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A Partial-State Observer for a Class of MIMO Nonlinear Systems

IFAC Proceedings Volumes 2014年第3期47卷 3676-3681页

作者： Lei Wang Alberto Isidori Hongye Su Weihua Xu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 Hangzhou P.R.China Department of Computer Control and Management Engineering University of Rome “La Sapienza” Rome Italy

In this paper, we consider input-affine invertible MIMO nonlinear systems which can be transformed into a special normal form by means of the structure algorithm. The normal form highlights a partial state, a subset of state variables, which plays in this setting a role similar to that of the outputs and its derivatives in a SISO system. It is shown that, if a system in this class can be asymptotically stabilized by means of a static feedback from that partial state, then semiglobal stabilization can be achieved via dynamic feedback driven by the output of the system. The dynamic feedback in question is based a (non–trivial) extension to MIMO systems of the standard high–gain observer.

关键词： MIMO nonlinear systems structure algorithm normal forms minimum-phase systems nonlinear observers

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Generalized synchronization of nonlinear chaotic systems through natural bioinspired controlling strategy

Abstract and Applied Analysis

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Abstract and Applied Analysis 2015年第1期2015卷

作者： Li, Shih-Yu Chen, Shi-An Lin, Chin-Teng Ko, Li-Wei Yang, Cheng-Hsiung Chen, Heng-Hui Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Electrical and Computer Engineering National Chiao Tung University Hsinchu Taiwan Department of Biological Science and Technology National Chiao Tung University 1001 Ta Hsueh Road Hsinchu 300 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei Taiwan Department of Mechanical Engineering Hsiuping University of Science and Technology Taichung Taiwan

A novel bioinspired control strategy design is proposed for generalized synchronization of nonlinear chaotic systems, combining the bioinspired stability theory, fuzzy modeling, and a novel, simple-form Lyapunov control function design of derived high efficient, heuristic and bioinspired controllers. Three main contributions are concluded: (1) apply the bioinspired stability theory to further analyze the stability of fuzzy error systems;the high performance of controllers has been shown in previous study by Li and Ge 2009, (2) a new Lyapunov control function based on bioinspired stability theory is designed to achieve synchronization without using traditional LMI method, which is a simple linear homogeneous function of states and the process of designing controller to synchronize two fuzzy chaotic systems becomes much simpler, and (3) three different situations of synchronization are proposed;classical master and slave Lorenz systems, slave Chen's system, and Rossler's system as functional system are illustrated to further show the effectiveness and feasibility of our novel strategy. The simulation results show that our novel control strategy can be applied to different and complicated control situations with high effectiveness. © 2015 Shih-Yu Li et al.

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Natural frequency ratio effect on 2 DOF flow induced vibration of cylindrical structures

Natural frequency ratio effect on 2 DOF flow induced vibrati...

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26th International Conference on Parallel Computational Fluid Dynamics, ParCFD 2013

作者： Han, Xiangxi Zhao, Chengbi Tang, Youhong Chen, Xiaoming Lin, Wei Sammut, Karl Department of Naval Architecture and Ocean Engineering School of Civil Engineering and Transportation South China University of Technology Guangdong 510641 China Centre for Maritime Engineering Control and Imaging School of Computer Science Engineering and Mathematics Flinders University SA 5042 Australia China Ship Architecture Design and Research Institute Co. Ltd. Beijing 100024 China

ISBN: (纸本)9783642539619

In this study, the vortex-induced vibration (VIV) of a circular cylinder at the low Reynolds number of 200 is simulated by a transient coupled fluid-structure interaction numerical model using the combination of FLUENT and ANSYS platforms. Considering VIV with low reduced damping parameters, the trend of the lift coefficient, the drag coefficient and the displacement of the cylinder are analyzed under different oscillating frequencies of the cylinder. The frequency ratio α is a very important parameter, which has been intensively investigated here. The typical nonlinear phenomena of lockedin, beat and phases switch can be captured successfully. The evolution of vortex shedding from the cylinder and the trajectory of the 2 DOF case with varied frequency ratio is also discussed. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Vortex shedding

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Hydrodynamic analysis of floating marine structures based on an IBM-VOF two-phase flow model

Hydrodynamic analysis of floating marine structures based on...

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26th International Conference on Parallel Computational Fluid Dynamics, ParCFD 2013

作者： Lin, Nansheng Chen, Xiaoming Zhao, Chengbi Tang, Youhong Lin, Wei Department of Naval Architecture and Ocean Engineering School of Civil Engineering and Transportation South China University of Technology Guangdong 510641 China China Ship Architecture Design and Research Institute Co. Ltd. Beijing 100024 China Centre for Maritime Engineering Control and Imaging School of Computer Science Engineering and Mathematics Flinders University SA 5042 Australia

ISBN: (纸本)9783642539619

In this study, we develop an immersed boundary method - volume of fluid (IBM-VOF) two-phase flow solver to simulate two-phase flow problem contains solid boundaries and free surface and use it to solve the typical problems for floating marine structures. In the solver, the IBM method is adapted to solve the problems of the moving marine structures and the VOF method for solving the problems of a free surface flow. The free surface at the fluid is considered as the mixed fluid of sea water and air in the solver. Base on this IBM-VOF two-phase flow model, hydrodynamic analysis of a floating marine structure with forced heave motion is done, and hydrodynamic force coefficients are computed. In this case, we firstly calculate the forces of the floating marine structure under different frequencies, and then we get added mass and added damping through fitting the data of the forces by the least square method. The results obtained from the present model are compared, which verified the reliability and accuracy of this numerical model. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Least squares approximations

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2D systems based iterative learning control design for multiple-input multiple-output systems

2D systems based iterative learning control design for multi...

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

作者： Lukasz Hladowski Thanh Van Dinh Krzysztof Galkowski Eric Rogers Chris T Freeman Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton UK

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. The novel feature is the use of information from previous executions of the task in order to update the control signal applied during the next one and thereby sequentially improve performance. Linear iterative learning control laws can be designed using 2D systems theory and recently experimental validation of such designs for single-input single-output examples has been reported. This paper gives the first results on extending this approach to systems with more than one input and output.

关键词： MIMO Vectors Stability analysis Asymptotic stability State-space methods Robots Convergence

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Kinematically Optimised Predictions of Object Motion

Kinematically Optimised Predictions of Object Motion

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dominik Belter Marek Kopicki Sebastian Zurek Jeremy Wyatt Institute of Control and Information Engineering Poznan University of Technology Poland School of Computer Science University of Birmingham UK

ISBN: (纸本)9781479969357

Predicting the motions of rigid objects under contacts is a necessary precursor to planning of robot manipulation of objects. On the one hand physics based rigid body simulations are used, and on the other learning approaches are being developed. The advantage of physics simulations is that because they explicitly perform collision checking they respect kinematic constraints, producing physically plausible predictions. The advantage of learning approaches is that they can capture the effects on motion of unobservable parameters such as mass distribution, and frictional coefficients, thus producing more accurate predicted trajectories. This paper shows how to bring together the advantages of both approaches to achieve learned simulators of specific objects that outperform previous learning approaches. Our approach employs a fast simplified collision checker and a learning method. The learner predicts trajectories for the object. These are optimised post prediction to minimise interpenetrations according to the collision checker. In addition we show that cleaning the training data prior to learning can also improve performance. Combining both approaches results in consistently strong prediction performance. The new simulator outperforms previous learning based approaches on a single contact push manipulation prediction task. We also present results showing that the method works for multi-contact manipulation, for which rigid body simulators are notoriously unstable.

关键词： Object motion simulator trajectory mass distribution checker physical simulation Rigid coefficient of friction Collisions

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Principal Component Analysis Anomaly Detector for Rotor Broken Bars

Principal Component Analysis Anomaly Detector for Rotor Brok...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Mohammed Obaid Mustafa George Georgoulas George Nikolakopoulos Control Engineering Group Department of Computer Science Electrical and Space Engineering Lulea University of Technology Laboratory of Knowledge and Intelligent Computing (KIC) Department of Computer Engineering Technological Educational Institute of Epirus

ISBN: (纸本)9781479940318

In this article a method for the detection of broken rotor bars in asynchronous machines operating under full load is presented. Unlike most Motor Current Signature Analysis (MCSA) approaches, which operate in the frequency domain, our method operates in the time domain. The scheme is based on the use of a Principal Component Analysis (PCA) fault/anomaly detector. PCA is applied on the three stator currents to subsequently calculate the Q statistic which is employed for detecting the presence/absence of a fault. The efficiency of the proposed scheme was experimentally evaluated using different fault severity levels, ranging from 1/4 of a broken bar to three broken bars. The obtained results indicate that the method can detect the caused asymmetry with a very restricted amount of data.

关键词： Principal component analysis Rotors Bars Induction motors Detectors Stators Fault detection

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Precoding decision for full-duplex X-relay channel with Decode-and-Forward

Precoding decision for full-duplex X-relay channel with Deco...

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International Wireless Communications and Mobile Computing Conference, IWCMC

作者： Themistoklis Charalambous Ioannis Krikidis Mikael Johansson Automatic Control Lab Royal Institute of Technology (KTH) Sweden Department of Electrical and Computer Engineering University of Cyprus

In this paper, we study a simple X-relay configuration where the shared relay operates in full-duplex (FD) mode. The relay node may have limited spatial degrees of freedom, and as a result, it may not be able to handle both the loop interference and the multiuser interference. Hence, a decision on the precoding scheme is necessitated. It is often the case that the relay does not have the option of real-time switching between different precoding schemes, either due to hardware limitations of the relay or increased complexity of the problem. Hence, we investigate a “static” precoding decision where the relay node decides on its precoding scheme based only on statistical knowledge of the channel conditions. To perform this decision, the behavior of the system is formulated as a Markov chain and the outage probability of the system is derived in a closed-form with the precoding decision as a parameter. The outage probability is minimized by optimally choosing the precoding scheme, using easily verifiable conditions on the statistical knowledge of the channel conditions. Simulations validate the investigated scheme.

关键词： Relays Interference Decoding Markov processes Transmitting antennas Receiving antennas Equations

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Identification of a linear driver model based on simulator experiments

Identification of a linear driver model based on simulator e...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： András Mihály Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary Institute for Computer Science and Control MTA-BME Control Engineering Research Group Hungary

The paper presents a driver model identification method based on simulator experiments. The visual and vestibular perception of the driver can be modeled by measuring proper signals of the vehicle motion and the environment during the real-time driving of the simulator. The parameters of different drivers are then estimated using a linear difference autoregressive model structure and least-squares estimation techniques. The aim of the identification is to describe the different driver behaviors with the parameters of a driver model with similar structure. The identified driver models are validated by simulation using the same excitation signals as in the simulator experiment and comparing the measured and simulated output of the driver. The main novelty of the paper is the identification method in which a real-time simulator is used.

关键词： Vehicles Roads Computational modeling Geometry Real-time systems Acceleration Mathematical model

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Signal-anticipating in local voltage control in distribution systems

Signal-anticipating in local voltage control in distribution...

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IEEE International Conference on Smart Grid Communications (SmartGridComm)

作者： Jeries Shihadeh Seungil You Lijun Chen Electrical Computer and Energy Engineering University of Colorado Boulder Control and Dynamical Systems California Institute of Technology Computer Science & Telecommunications University of Colorado Boulder

In this paper, we consider the signal-anticipating behavior in local volt/var control in distribution systems. We define a voltage control game, and show that the signal-anticipating voltage control is the best response algorithm of the voltage control game. We further show that the voltage control game has a unique Nash equilibrium, characterize it as the optimum of a global optimization problem, and establish its asymptotic global stability. We then introduce the notion of the price of signal-anticipating (PoSA) to characterize the impact of the signal-anticipating in local voltage control, and use the gap in cost between the network equilibrium in the signal-taking voltage control and the Nash equilibrium in the signal-anticipating voltage control as the metric for PoSA. We characterize how the PoSA scales with the size, topology, and heterogeneity of the power network for a few special cases. We find that the stronger the coupling between different buses is, the larger the PoSA is; the linear network gives the largest PoSA among all possible topologies, but as the size of the network increases, the PoSA will saturate.

关键词： Voltage control Reactive power Games Nash equilibrium Optimization Network topology Topology

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