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Nonlinear dynamic of actuators with elasticities and friction

IFAC Proceedings Volumes 2010年第18期43卷 255-260页

作者： M. Ruderman T. Bertram S. Aranovskiy Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221-Dortmund Germany Department of Control Systems and Informatics Saint-Petersburg State University of Information Technologies Mechanics and Optics 197101-Saint-Petersburg Russia

To control actuators with elasticities and friction a better comprehension of the appropriate nonlinear dynamic is required. In this paper we propose a simple dynamic model of actuator subject to the nonlinear friction and elasticities combined with the structural damping. The last ones give rise to a hysteretic restoring force (torque) which conjointly with friction provides the second order oscillation system with memory. The derived model is experimentally evaluated on the high precision positioning system used for an optical equipment.

关键词： Nonlinear models Friction Hysteresis Actuators Nonlinear systems

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Model reduction of homogeneous-in-the-state bilinear systems with input constraints

Model reduction of homogeneous-in-the-state bilinear systems...

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作者： Couchman, I.J. Kerrigan, E.C. Böhm, C. Department of Electrical and Electronic Engineering Imperial College London Exhibition Road London SW7 2AZ United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany

ISBN: (纸本)9781424474264

Homogeneous-in-the-state bilinear systems, appended by an additive disturbance, appear both from the discretization of some partial differential equations and from the bilinearization of certain nonlinear systems. They often have large state vectors that can be cumbersome for simulation and control system design. Our aim is to define a method, invariant to time transformations, for finding a reduced-order model with similar disturbance-output characteristics to those of the plant for all admissible input sequences. The inputs considered satisfy simple upper and lower bound constraints, representing saturating actuators. The approximation is based on a model truncation approach and a condition for the existence of such an approximation is given in terms of the feasibility of a set linear matrix inequalities. A novelty of our work is in the definition of a new Gramian for this class of system. Explicit error bounds on the scheme are included. © 2010 AACC.

关键词： Linear matrix inequalities

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A knowledge-based Artificial Fish-swarm Algorithm

A knowledge-based Artificial Fish-swarm Algorithm

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International Conference on Computational Science and engineering

作者： Gao, X.Z. Wu, Ying Zenger, Kai Huang, Xianlin Department of Electrical Engineering Aalto University FI-00076 Espoo Finland Department of Automation and Systems Technology Aalto University FI-00076 Espoo Finland Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769543239

The Artificial Fish-swarm Algorithm (AFA) is an intelligent population-based optimization algorithm inspired by the behaviors of fish swarm. Unfortunately, it sometimes fails to maintain an appropriate balance between exploration and exploitation, and has a drawback of blind search. In this paper, a novel cultured AFA with the crossover operator, namely CAFAC, is proposed to enhance its optimization performance. The crossover operator utilized is to promote the diversification of the artificial fish and make them inherit their parents' characteristics. The Culture Algorithms (CA) is also combined with the AFA so that the blind search can be combated with. A total of 10 high-dimension and multi-peak functions are employed to investigate the optimization property of our CAFAC. Numerical simulation results demonstrate that the proposed CAFAC can indeed outperform the original AFA. © 2010 IEEE.

关键词： Knowledge based systems

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A relaxation of Lyapunov conditions and controller synthesis for discrete-time periodic systems

A relaxation of Lyapunov conditions and controller synthesis...

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2010 49th IEEE Conference on Decision and control

作者： Christoph Bohm Mircea Lazar Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

ISBN: (纸本)9781424477456

This paper proposes a novel approach to stability analysis and controller synthesis for discrete-time periodically time-varying systems. Firstly, a relaxation of standard Lya-punov conditions is derived. This leads to a less conservative Lyapunov function that is required to decrease at every period, rather than at each time instant. Secondly, several solutions for synthesizing such periodic control Lyapunov functions are presented. These solutions make use of on-line optimization and can be formulated as a semi-definite program for constrained linear periodic systems. An example illustrates the effectiveness of the developed method.

关键词： Periodic system Stability analysis Liapunov function discrete-time controllers synthesis periodic control

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MPC with one free control action for constrained LPV systems

MPC with one free control action for constrained LPV systems

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IEEE Conference on control Technology and Applications (CCTA)

作者： Shuyou Yu Christoph Böhm Hong Chen Frank Allgöwer Institute of Systems Theory and Automatic Control University of Stuttgart Germany State key laboratory of automobile dynamic simulation Department of Control Science and Engineering Jilin University China

Based on the assumption that the parameter can be measured in real time, we propose a model predictive control (MPC) method for linear-parameter varying (LPV) systems subject to possibly asymmetric constraints which adopts the analogous framework of terminal control law, terminal set and terminal penalty of nonlinear model predictive control. The optimization problem is formulated as a convex optimization problem and, recursive feasibility and closed-loop stability are guaranteed by its feasibility at initial time. For LPV systems with symmetric constraints, we reformulate the convex optimization problem as a semi-definite program. Numerical examples demonstrate the properties of the proposed MPC design.

关键词： Optimization Convex functions Stability analysis Predictive models Numerical stability Predictive control Robustness

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VVAF - Worst case & safety analysis tools for autonomous rendezvous system

VVAF - Worst case & safety analysis tools for autonomous ren...

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AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

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Robust model predictive control with disturbance invariant sets

Robust model predictive control with disturbance invariant s...

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American control Conference

作者： Shuyou Yu Christoph Bohm Hong Chen Frank Allgower Institute of Systems Theory and Automatic Control University of Stuttgart Germany State key laboratory of automobile dynamic simulation and Department of Control Science and Engineering Jilin University PR China

ISBN: (纸本)9781424474264

This paper proposes a robust model predictive control scheme for nonlinear systems with state and input constraints and unknown but bounded disturbances. A standard nominal model predictive control problem with tightened constraints is solved online, and its solution defines the nominal trajectory. An ancillary control law is determined off-line which keeps the trajectories of the error system in a disturbance invariant set. Thus, the evolution of original nonlinear system lies in the disturbance invariant set centered along the nominal trajectory. Furthermore, it is shown that both feasibility and stability of the closed-loop system are guaranteed if the standard nominal optimization problem is initially feasible.

关键词： Robust control Predictive models Predictive control control systems Nonlinear systems Nonlinear control systems Stability Uncertainty Robustness Optimization methods

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Phase synchronization through entrainment by a consensus input

Phase synchronization through entrainment by a consensus inp...

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IEEE Conference on Decision and control

作者： Peter Wieland Gerd S. Schmidt Rodolphe Sepulchre Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Electrical Engineering and Computer Science University of Liège Belgium

The paper proposes a synchronization mechanism in a set of nonlinear oscillators interconnected through a communication network. In contrast to many existing results, we do not employ strong, diffusive couplings between the individual oscillators. Instead, each individual oscillator is weakly forced by a linear resonator system. The resonator systems are synchronized using results from consensus theory. The synchronized resonator systems force the frequencies of the nonlinear oscillators to a constant frequency and thereby yield synchronization of the oscillators. We prove this result using the theory of small forcings of stable oscillators. This synchronization scheme allows for synchronization of nonlinear oscillators over uniformly connected communication graphs.

关键词： Oscillators Synchronization Couplings Orbits Harmonic analysis Convergence Manifolds

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Automatic surface inspection of vehicles

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ATZproduktion worldwide 2010年第5期3卷 12-16页

作者： René Franke Michael Schulte Thorsten Bothe Torsten Bertram Institute of Control Theory and Systems Engineering at the Technische Universität Dortmund Germany Adomea Gmbh Dortmund Germany Bremer Institut für angewandte Strahltechnik GmbH Bremen Germany

One major challenge presently faced by the automotive industry is the automated investigation of large-scale objects with specular or partially specular surfaces. There are a few measurement systems on the market which allow for the two-dimensional inspection of reflective surfaces, but there are currently no processes which use the available technology to measure large areas. The newly established company adomea GmbH aims to resolve this problem by further developing the fringe reflection method.

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PMU traffic shaping in IP-based Wide Area communication

PMU traffic shaping in IP-based Wide Area communication

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International Conference on Critical Infrastructures, CRIS

作者： Moustafa Chenine Iyad Al Khatib Jordan Ivanovski Volkan Maden Lars Nordström department of Industrial Information & Control Systems The Royal Institute of Technology (KTH) Stockholm SWEDEN Department of Signal Theory and Communications Polytechnic University of Catalonia (UPC) Barcelona Spain Solidux Telecom AB Stockholm Sweden Department of Industrial Information & Control Systems School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Department of Industrial Information & Control Systems School of Electrical Engineering The Royal Institute of Technology (KTH) Stockholm SWEDEN

Phasor based Wide Area Monitoring and control (WAMC) systems are becoming a reality with increased research, development and deployments. Many potential control applications based on these systems are being proposed and researched. Such applications are either local applications using data from one or a few Phasor Measurement Units (PMUs) or centralized utilizing data from several PMUs. An aspect of these systems, which is less well researched, is the WAMC system dependence on high performance communication. This paper presents results of research on the use of Internet Protocol (IP) networks for both PMU and Remote Terminal Unit (RTU)/Intelligent Electronic Devices (IED) data for monitoring purposes. The paper examines performance aspects of the IP network Infrastructures when utilized by both: continuous PMU data streams and critical IED/RTU data. A set of simulation models characterizing a network of a Nordic Transmission System Operator were built to perform the analysis. The paper considers Quality of Service (QoS) strategies and the resulting delays and data loss that would be experienced.

关键词： Phasor measurement units Quality of service Protocols IP networks Delay Monitoring Substations

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