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IEEE International Symposium on Intelligent control (ISIC)

作者： Pawel Majdzik Lothar Seybold Marcin Witczak Institute of Control and Computation Engineering University of Zielona Gra Zielona Gora Poland RAFI GmbH Co. KG Germany

The paper deals with modeling and control of the real battery assembly system, which is under implementation in the RAFI GmbH Company (one of the leading Electronic Manufacturing Service Provider in Germany). To model the controlled battery assembly system a unified max-plus algebra and model predictive control framework is employed. The considered system belongs to some class of discrete event system, which contains a finite number of industrial tasks and a finite number of resources, which are utilised according to a mutual-exclusion protocol. The assembly task is organised in a completely automatic way, which involves a number of robots. Thus, the proposed computational framework is used to minimize robot energy consumption while satisfying the constraints imposed on the system.

关键词： Batteries Robots Assembly Algebra Transportation Assembly systems Discrete-event systems

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Vector Lyapunov function based stability of a class of applications relevant 2D nonlinear systems 19

Vector Lyapunov function based stability of a class of appli...

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

作者： Emelianova, Julia Pakshin, Pavel Galkowski, Krzysztof Rogers, Eric Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas Russia Institute of Control and Computation Engineering University of Zielona Góra ul. Podgorna 50 Zielona Góra Poland Electronics and Computer Science University of Southampton Southampton United Kingdom

ISBN: (纸本)9783902823625

A substantial literature exists on the stability and control of 2D systems, including repetitive processes where iterative learning control algorithms designed in this setting have been experimentally verified. Most of this development has assumed that the dynamics can be adequately represented by linear state-space models, but applications exist where this assumption does not hold. This paper contributes to the development of a stability theory for nonlinear discrete-time 2D systems, where main results are on the use of vector Lyapunov functions to characterize exponential stability. The analysis includes systems where random failures modeled by a Markov chain with a finite set of states can arise in an iterative learning control application. An illustrative example is also given. © IFAC.

关键词： Iterative learning control Nonlinear 2D systems Stability Vector Lyapunov functions

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Application of a repetitive process setting to design of monotonically convergent iterative learning control

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Journal of Physics: Conference Series 2015年第1期659卷

作者： Marcin Boski Wojciech Paszke Faculty of Computer Science Electrical Engineering and Control Engineering University of Zielona Góra ul. Szafrana 2 65-516 Zielona Góra Poland Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 65-516 Zielona Góra Poland

This paper deals with the problem of designing an iterative learning control algorithm for discrete linear systems using repetitive process stability theory. The resulting design produces a stabilizing output feedback controller in the time domain and a feedforward controller that guarantees monotonic convergence in the trial-to-trial domain. The results are also extended to limited frequency range design specification. New design procedure is introduced in terms of linear matrix inequality (LMI) representations, which guarantee the prescribed performances of ILC scheme. A simulation example is given to illustrate the theoretical developments.

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control of differential repetitive processes with regional pole constraints

Control of differential repetitive processes with regional p...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Paweł Dabkowski Wojciech Paszke Faculty of Physics Nicolaus Copernicus University Torun Poland Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

This paper develops a new set of conditions for the strong practical stability and stabilization of linear differential repetitive processes, where controller design includes regional pole constraints. The proposed stability conditions reduce the problem of determining whether a linear repetitive process is stable (in sense of strong practical stability) or not to that of checking for the existence of a solution to a set of linear matrix inequalities (LMIs). The resulting conditions overcome some drawbacks of already known results and allow control law design in the presence of practically motivated design specifications such as regional constraints on the location of the eigenvalues of the limit profile matrices of the controlled process. The validity of the developed results are demonstrated by numerical example.

关键词： Asymptotic stability Stability analysis Process control Symmetric matrices Linear matrix inequalities Eigenvalues and eigenfunctions Numerical stability

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Robust model predictive control using neural networks

Robust model predictive control using neural networks

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IEEE International Symposium on Intelligent control (ISIC)

作者： Krzysztof Patan Piotr Witczak Institute of Control and Computation Engineering University of Zielona Góra Poland Faculty of Electrical Engineering Computer Science and Telecommunication University of Zielona Góra Poland

The paper deals with robust model predictive control designed using recurrent neural network. A dynamic neural network is trained to act as the one-step ahead predictor, which is then used successively to obtain k-step ahead prediction of the plant output. Based on the neural predictor, the control law is derived solving a constrained optimization problem. The robustness of the considered predictive scheme is derived using the concept of an error model. Based on the developed robust model, a optimization problem is redefined. Two solutions are portrayed. The first one is to change the cost function in order to consider the robust model of the plant, while the second one is to impose constraints on the process output using derived uncertainty bands.

关键词： Uncertainty Robustness Predictive control Optimization Neural networks Solid modeling Predictive models

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An algorithm for design of deadbeat controllers of spatially invariant systems

An algorithm for design of deadbeat controllers of spatially...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Petr Augusta Krzysztof Gałkowski Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague Czech Republic Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： Mathematical model Polynomials Transfer functions Heating Algorithm design and analysis Arrays

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Predictive and robust fault-tolerant control for Takagi-Sugeno systems 19

Predictive and robust fault-tolerant control for Takagi-Suge...

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

作者： Witczak, Marcin Aubrun, Christophe Korbicz, Józef Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland Centre de Recherche en Automatique de Nancy CRAN-UMR 7039 Nancy-Universite CNRS Vandoeuvre-les-Nancy CedexF-54506 France

ISBN: (纸本)9783902823625

The paper deals with the problem of robust predictive fault-tolerant control for nonlinear discrete-time systems described by the Takagi-Sugeno models. The proposed approach consists of three steps, i.e. it starts from fault estimation, the fault is compensated with a robust controller, and finally, when the compensation is not successful then a suitable predictive action is performed. This appealing phenomenon makes it possible to enlarge the domain of attraction, which makes the proposed approach an efficient solution for the fault-tolerant control. The final part of the paper shows an illustrative example regarding the application of the proposed approach to the two-tank system. © IFAC.

关键词： Discrete time control systems

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Model predictive control of three phase voltage source converters with an LCL filter

Model predictive control of three phase voltage source conve...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Dae Keun Yoo Liuping Wang Eric Rogers Wojciech Paszke School of Electrical and Computer Engineering Royal Melbourne Institute of Technology Melbourne Australia Electronics and Computer Science University of Southampton Southampton UK Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

Industry regulations and standards are placing ever increasing limitations on the individual and total harmonic distortion levels that can be injected into the grid and hence an LCL circuit becomes an attractive option to interconnect an inverter to the utility grid. However, despite the benefits of LCL filter in reducing the switching harmonics, the inherent resonance present in this filter can cause a closed-loop stability problem due to increased grid current distortion. This paper develops a model predictive based current control for a three-phase grid connected converter with an LCL filter. The objective is to provide fast tracking response of the desired system reference coupled with suppression of the resonance disturbance caused by the LCL filter.

关键词： Xenon Radio frequency

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ℋ∞ based disturbance attenuation for iterative learning control

ℋ∞ based disturbance attenuation for iterative learning co...

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2014 American control Conference, ACC 2014

作者： Galkowski, Krzysztof Dabkowski, Pawel Rogers, Eric Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland Institute of Physiscs Faculty of Physics Astronomy and Informatics Nicholas Copernicus University ul. Grudziadzka 5 87-100 Torun Poland Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

ISBN: (纸本)9781479932726

Previous research has shown that repetitive processes, a class of 2D systems, can be used to design linear model based iterative learning control laws for convergence and transient performance, with supporting experimental benchmarking. In many applications attenuation of disturbances acting on the plant signals will also be required. The new results in this paper are control law design algorithms for this problem with disturbance attenuation measured by an ℋ∞ norm. © 2014 American Automatic control Council.

关键词： Benchmarking

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Stability and stabilization of differential nonlinear repetitive processes with applications 19

Stability and stabilization of differential nonlinear repeti...

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

作者： Emelianov, Mikhail Pakshin, Pavel Galkowski, Krzysztof Rogers, Eric Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas607227 Russia Institute of Control and Computation Engineering University of Zielona Góra ul. Podgorna 50 Zielona Góra65-246 Poland Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom

ISBN: (纸本)9783902823625

Repetitive processes are a class of two-dimensional systems that arise in the modeling of physical examples and also the control systems theory developed for them has, in the case of linear dynamics, been applied to design iterative learning control laws with experimental verification. This paper gives new results on the stability of nonlinear differential repetitive processes for applications where a linearized model is either very limited or not applicable. The stability results are then applied to the design of iterative learning control laws in the presence of uncertain parameters and to the same problem when random failures occur that are modeled by a homogeneous Markov chain with a finite set of states. In both cases the computations required are expressed as a finite set of linear matrix inequalities. © IFAC.

关键词： Process control

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