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作者： Bürger, Mathias Zelazo, Daniel Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel

This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equilibrium independent passivity is introduced and it is shown that networks of systems possessing this property asymptotically approach the solutions of a dual pair of network optimization problems, namely an optimal potential and an optimal flow problem. This connection leads to an interpretation of the dynamic variables, such as system inputs and outputs, to variables in a network optimization framework, such as divergences and potentials, and reveals that several duality relations known in convex network optimization theory translate directly to passivity-based cooperative control problems. The presented results establish a strong and explicit connection between passivity-based cooperative control theory on the one side and network optimization theory on the other, and they provide a unifying framework for network analysis and optimal design. The results are illustrated on a nonlinear traffic dynamics model that is shown to be asymptotically clustering.

关键词： Convex optimization

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Fast-slow analysis for parametrically and externally excited systems with two slow rationally related excitation frequencies

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Physical Review E 2015年第1期92卷 012911-012911页

作者： Xiujing Han Qinsheng Bi Peng Ji Jürgen Kurths Faculty of Civil Engineering and Mechanics Jiangsu University Zhenjiang Jiangsu 212013 People's Republic of China Potsdam Institute for Climate Impact Research Potsdam 14473 Germany Department of Physics Humboldt University Berlin 12489 Germany Institute for Complex Systems and Mathematical Biology University of Aberdeen Aberdeen AB24 3UE United Kingdom Department of Control Theory Nizhny Novgorod State University Gagarin Avenue 23 606950 Nizhny Novgorod Russia

We present a general method for analyzing mixed-mode oscillations (MMOs) in parametrically and externally excited systems with two low excitation frequencies (PEESTLEFs) for the case of arbitrary m:n relation between the slow frequencies of excitations. The validity of the approach has been demonstrated using the equations of Duffing and van der Pol, separately. Our study shows that, by introducing a slow variable and finding the relation between the slow variable and the slow excitations, PEESTLEFs can be transformed into a fast-slow form with a single slow variable and therefore MMOs observed in PEESTLEFs can be understood by the classical machinery of fast subsystem analysis of the transformed fast-slow system.

关键词： OSCILLATIONS RESEARCH DYNAMICAL systems HOPF bifurcations FREQUENCIES of oscillating systems VAN der Pol oscillators (Physics) DUFFING oscillators EXCITATION spectrum

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Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm

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IFAC Proceedings Volumes 2014年第3期47卷 320-325页

作者： Jörn Malzahn Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44227 Dortmund Germany

In contrast to the common understanding of robot link elasticity as a detrimental effect the paper presents a novel approach to beneficially exploit the intrinsic link compliance for the detection and reaction to unpredicted collisions between the robot and its environment. The paper employs an inner loop controller to rapidly attenuate structural oscillations. Next, a linear relationship between the actuator joint torques as well as the damped link surface strains is derived to accurately model the residual dynamics. The model is identified for an experimental multi-elastic link robot arm under the influence of gravity. Experimental results are provided using a generalized momentum based technique for the detection and reaction to collisions with fragile objects placed on a force sensor as well as interactions with a human.

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A distributed model predictive control scheme for networks with communication failure 19

A distributed model predictive control scheme for networks w...

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

作者： Schaich, Rainer M. Müller, Matthias A. Allgöwer, Frank Department of Engineering Science University of Oxford OX1 3PJ United Kingdom Institute of Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783902823625

A method to ensure recursive feasibility and asymptotic stability for a distributed model predictive control scheme in case of temporary communication failure is presented. The considered networks are made up of dynamically uncoupled nonlinear systems, coupled through constraints and objectives. The proposed method substitutes affected coupling constraints in such a way that the scheme can not become infeasible, while a decrease in the cost is guaranteed. © IFAC.

关键词： Model predictive control

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Collective control of multiple unicycle agents with non-identical constant speeds: Tracking control and performance limitation

Collective control of multiple unicycle agents with non-iden...

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Conference on control Applications

作者： Zhiyong Sun Georg S. Seyboth Brian D. O. Anderson Shandong Computer Science Center SCSC (National Supercomputer Center in Jinan) and Shandong Provincial Key Laboratory of Computer Networks Jinan China Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany National ICT Australia and Research School of Engineering The Australian National University Canberra ACT 0200 Australia

ISBN: (纸本)9781479977970

This paper discusses collective control of multiple unicycle-type vehicles with nonholonomic constraints and nonidentical constant speeds, with focus on the design of a tracking controller for a desired target's position and velocity. The tracking control task is divided into several sub-tasks. The group centroid is controlled to track a desired reference velocity, while the reference velocity is constructed with information from the target's position and velocity so that the group centroid can successfully track both the position and velocity of a target vehicle. In order to keep all the agents close to the centroid within a reasonable spacing, an additive spacing controller is devised. We also discuss in detail the performance limitation and trade-offs of the tracking control due to the constraint of non-identical and constant speeds in such a heterogeneous agent group.

关键词： position velocity reasonable

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Identifiability of population models via a measure theoretical approach 19

Identifiability of population models via a measure theoretic...

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

作者： Waldherr, Steffen Zeng, Shen Allgöwer, Frank Institute for Automation Engineering Otto-von-Guericke-Universität Magdeburg Universitätsplatz 2 Magdeburg Germany Institute for Systems Theory and Automatic Control Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany

ISBN: (纸本)9783902823625

Heterogeneity in cell populations is a major factor in the dynamics of cellular systems in living tissue or microbial colonies. This heterogeneity needs to be taken into account for the interpretation of experimental observations as well as in the construction of predictive models for cellular systems. A common modelling framework for heterogeneous cell population is by an infinite ensemble of single cell models. The state of a cell population is in this framework modelled by the distribution of the single cell states. In this paper we study under which conditions the population model is identifiable, i.e., we can determine the initial distribution of cell states and parameters from a dynamic output distribution. We derive a necessary condition on the single cell model based on the classical observability results from linear and nonlinear control theory. Our results are illustrated via examples. Copyright © 2014 IFAC.

关键词： Population distribution

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Driving Simulator Study on an Emergency Steering Assist

Driving Simulator Study on an Emergency Steering Assist

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IEEE International Conference on systems, Man, and Cybernetics

作者： Martin Keller Carsten Hass Alois Seewald Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universitat Dortmund TRW Automotive GmbH

ISBN: (纸本)9781479938414

This contribution is concerned with an emergency steering assist and its evaluation through subject testing in a driving simulator. In an emergency traffic situation where a rear end collision is imminent a swerving maneuver is often too difficult for most drivers. Therefore an assistance system is usefull that supports the driver by steering torque overlay. The paper presents the algorithm used for the assistance. The system was prototypically implemented in a driving simulator and testet with subjects to evaluate the benefits and challenges. The results show that the collision avoidance behaviour of the driver can be improved by the emergency steering assist.

关键词： Vehicles Wheels Switches Torque Collision avoidance Roads

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Computation of piecewise affine terminal cost functions for model predictive control

Computation of piecewise affine terminal cost functions for ...

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17th International Conference on Hybrid systems: Computation and control, HSCC 2014, Part of the 7th Cyber Physical systems, CPS Week 2014

作者： Brunner, Florian D. Lazar, Mircea Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven Netherlands

ISBN: (纸本)9781450327329

This paper proposes a method for the construction of piecewise affine terminal cost functions for model predictive control (MPC). The terminal cost function is constructed on a predefined partition by solving a linear program for a given piecewise affine system, a stabilizing piecewise affine controller, an invariant set and a piecewise convex stage cost function. The constructed terminal cost function satisfies the sufficient conditions for asymptotic stability if it is used in anMPC scheme. In general, the constructed terminal cost function will be nonconvex. However, optional additional constraints in the linear program ensure that the cost function is convex, reducing the computational effort involved with solving the MPC optimization problem. Multiple examples illustrate the approach. Copyright 2014 ACM.

关键词： Cost functions

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Cooperative estimation for synchronization of heterogeneous multi-agent systems using relative information 19

Cooperative estimation for synchronization of heterogeneous ...

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

作者： Wu, Jingbo Ugrinovskii, Valery Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany School of Information Technology and Electrical Engineering University of New South Wales ADFA Australian Defence Force Academy CanberraACT2600 Australia

ISBN: (纸本)9783902823625

In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements are available, this is of high relevance. The objective is to improve the scalability of the existing distributed estimation algorithms by restricting the agents to estimating only their local states and those of immediate neighbours. The presented estimation algorithm also guarantees robust performance against model and measurement disturbances. It is shown that it can be integrated into output synchronization algorithms. © IFAC.

关键词： Multi agent systems

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Moving horizon H8 control of variable speed wind turbines with actuator saturation

Moving horizon H8 control of variable speed wind turbines wi...

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作者： Ma, Miaomiao Chen, Hong Liu, Xiangjie Allgöwer, Frank Beijing Key Laboratory of New Technology and System on Measuring and Control for Industrial Process North China Electric Power University No. 2 Beinong Road Huilongguan Changping District Beijing 102206 China Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart 70550 Germany Department of Control Science and Engineering Jilin University Campus NanLing Renmin Strasse 5988 Changchun 130025 China

This study suggests a moving horizon H8 control scheme for variable speed wind turbines above the rated wind speed to maintain the output power at the rated value for variable operating points. A constrainedH8 control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model based on different operating points. Closed-loop properties inclusive of L2 disturbance attenuation are discussed in the framework of dissipation theory. The moving horizon H8 control considers the non-linear dynamic aspect of the wind turbine, the turbulent nature of the wind and actuator saturations. Analysis and simulation results for WD34 wind turbine show possible improvements on the output electrical power regulation performance for variable operating points, while respecting actuator saturation limits. © The Institution of engineering and Technology 2014.

关键词： Wind turbines

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