability of the closed-loop system and minimizes disturbance/error effect measured in L2 gain. The resulting synthesis condition is formulated as linear matrix inequalities (LMIs) and can be solved efficiently. A modified inverted pendulum is utilized to demonstrate the proposed approach. © IFAC.

关键词： Linear matrix inequalities

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From linear to nonlinear model predictive control of a building 19

From linear to nonlinear model predictive control of a build...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Pčolka, Matej Žáčeková, Eva Robinett, Rush Čelikovský, Sergej Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Mechanical Engineering-Engineering Mechanics Michigan Technological University United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Czech Republic

ISBN: (纸本)9783902823625

In the building climate control area, the linear model predictive control (LMPC)- nowadays considered a mature technique-benefits from the fact that the resulting optimization task is convex (thus easily and quickly solvable). On the other hand, while nonlinear model predictive control (NMPC) using a more detailed nonlinear model of a building takes advantage of its more accurate predictions and the fact that it attacks the optimization task more directly, it requires more involved ways of solving the non-convex optimization problem. In this paper, the gap between LMPC and NMPC is bridged by introducing several variants of linear time-varying model predictive controller (LTVMPC). Making use of linear time-varying model of the controlled building, LTVMPC obtains predictions which are closer to reality than those of linear time invariant model while still keeping the optimization task convex and less computationally demanding than in the case of NMPC. The concept of LTVMPC is verified on a set of numerical experiments performed using a high fidelity model created in a building simulation environment and compared to the previously mentioned alternatives (LMPC and NMPC) looking at both the control performance and the computational requirements. © IFAC.

关键词： Model predictive control

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