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International Conference on Computational Science and engineering

作者： Gao, X.Z. Wu, Ying Zenger, Kai Huang, Xianlin Department of Electrical Engineering Aalto University FI-00076 Espoo Finland Department of Automation and Systems Technology Aalto University FI-00076 Espoo Finland Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769543239

The Artificial Fish-swarm Algorithm (AFA) is an intelligent population-based optimization algorithm inspired by the behaviors of fish swarm. Unfortunately, it sometimes fails to maintain an appropriate balance between exploration and exploitation, and has a drawback of blind search. In this paper, a novel cultured AFA with the crossover operator, namely CAFAC, is proposed to enhance its optimization performance. The crossover operator utilized is to promote the diversification of the artificial fish and make them inherit their parents' characteristics. The Culture Algorithms (CA) is also combined with the AFA so that the blind search can be combated with. A total of 10 high-dimension and multi-peak functions are employed to investigate the optimization property of our CAFAC. Numerical simulation results demonstrate that the proposed CAFAC can indeed outperform the original AFA. © 2010 IEEE.

关键词： Knowledge based systems

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Model reduction of homogeneous-in-the-state bilinear systems with input constraints

Model reduction of homogeneous-in-the-state bilinear systems...

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作者： Couchman, I.J. Kerrigan, E.C. Böhm, C. Department of Electrical and Electronic Engineering Imperial College London Exhibition Road London SW7 2AZ United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany

ISBN: (纸本)9781424474264

Homogeneous-in-the-state bilinear systems, appended by an additive disturbance, appear both from the discretization of some partial differential equations and from the bilinearization of certain nonlinear systems. They often have large state vectors that can be cumbersome for simulation and control system design. Our aim is to define a method, invariant to time transformations, for finding a reduced-order model with similar disturbance-output characteristics to those of the plant for all admissible input sequences. The inputs considered satisfy simple upper and lower bound constraints, representing saturating actuators. The approximation is based on a model truncation approach and a condition for the existence of such an approximation is given in terms of the feasibility of a set linear matrix inequalities. A novelty of our work is in the definition of a new Gramian for this class of system. Explicit error bounds on the scheme are included. © 2010 AACC.

关键词： Linear matrix inequalities

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MPC with one free control action for constrained LPV systems

MPC with one free control action for constrained LPV systems

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IEEE Conference on control Technology and Applications (CCTA)

作者： Shuyou Yu Christoph Böhm Hong Chen Frank Allgöwer Institute of Systems Theory and Automatic Control University of Stuttgart Germany State key laboratory of automobile dynamic simulation Department of Control Science and Engineering Jilin University China

Based on the assumption that the parameter can be measured in real time, we propose a model predictive control (MPC) method for linear-parameter varying (LPV) systems subject to possibly asymmetric constraints which adopts the analogous framework of terminal control law, terminal set and terminal penalty of nonlinear model predictive control. The optimization problem is formulated as a convex optimization problem and, recursive feasibility and closed-loop stability are guaranteed by its feasibility at initial time. For LPV systems with symmetric constraints, we reformulate the convex optimization problem as a semi-definite program. Numerical examples demonstrate the properties of the proposed MPC design.

关键词： Optimization Convex functions Stability analysis Predictive models Numerical stability Predictive control Robustness

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Sustainable Acrobot walking based on the swing phase exponentially stable tracking

Sustainable Acrobot walking based on the swing phase exponen...

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ASME 2010 Dynamic Systems and control Conference, DSCC2010

作者： Anderle, Milan Čelikovský, Sergej Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

ISBN: (纸本)9780791844182

The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be generalized to more general walking like configurations through their special decomposition. The main contribution of this paper is to design the algorithm how to compute a cyclic walking like trajectory which is crucial to have the hybrid exponentially stable multi step tracking of this trajectory later on. Notice, that such a design is not an easy task as the walking trajectory initial conditions are changed along the single step into different end conditions and these should be subsequently mapped by the impact map into the same initial condition for the second step. For this sake we use the special partial linearized coordinates to demonstrate their advantage for the design of the cyclic walking trajectory. Such a trajectory is then used to demonstrate the sustainable walking based on the swing phase exponentially stable tracking via computer simulations. Copyright © 2010 by ASME.

关键词： Trajectories

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Position feedback tracking of the acrobot walking-like trajectory based on the reduced velocity observer

Position feedback tracking of the acrobot walking-like traje...

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作者： Anderle, Milan Čelikovský, Sergej Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

ISBN: (纸本)9783902661807

This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. Both of them are based on the Acrobot's model partial exact feedback linearization of order 3. The developed algorithm is then applied to the position feedback tracking of the walking-like trajectory of the Acrobot during a swing phase of a single step. Besides the theoretical analysis, the approach is demonstrated via numerical simulations. © 2010 IFAC.

关键词： Trajectories

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Nonlinear dynamic of actuators with elasticities and friction

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IFAC Proceedings Volumes 2010年第18期43卷 255-260页

作者： M. Ruderman T. Bertram S. Aranovskiy Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221-Dortmund Germany Department of Control Systems and Informatics Saint-Petersburg State University of Information Technologies Mechanics and Optics 197101-Saint-Petersburg Russia

To control actuators with elasticities and friction a better comprehension of the appropriate nonlinear dynamic is required. In this paper we propose a simple dynamic model of actuator subject to the nonlinear friction and elasticities combined with the structural damping. The last ones give rise to a hysteretic restoring force (torque) which conjointly with friction provides the second order oscillation system with memory. The derived model is experimentally evaluated on the high precision positioning system used for an optical equipment.

关键词： Nonlinear models Friction Hysteresis Actuators Nonlinear systems

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Algorithm on analyzing RLC electrical network independent all-inductor loop

Algorithm on analyzing RLC electrical network independent al...

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International Conference on Industrial Mechatronics and Automation, ICIMA

作者： Xuefan Yang Wuyi Yu Guozhang Gao School of Science Wuhan institute of Technology Wuhan Hubei China School of Energy and Power Engineering Research Room of Control Theory and Control Engineering Wuhan University of Technology Wuhan Hubei China

ISBN: (纸本)9781424476534

In paper [8], author has proved that the characteristic roots of A are zeros or unequal non-constants. It is well-known that the independent all-capacitor cut-set and the all-inductor loop would lead the electrical network to have zero eigenvalues. But, how to find out the number of the “independent” all-capacitor cut-sets and the all-inductor loops in a network, obviously if the network is complex, is a hard work. It cannot be done artificially. If we use computer to do it, we need a good algorithm. The paper would give an algorithm on how to find them. and it will help us to research these special structures affect the controllability and observability of electrical network. Both are the reasons why we study this algorithm. In this paper, author expatiates on it and uses an example to show the process in detail.

关键词： Algorithm design and analysis Inductors Paper technology Voltage Mechatronics Automation Power engineering and energy control theory control engineering Eigenvalues and eigenfunctions

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A relaxation of Lyapunov conditions and controller synthesis for discrete-time periodic systems

A relaxation of Lyapunov conditions and controller synthesis...

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2010 49th IEEE Conference on Decision and control

作者： Christoph Bohm Mircea Lazar Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

ISBN: (纸本)9781424477456

This paper proposes a novel approach to stability analysis and controller synthesis for discrete-time periodically time-varying systems. Firstly, a relaxation of standard Lya-punov conditions is derived. This leads to a less conservative Lyapunov function that is required to decrease at every period, rather than at each time instant. Secondly, several solutions for synthesizing such periodic control Lyapunov functions are presented. These solutions make use of on-line optimization and can be formulated as a semi-definite program for constrained linear periodic systems. An example illustrates the effectiveness of the developed method.

关键词： Periodic system Stability analysis Liapunov function discrete-time controllers synthesis periodic control

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Robust model predictive control with disturbance invariant sets

Robust model predictive control with disturbance invariant s...

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American control Conference

作者： Shuyou Yu Christoph Bohm Hong Chen Frank Allgower Institute of Systems Theory and Automatic Control University of Stuttgart Germany State key laboratory of automobile dynamic simulation and Department of Control Science and Engineering Jilin University PR China

ISBN: (纸本)9781424474264

This paper proposes a robust model predictive control scheme for nonlinear systems with state and input constraints and unknown but bounded disturbances. A standard nominal model predictive control problem with tightened constraints is solved online, and its solution defines the nominal trajectory. An ancillary control law is determined off-line which keeps the trajectories of the error system in a disturbance invariant set. Thus, the evolution of original nonlinear system lies in the disturbance invariant set centered along the nominal trajectory. Furthermore, it is shown that both feasibility and stability of the closed-loop system are guaranteed if the standard nominal optimization problem is initially feasible.

关键词： Robust control Predictive models Predictive control control systems Nonlinear systems Nonlinear control systems Stability Uncertainty Robustness Optimization methods

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A parametric lyapunov equation approach to stabilization of discrete-time systems with input delay and saturation

A parametric lyapunov equation approach to stabilization of ...

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作者： Zhou, Bin Lin, Zongli Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin Heilongjiang 150001 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904-4743 United States

ISBN: (纸本)9787894631046

This paper studies the problem of stabilization of discrete-time linear systems with input time-delay and actuator saturation. By exploring some further intricate properties of a recently developed parametric Lyapunov equation based low gain feedback design approach, an alternative approach is proposed to solving the problem by both state feedback and output feedback. This new approach is not only simpler than the methods that are based on the eigenstructure assignment technique, but also provides explicit conditions on value of the low gain parameter to guarantee the stability of the closed-loop system. Furthermore, the delay in the input is allowed to be time-varying in some cases.

关键词： Stabilization

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