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Experimental Evaluation of Reset control for Improved Stage Performance

IFAC-PapersOnLine 2016年第13期49卷 93-98页

作者： Heertjes, M.F. Gruntjens, K.G.J. van Loon, S.J.L.M. van de Wouw, N. Heemels, W.P.M.H. ASML Mechatronic Systems Development Eindhoven University of Technology Mechanical Engineering Veldhoven Eindhoven Netherlands Eindhoven University of Technology Mechanical Engineering Eindhoven Netherlands Océ Technologies Mechanical Department Venlo Netherlands Department of Civil Environmental and Geo-Engineering University of Minnesota MinneapolisMN55455 United States Delft Center for Systems and Control Delft University of Technology Delft Netherlands

A reset integral controller is discussed that induces improved low-frequency disturbance rejection properties under double integrator control without giving the unwanted increase of overshoot otherwise resulting from adding an extra linear integrator. To guarantee closed-loop stability, a (conditional) reset condition is used that restricts the input-output behavior of the dynamic reset element to a [0,α]-sector with α a positive (finite) gain. As a result, stability can be guaranteed on the basis of a circle criterion-like argument and checked through (measured) frequency response data. Both stability and performance of the control design will be discussed via measurement results obtained from a wafer stage system of an industrial wafer scanner. © 2016

关键词： control system stability

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Dynamic state-feedback control of nonlinear three-dimensional directional drilling systems

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IFAC-PapersOnLine 2016年第18期49卷 85-90页

作者： van de Wouw, N. Monsieurs, F.H.A. Detournay, E. Department Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Civil Environmental & Geo- Engineering University of Minnesota Minneapolis United States Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Directional drilling systems generate complex curved boreholes in the earth's crust for the exploration and harvesting of oil, gas and geothermal energy. In practice, boreholes drilled with such systems often show instability-induced borehole spiraling, which negatively affects the borehole quality and increases drag losses while drilling. This paper presents a dynamic state-feedback controller design approach for the stable generation of complex, three-dimensional borehole geometries, while avoiding undesired borehole spiraling. The design is based on a model for three-dimensional borehole propagation in terms of nonlinear delay differential equations. After casting the problem of borehole propagation into a tracking problem, it is shown that complex, three-dimensional borehole geometries can be asymptotically stabilized with the proposed controller. The effectiveness of the proposed approach is evidenced in an illustrative benchmark study. © 2016

关键词： Boring Boreholes controllers Differential equations Directional drilling Feedback control Geothermal energy Nonlinear equations Nonlinear systems State feedback Structural geology Well drilling Benchmark study Curved boreholes Delay differential equations Nonlinear delay differential equation State feedback controller Tracking controls Tracking problem While drillings

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Filtered Split-Path Nonlinear Integrator (F-SPANI) for improved transient performance

Filtered Split-Path Nonlinear Integrator (F-SPANI) for impro...

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American control Conference

作者： A. van der Maas N. van de Wouw W.P.M.H. Heemels the Department of Mechanical Engineering Control Systems Technology group Eindhoven University of Technology 5600 MB Eindhoven The Netherlands the Department of Mechanical Engineering Eindhoven University of Technology Eindhoven 5600 MB The Netherlands with the Department of Civil Environmental and Geo-Engineering University of Minnesota Minneapolis MN 55455 USA

ISBN: (纸本)9781509045839

The recently introduced Split-Path Nonlinear Integrator (SPANI) is designed to improve the transient performance of linear (motion) systems in terms of overshoot. The SPANI was shown to be an effective nonlinear controller to improve transient performance by enforcing the same sign in the integrator action and the error. However, to avoid (fast) switching in the control input in steady-state, conservatism had to be introduced in the SPANI design, thereby limiting the performance. In this paper, this conservatism is removed by introducing a new design, called the Filtered Split-Path Nonlinear Integrator (F-SPANI). This design is based on the inclusion of an additional filter in the phase path, which enables the full potential behind the main idea of the SPANI. The ease of the design and implementation and the potential of the proposed controller are illustrated both in simulation and in experiments on a motion system.

关键词： improved transient performance Transient performance integrators control input nonlinearity updated design Conservatism full potential

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controlled synchronization of mechanical systems with a unilateral constraint

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IFAC-PapersOnLine 2016年第18期49卷 339-344页

作者： Baumann, Michael Biemond, J.J. Benjamin Leine, Remco I. van de Wouw, Nathan Institute of Mechanical Systems ETH Zurich Switzerland Department of Computer Science KU Leuven Belgium Belgium Institute for Nonlinear Mechanics University of Stuttgart Germany Department of Mechanical Engineering Eindhoven University of Technology Department of Civil Environmental & Geo- Engineering University of Minnesota Delft Center for Systems and Control Delft University of Technology Netherlands

This paper addresses the controlled synchronization problem of mechanical systems subjected to a geometric unilateral constraint as well as the design of a switching coupling law to obtain synchronization. To define the synchronization problem, we propose a distance function induced by the quotient metric, which is based on an equivalence relation using the impact map. A Lyapunov function is constructed to investigate the synchronization problem for two identical one-dimensional mechanical systems. Sufficient conditions for the individual systems and their controlled interaction are provided under which synchronization can be ensured. We present a (coupling) control law which ensures global synchronization, also in the presence of grazing trajectories and accumulation points (Zeno behavior). The results are illustrated using a numerical example. © 2016

关键词： Synchronization Hybrid systems Lyapunov functions Machine design Mechanics Accumulation points controlled synchronization Equivalence relations Global synchronization Lyapunov stability Measure differential inclusions Synchronization problem Unilateral constraints

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Fundamental limits and tradeoffs in autocatalytic pathways

arXiv

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arXiv 2017年

作者： Siami, Milad Motee, Nader Buzi, Gentian Bamieh, Bassam Khammash, Mustafa Doyle, John C. Institute for Data Systems and Society Massachusetts Institute of Technology CambridgeMA02319 United States Department of Mechanical Engineering and Mechanics Packard Laboratory Lehigh University BethlehemPA18015 United States State University of New York at Fredonia Department of Mechanical Engineering University of California Santa BarbaraCA93106 United States Department of Biosystems Science and Engineering Eth Zurich Mattenstrasse 26 Basel4058 Switzerland Control and Dynamical Systems California Institute of Technology PasadenaCA91125 United States

This paper develops some basic principles to study au-tocatalytic networks and exploit their structural properties in order to characterize their inherent fundamental limits and tradeoffs. In a dynamical system with autocatalytic structure, the system's output is necessary to catalyze its own production. We consider a simplified model of Glycolysis pathway as our motivating application. First, the properties of these class of pathways are investigated through a simplified two-state model, which is obtained by lumping all the intermediate reactions into a single intermediate reaction. Then, we generalize our results to autocatalytic pathways that are composed of a chain of enzymatically catalyzed intermediate reactions. We explicitly derive a hard limit on the minimum achievable L2-gain disturbance attenuation and a hard limit on its minimum required output energy. Finally, we show how these resulting hard limits lead to some fundamental tradeoffs between transient and steady-state behavior of the network and its net production. Copyright © 2017, The Authors. All rights reserved.

关键词： dynamical systems

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*** UAV control parameters tuning based on particle swarm optimization algorithm

*** UAV control parameters tuning based on particle swarm op...

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IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR

作者： Thi Thoa Mac Cosmin Copot Trung Tran Duc Robin De Keyser School of Mechanical Engineering Hanoi University of Science and Technology Vietnam Department of Dynamical Systems and Control (DySC) Ghent University Belgium Op3Mech University of Antwerp Belgium

In this paper, a proposed particle swarm optimization called multi-objective particle swarm optimization (MOPSO) with an accelerated update methodology is employed to tune Proportional-Integral-Derivative (PID) controller for an *** quadrotor. The proposed approach is to modify the velocity formula of the general PSO systems in order for improving the searching efficiency and actual execution time. Three PID control parameters, i.e., the proportional gain Kp, integral gain K; and derivative gain Kd are required to form a parameter vector which is considered as a particle of PSO. To derive the optimal PID parameters for the ***, the modified update method is employed to move the positions of all particles in the population. In the meanwhile, multi-objective functions defined for PID controller optimization problems are minimized. The results verify that the proposed MOPSO is able to perform appropriately in *** control system.

关键词： Particle swarm optimization Optimization Heuristic algorithms Linear programming Tuning Acceleration Sociology

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Split-path nonlinear integral control for transient performance improvement

Split-path nonlinear integral control for transient performa...

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作者： Van Loon, S.J.L.M. Hunnekens, B.G.B. Heemels, W.P.M.H. Van De Wouw, N. Nijmeijer, H. Eindhoven University of Technology Department of Mechanical Engineering P.O. Box 513 MB EindhovenNL 5600 Netherlands Department of Civil Environmental and Geo-Engineering University of Minnesota MinneapolisMN55455 United States Delft Center for Systems and Control Delft University of Technology Delft Netherlands

In this paper, we introduce the split-path nonlinear integrator (SPANI) as a novel nonlinear filter designed to improve the transient performance of linear systems in terms of overshoot, while preserving good rise-time and settling behavior. In particular, this nonlinear controller targets the well-known trade-off induced by integral action, which removes steady-state errors due to constant external disturbances, but deteriorates transient performance in terms of increased overshoot. The rationale behind the proposed SPANI filter is to ensure that the integral action has, at all times, the same sign as the closed-loop error signal, which, as we will show, enables a reduction in overshoot thereby leading to an overall improved transient performance. The resulting closed-loop dynamics is modeled by a hybrid dynamical system, for which we provide sufficient Lyapunov-based conditions for stability. Furthermore, we illustrate the effectiveness, the design and the tuning of the proposed controller in a benchmark simulation study of an industrial pick-and-place machine. © 2016 Elsevier Ltd. All rights reserved.

关键词： Linear systems

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Hitting time for doubly-weighted graphs with application to robotic surveillance

Hitting time for doubly-weighted graphs with application to ...

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European control Conference

作者： Andrea Carron Rushabh Patel Francesco Bullo Department of Information Engineering University of Padova Via Gradenigo 6/a 35131 Padova Italy Department of Mechanical Engineering Center for Control Dynamical Systems and Computation College of Engineeringm University of California at Santa Barbara USA

ISBN: (纸本)9781509025923

This article provides analysis results for the weighted hitting time and the pairwise weighted hitting time of a Markov chain. This concepts are useful in many applications from robotics to patrolling, environment monitoring and resources optimization. The aforementioned quantities are a performance indexes which measure the expected time taken by a random walker to travel from an arbitrary node of a graph to a second randomly selected node and the expected time to travel between two chosen nodes. These metrics can be used as objective function in optimization problems. In fact we propose a numerical example applied to robotic surveillance where the weighted hitting time is our cost to minimize with respect to the transition matrix of the agent.

关键词： Hitting time doubly-weighted graphs application

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Tuned Liquid Column Damper based Reduction of Dynamic Responses of Scaled Offshore Platforms in Different Ocean Wave Basins

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Journal of Physics: Conference Series 2017年第1期842卷

作者： Deirdre O'Donnell Jimmy Murphy Cian Desmond Vesna Jaksic Vikram Pakrashi Dynamical Systems and Risk Laboratory School of Mechanical and Materials Engineering University College Dublin Ireland Marine and Renewable Energy Ireland (MaREI) University College Dublin (UCD) Ireland Department of Civil Structural and Environmental Engineering University College Cork (UCC) Ireland Marine and Renewable Energy Ireland (MaREI) Environmental Research Institute University College Cork (UCC) Ireland Department of Civil Structural and Environmental Engineering Cork Institute of Technology (CIT) Ireland

control of dynamic responses of renewable energy device platforms is important for their performance, safe operation and efficiency over their lifetime under regular and extreme wave conditions. Tuned Liquid Column Dampers (TLCDs) have been recently considered as a viable passive control mechanism in this regard but limited information is available in relation to their experimental performance. This paper compares scaled experiments conducted in two different ocean wave basins where floating offshore platforms were retrofitted with multiple TLCDs (MTLCDs). Performance of such MTLCDs in these scaled ocean wave basins are evaluated and compared considering control of dynamic responses for a specific objective. This paper shows the potential of MTLCDs to reduce motions in offshore platforms for different designs and platforms of MTLCDs and provides a comparison of the levels of reduction of dynamic responses achieved. The performance of MTLCDs in different wave basins create an experimental evidence base behind the potential use of such solutions, the objectives of such use and highlight related challenges and limitations.

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Comparative analysis and exprimental results of advanced control strategies for vibration suppression in aircraft wings

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Journal of Physics: Conference Series 2017年第1期783卷

作者： Isabela R. Birs Silviu Folea Dana Copot Ovidiu Prodan Cristina-I. Muresan Department of Automation Technical University of Cluj-Napoca Memorandumului St. No. 28 Cluj-Napoca Romania Department of Electrical energy Systems and Automation Research group on Dynamical Systems and Control Ghent University Technologiepark 914 2nd floor 9052 Ghent Belgium Department of Civil Engineering Technical University of Cluj-Napoca Memorandumului St. No. 28 Cluj-Napoca Romania

The smart beam is widely used as a means of studying the dynamics and active vibration suppression possibilities in aircraft wings. The advantages obtained through this approach are numerous, among them being aircraft stability and manoeuvrability, turbulence immunity, passenger safety and reduced fatigue damage. The paper presents the tuning of two controllers: Linear Quadratic Regulator and Fractional Order Proportional Derivative controller. The active vibration control methods were tested on a smart beam, vibrations being mitigated through piezoelectric patches. The obtained experimental results are compared in terms of settling time and control effort, experimentally proving that both types of controllers can be successfully used to reduce oscillations. The analysis in this paper provides for a necessary premise regarding the tuning of a fractional order enhanced Linear Quadratic Regulator, by combining the advantages of both control strategies.

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