This paper is concerned with the Lyapunov-Krasovskii functional construction of linear control systems with multiple input delays. By transforming the predictor feedback control systems into a delay-free linear system...
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ISBN:
(纸本)9781479947249
This paper is concerned with the Lyapunov-Krasovskii functional construction of linear control systems with multiple input delays. By transforming the predictor feedback control systems into a delay-free linear system with external inputs, a Lyapunov-Krasovskii functional is constructed in terms of a set of linear matrix inequalities(LMIs). It is shown that the solvability of this set of LMIs is equivalent to the asymptotic stability of the delay-free linear system induced from the predictor feedback control system. The proposed Lyapunov-Krasovskii functional is also found to be an ISS Lyapunov-Krasovskii functional for the predictor feedback control systems. An example is worked out to validate the effectiveness of the proposed method.
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 ...
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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 controltheory. Our results are illustrated via examples.
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...
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 *** L 2 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.
Probabilistic uncertainties and constraints are ubiquitous in complex dynamical systems and can lead to severe closed-loop performance degradation. This paper presents a fast algorithm for stochastic model predictive ...
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ISBN:
(纸本)9781467360890
Probabilistic uncertainties and constraints are ubiquitous in complex dynamical systems and can lead to severe closed-loop performance degradation. This paper presents a fast algorithm for stochastic model predictive control (SMPC) of high-dimensional stable linear systems with time-invariant probabilistic uncertainties in initial conditions and system parameters. Tools and concepts from polynomial chaos theory and quadratic dynamic matrix control inform the development of an input-output formulation for SMPC with output constraints. Generalized polynomial chaos theory is used to enable efficient uncertainty propagation through the high-dimensional system model. Galerkin projection is used to construct the polynomial chaos expansion for a general class of linear differential algebraic equations (DAEs), so that the SMPC algorithm is applicable to both regular and singular/descriptor systems. The fast SMPC approach is applied for control of an end-to-end continuous pharmaceutical manufacturing process with approximately 8000 states. The on-line computational cost of the proposed probabilistic input-output SMPC algorithm is independent of the state dimension and, therefore, alleviates the prohibitive computational costs of control of uncertain systems with large state dimension.
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 i...
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ISBN:
(纸本)9781479932757
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.
This paper discusses the networked predictive control with communication delay and data loss in feedback channel under limit-bandwidth through a single value. A networked predictive control scheme is used to actively ...
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This paper discusses the networked predictive control with communication delay and data loss in feedback channel under limit-bandwidth through a single value. A networked predictive control scheme is used to actively compensate for the communication delay and data loss. Based on the analysis of the closed-loop networked predictive control systems, a design strategy and detail steps is proposed. The designed predictive controller can achieve the desired control performance and also guarantee the system stability. A numerical example demonstrates that the proposed networked predictive control scheme can compensate the communication delay and data loss actively in feedback channel under limit-bandwidth.
This paper describes the design and implementation of an OMAP3530-based networked control system which has real-time image processing capability. It integrates an ARM core and a DSP core in the controller. The ARM cor...
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This paper describes the design and implementation of an OMAP3530-based networked control system which has real-time image processing capability. It integrates an ARM core and a DSP core in the controller. The ARM core with Linux operating system is responsible for applying functional services and the DSP core is responsible for executing image processing algorithms. The due-core structure makes the novel controller available for advanced control and image processing so that the designed control system expands the application of the existed networked controllers to machine vision. Finally, a reliable application for vision-based mobile robot localization demonstrates the effectiveness of the designed system.
作者：
Qingji GaoZheng chao ZengDandan HuComputer Science and Technology
Robotics InstituteCivil Aviation University of ChinaTianjin 300300China School of navigation guidance and control on aviation institute of automationCivil aviation university of ChinaTianjin300300 China Control Theory and Control EngineeringRobotics InstituteCivil Aviation University of ChinaTianjin 300300China
The 7th IARC (international aerial robot competition) focus on a long-term and real-time tracking of ground moving target for UAV (unmanned aerial vehicle).This paper proposes a tracking method using Camshift algorith...
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ISBN:
(纸本)9781479946983
The 7th IARC (international aerial robot competition) focus on a long-term and real-time tracking of ground moving target for UAV (unmanned aerial vehicle).This paper proposes a tracking method using Camshift algorithm with color and edge features fusion,which will apply a Phash target detection algorithm basing on perceptual hash *** targets are severely obscured or disappear from view,which will lead tracking failure,whereas targets can be detected and obtained again using the *** results demonstrate that this method can provide a long-term and real-time tracking of ground moving target,which processes both robustness and computational efficiency.
This brief studies the causal consensus problem of singular (descriptor) multi-agent systems with networked communication delays and agents described by general singular systems. For the studied systems, only the info...
This brief studies the causal consensus problem of singular (descriptor) multi-agent systems with networked communication delays and agents described by general singular systems. For the studied systems, only the information of outputs are available through the network. An observer-based networked predictive control scheme is employed to compensate for the communication delays actively. Furthermore, based on the output feedback, observer and the networked predictive control scheme, a novel protocol is proposed in this paper. By using the tools of graph, algebra and singular system theory, the necessary and sufficient conditions are given for the existence of the proposed protocol to solve the considered consensus problem. The given conditions depend on not only the topologies of singular multi-agent systems but also the structure properties of each agent dynamics. Moreover, a consensus algorithm is proposed to design the novel observer-based predictive protocol. A numerical example demonstrates the effectiveness of compensation for networked delays using the provided consensus algorithm.
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