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American control Conference

作者： Jurgen van Zundert Tom Oomen Dip Goswami W.P.M.H. Heemels Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology group The Netherlands Eindhoven University of Technology Department of Electrical Engineering Electronic Systems group The Netherlands

ISBN: (纸本)9781467386838

Motion control applications traditionally operate with a single-rate, equidistant sampling scheme. For cost reasons, a current trend in industry is consolidating multiple applications on a single embedded platform. Generally, to deal with inter-application interference, a predictable scheduling policy allocates resource to the applications in these platforms. Realizing an equidistant sampling scheme on such shared platform is inflexible and often turns out to be expensive in terms of resource or conservative in terms of performance. The aim of this paper is to investigate the possibilities to relax the equidistant sampling convention. To this end, recent results show that platform timing properties can be represented by a known, precise, and periodically varying set of sampling periods. In view of such predictable platforms, a framework is presented for analysis and synthesis of lifted domain feedforward controllers for periodically time-varying closed-loop systems. Through simulations the potential of such periodically time-varying sampling over conservative equidistant sampling schemes is demonstrated.

关键词： Feedforward neural networks Time-varying systems Motion control Timing Frequency control Discrete-time systems

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Frequency response function identification of LPV systems: A 2D-LRM approach with application to a medical X-ray system

Frequency response function identification of LPV systems: A...

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American control Conference

作者： Annemiek van der Maas Rick van der Maas Robbert Voorhoeve Tom Oomen Department of Mechanical Engineering Control Systems Technology group Eindhoven University of Technology 5600 MB The Netherlands

ISBN: (纸本)9781467386838

LPV control has emerged as a systematic approach in the design of gain-scheduled controllers. This requires the identification of LPV models. The aim of this paper is to develope a flexible and accurate 2D-LRM approach, to enable fast and accurate non-parametric system identification of a frequency response function. The scope of this paper is on the identification of open-loop SISO LPV systems. Smoothness between several frozen LTI conditions within the LPV system is exploited to enable accurate pre-testing for parametric LPV modeling. The proposed approach achieves smoother estimations of the LPV behavior without an increase in estimation errors and with reduced variances. Traditional LPM and LRM approaches can be recovered as a special case of the proposed approach. The potential of the approach is shown by virtue of a simulation of a medical X-ray system.

关键词： Linear systems Transient analysis Estimation Dynamic scheduling System dynamics Frequency-domain analysis Frequency-domain analysis dynamic scheduling Transient analysis System dynamics Linear system X-ray system frequency response function

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Identification for motion control: Incorporating constraints and numerical considerations

Identification for motion control: Incorporating constraints...

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American control Conference

作者： Robbert Voorhoeve Robin de Rozario Tom Oomen Eindhoven University of Technology. Department of Mechanical Engineering Control Systems Technology group. The Netherlands

ISBN: (纸本)9781467386838

Frequency domain identification is a common starting point for model based motion control. The aim of this paper is to tailor parametric identification methods to the specific class of motion systems. The proposed method involves two aspects: 1) incorporating prior knowledge, e.g. it is often known beforehand that the system exhibits rigid-body behavior, and 2) numerical reliability, since the considered class of systems is challenging to identify. The result is a frequency domain algorithm that is particularly suited for the identification of lightly damped motion systems with rigid body behavior, a high model order, and large input- output dimensions. Experimental results on a prototype next-generation motion system clearly demonstrate the advantages of the proposed approach.

关键词： Numerical models Frequency-domain analysis Motion control Prototypes Mathematical model Transfer functions Reliability

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Fraction-based input modification for fast SMA-actuation

Fraction-based input modification for fast SMA-actuation

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IEEE Multi-Conference on systems and control

作者： Rolf Gaasbeek Bram de Jager Faculty of Mechanical Engineering Control Systems Technology group Eindhoven University of Technology 5600 MB The Netherlands

ISBN: (纸本)9781509007561

Shape Memory Alloy actuators are micro-actuators that are known for their high actuation -force and -strain. Limiting the application of Shape Memory Alloy actuators is the lack of suitable control algorithms that can deal with the highly non-linear dynamics of the actuator. The latter suffers from hysteresis and is characterized by the changing crystallographic structure of Shape Memory Alloy. In this work, smart input constraints are developed to prevent overcooling and overheating, and by that, improve the tracking behavior of the actuator.

关键词： Actuators Wires Strain Heating Stress Resistance Conductivity

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Receding Horizon Robot control in Partially Unknown Environments with Temporal Logic Constraints

Receding Horizon Robot Control in Partially Unknown Environm...

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European control Conference

作者： Vladislav Nenchev Calin Belta Control Systems Group Technische Universit?t Berlin Germany Department of Mechanical Engineering and the Division of Systems Engineering Boston University MA USA

ISBN: (纸本)9781509025923

This paper addresses the control of a mobile robot that has to accomplish a finite task in a partially unknown static environment in minimum time. The task is expressed as a syntactically co-safe Linear Temporal Logic (scLTL) formula over a set of properties that can be satisfied at the regions of a partitioned environment. The robot discovers a-priori unknown properties upon covering the corresponding region by its limited sensing range. Instead of resorting to an abstraction of the hybrid system modeling the robot's motion in the environment, we propose an approach based on parameterizing the continuous motion of the vehicle and introduce a measure of violation that is used to enforce the satisfaction of the specification. Then, we formulate a parametric Optimal control Problem (OCP), where the objective is a convex combination of the overall time and the measure of violation function. The OCP is solved in a receding horizon manner only upon detecting previously unknown properties of the environment. The approach is illustrated with a numerical case study.

关键词： OCP Partially Unknown Environments Temporal Logic Constraints

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Rational iterative feedforward tuning: Approaches, stable inversion, and experimental comparison

Rational iterative feedforward tuning: Approaches, stable in...

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American control Conference

作者： Lennart Blanken Frank Boeren Dennis Bruijnen Tom Oomen Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology Group The Netherlands Philips Innovation Services Mechatronics Technologies group Eindhoven The Netherlands

ISBN: (纸本)9781467386838

Feedforward control plays a key role in achieving high performance for industrial motion systems that perform non-repeating motion tasks. Recently, learning techniques have been proposed to further improve both performance and robustness to non-repeating tasks by using a rational feedforward basis. The aim of this paper is to propose a unifying framework which connects these approaches. Experimental results on an industrial motion system validate the approaches and illustrate benefits of rational feedforward tuning in motion systems, including pre- and post-actuation through stable inversion.

关键词： Feedforward neural networks Extrapolation Iterative methods Tuning Convolution Optimization Parametric statistics feedforward neural nets tuning iterative methods Convolution extrapolation method Parametric statistics FEEDFORWARD Rational number FEEDFORWARD control

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A Novel Current control Strategy for Three-Phase Gird-Connected Inverters

A Novel Current Control Strategy for Three-Phase Gird-Connec...

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第35届中国控制会议

作者： Xingda Yan Zhan Shu Suleiman M.Sharkh Zhengguang Wu Michael Z.Q.Chen Electro-Mechanical Research Group University of Southampton National Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityYuquan Campus Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9781509009107

In this paper,a three-phase grid-connected inverter is modelled as a switched affine system with both continuous and discrete *** on the model,a novel switching control law,which can track reference current generated by power reference and grid voltage,is proposed by using the switched Lyapunov theory and the matrix inequality technique.A main advantage of this method is that the switching states of the inverter are determined by the controller without *** addition,the switching law can be obtained off-line,thus reducing the online computational *** the meantime,the active power and reactive power can be regulated to achieve unity power *** results confirm the feasibility and performance of the proposed control scheme.

关键词： Grid-Connected Inverter LMI Lyapunov Stability Power Factor

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Sparse Bayesian Identification of Polynomial NARX Models

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IFAC-PapersOnLine 2015年第28期48卷 172-177页

作者： Jacobs, William R. Baldacchino, Tara Anderson, Sean R. Department of Automatic Control and Systems Engineering University of Shefield Shefield United Kingdom Dynamics Research Group Department of Mechanical Engineering University of Shefield Dynamics Research Group Department of Mechanical Engineering University of Shefield Shefield United Kingdom

In this paper a novel sparse Bayesian structure detection algorithm is introduced for the identification of nonlinear autoregressive with exogenous inputs (NARX) dynamic systems. The main advantage of this algorithm over alternatives is that parameter uncertainty is naturally incorporated, and parameter estimation by variational inference is computationally efficient, consisting of a sequence of closed form updates. The proposed framework is demonstrated through a commonly used simulated benchmark problem. © 2015

关键词： Inference engines Identification (control systems) Automatic relevance determination Bench mark problems Computationally efficient NARX models Non linear autoregressive with exogenous Parameter uncertainty Variational bayes Variational inference

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Performance analysis and controller improvement for linear systems with (m,k)-firm data losses

Performance analysis and controller improvement for linear s...

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European control Conference

作者： E.P. van Horssen A.R. Baghban Behrouzian D. Goswami D. Antunes T. Basten W.P.M.H. Heemels the Control System Technology group Dept. of Mechanical Engineering and the Electronic Systems group Dept. of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands

ISBN: (纸本)9781509025923

This paper describes methods for the analysis and design of control applications with real-time constraints, which allow data losses in the sensing-to-actuation path governed by the property of (m, k)-firmness. An automaton consisting of open- and closed-loop dynamics and a graph representing (m, k)-firmness defines the overall system behavior as a constrained switched linear system. The worst-case quadratic cost is analyzed for a given optimal linear quadratic regulator design. A simple analytic upper bounding method is compared to a method based on solving a (computationally more complex) semidefinite program. Furthermore, control design methods for performance improvement for the worst case are presented. A known LMI-based method is compared to an iterative controller improvement scheme inspired by ideas from dynamic programming. Conservatism and computational effort of the methods are discussed. A numerical example is used for illustration.

关键词： Performance analysis controller improvement linear systems

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Robust Event-Triggered MPC for Constrained Linear Discrete-Time systems with Guaranteed Average Sampling Rate

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IFAC-PapersOnLine 2015年第23期48卷 117-122页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We propose a robust event-triggered model predictive control (MPC) scheme for linear time-invariant discrete-time systems subject to bounded additive stochastic disturbances and hard constraints on the input and state. For given probability distributions of the disturbances acting on the system, we design event conditions such that the average frequency of communication between the controller and the actuator in the closed-loop system attains a given value. We employ Tube MPC methods to guarantee robust constraint satisfaction and a robust asymptotic bound on the system state. Moreover, we show that based on a given periodically updated Tube MPC scheme, an appropriate event-triggered MPC scheme can be designed, with the same guarantees on constraints and region of attraction, but with a reduced number of average communications. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete time control systems Closed loop systems Digital control systems Linear control systems Model predictive control Predictive control systems Probability distributions Robustness (control systems) Stochastic models Stochastic systems Constraint Satisfaction Discrete time systems Event triggered controls Linear discrete time systems Linear time invariant Predictive control Region of attraction Stochastic disturbances

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