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Robust tracking with H∞ performance for PWM systems

Automatica 2009年第8期45卷 1808-1818页

作者： Fujioka, Hisaya Kao, Chung-Yao Almér, Stefan Jönsson, Ulf Graduate School of Informatics Kyoto University Kyoto 606-8501 Japan Department of Electrical Engineering National Sun Yat-Sen University Kaohsiung 80424 Taiwan Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Physikstrasse 3 8092 Zurich Switzerland Division of Optimization and Systems Theory Royal Institute of Technology 10044 Stockholm Sweden

control synthesis for robust tracking is considered for a class of pulse-width modulated systems that appear, for example, in power electronics applications. The control objective is to regulate a high frequency ripple signal to robustly track a constant reference signal in an average sense. To achieve this goal, a new H∞ control problem with integral action and average sampling is proposed. The solution of this problem involves a hybrid lifting framework which requires a careful elaboration in order to develop an algorithm that allows one to solve the design problem by the standard state space formulas for H∞ control. The design procedure is verified on a synchronous buck converter. © 2009 Elsevier Ltd. All rights reserved.

关键词： Pulse width modulation

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Generalized Nyquist Consensus Condition for High-Order Linear Multi-Agent systems with Communication Delays

Generalized Nyquist Consensus Condition for High-Order Linea...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Ulrich Münz Antonis Papachristodoulou Frank Allg?wer the Institute for Systems Theory and Automatic Control University of Stuttgart the Department of Engineering Science University of Oxford

The generalized Nyquist criterion is used to derive necessary and sufficient consensus conditions for large highorder linear multi-agent systems(MAS) with heterogeneous communication *** new consensus conditions are setvalued graphical conditions, from which inequality conditions are derived for single integrator *** obtained conditions provide a unification and generalization of several results from the ***, convergence rate conditions for single integrator MAS with delays are derived.

关键词： Multi-agent systems communication delays generalized Nyquist criterion convergence rate

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Generalized nyquist consensus condition for linear multi agent systems with heterogeneous delays

Generalized nyquist consensus condition for linear multi age...

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作者： Münz, Ulrich Papachristodoulou, Antonis Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering Science University of Oxford Parks Road Oxford OX1 3PJ United Kingdom

ISBN: (纸本)9783902661524

We study robust consensus of linear Multi-Agent systems (MAS) with heterogeneous delays. We provide a very accurate set-valued condition that guarantees consensus for arbitrary bounded delays and arbitrary connected topologies. This condition is proven using the generalized Nyquist criterion. From the set-valued condition, an explicit analytical formula is derived for single integrator MAS. In this publication, the delays affect both the agent's own state and its neighbor's state;and we assume that the delay of the agent's own state and its neighbor's state are different, e.g. due to a combination of computation delays, which affect both states, and transmission delays, which only affect the neighbor's state. © 2009 IFAC.

关键词： Multi agent systems

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A Novel Algorithm for SINS/CNS/GPS Integrated Navigation System

A Novel Algorithm for SINS/CNS/GPS Integrated Navigation Sys...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Haidong Hu Xianlin Huang Zhuoyue Song the Center for Control Theory and Guidance Technology Harbin Institute of Technology the Control Systems Centre School of Electrical and Electronic EngineeringUniversity of Manchester

In this paper we present a novel algorithm for SINS(Strapdown Inertial Navigation)/CNS(Celestial Naviga-tion System)/GPS(Global Positioning System) integrated navigation *** novel algorithm is called as federated unscented particle filter(FUPF), and the SINS/CNS/GPS system models are nonlinear and *** algorithm uses the UKF(Uscented Kalman Filter) to estimate the local filters, and the estimate results are employed to generate the importance proposal distributions of local ***, the output of every local filter can be estimated from the importance proposal distributions by particle ***, this algorithm uses the federated filter method to fuse together the outputs from local UPF(Uscented Particle Filter) filters, and the final total estimation of the SINS/CNS/GPS system can be *** this algorithm the particle filter incorporates the latest observations of local filters into a prior updating *** addition, the algorithm is not restricted by assumptions of linearity or Gaussian noise: it may be applied to any state transition or measurement ***, we apply the algorithm to maneuvering vehicles and simulation results show that the algorithm is more accurate than the federated UKF algorithm in the nonlinear and non-Gaussian models.

关键词： filter GPS CNS A Novel Algorithm for SINS/CNS/GPS Integrated Navigation System

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Guaranteed Steady-State Bounds for Uncertain Chemical Processes

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IFAC Proceedings Volumes 2009年第11期42卷 643-648页

作者： Jan Hasenauer Philipp Rumschinski Steffen Waldherr Steffen Borchers Frank Allgöwer Rolf Findeisen Institute for Systems Theory and Automatic Control Universität Stuttgart Germany Institute for Automation Engineering Otto-von-Guericke-Universität Magdeburg Germany

Abstract Analysis and safety considerations of chemical and biological processes frequently require an outer approximation of the set of all feasible steady-states. Nonlinearities, uncertain parameters, and discrete variables complicate the calculation of guaranteed outer bounds. In this paper, the problem of outer-approximating the region of feasible steady-states, for processes described by uncertain nonlinear differential algebraic equations including discrete variables and discrete changes in the dynamics, is adressed. The calculation of the outer bounding sets is based on a relaxed version of the corresponding feasibility problem. It uses the Lagrange dual problem to obtain certificates for regions in state space not containing steady-states. These infeasibility certificates can be computed efficiently by solving a semidefinite program, rendering the calculation of the outer bounding set computationally feasible. The derived method guarantees globally valid outer bounds for the steady-states of nonlinear processes described by differential equations. It allows to consider discrete variables, as well as switching system dynamics. The method is exemplified by the analysis of a simple chemical reactor showing parametric uncertainties and large variability due to the appearance of bifurcations characterising the ignition and extinction of a reaction.

关键词： Steady-states nonlinear dynamical systems discrete variables hybrid dynamics semidefinite programming CSTR

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A Backstepping Approach to Multivariable Robust Constraint Satisfaction With Application to a VTOL Helicopter

A Backstepping Approach to Multivariable Robust Constraint S...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Mathias Brger Martin Guay the Institute for Systems Theory and Automatic Control University of Stuttgart the Department of Chemical Engineering Queen's University

A recursive procedure is proposed to reduce a set of inequality constraints of high relative order to single constraints of relative order one for a class of uncertain,multi-input nonlinear systems.A modification of a nominal control signal on the newly constructed constraints guarantees robust constraint *** resulting robust invariant controller is applied to the constrained flight and the obstacle avoidance problem of a VTOL helicopter.

关键词： A Backstepping Approach to Multivariable Robust Constraint Satisfaction With Application to a VTOL Helicopter

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Moving horizon ℓ 2 control of LPV systems subject to constraints *

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IFAC Proceedings Volumes 2009年第13期42卷 354-359页

作者： Shuyou Yu Christoph Böhm Hong Chen Frank Allgöwer Institute of Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Science and Engineering Jilin University China

Abstract The paper presents a moving horizon ℓ 2 control approach for the class of linear parameter-varying systems. By solving online a convex optimization problem subject to linear matrix inequality constraints the ℓ 2 gain from the energy bounded external disturbance to the performance output is minimized at each sampling instant. The approach guarantees satisfaction of state and input constraints and it is shown that the online recalculation of the control law improves disturbance attenuation significantly when compared to a static control law.

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Model Predictive control of Constrained Nonlinear Time-Delay systems

Model Predictive Control of Constrained Nonlinear Time-Delay...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Reza Mahboobi Esfanjani Marcus Reble Ulrich Münz Seyyed Kamaleddin Y.Nikravesh Frank Allg?wer Electrical Engineering Department Amirkabir University of Technology Institute for Systems Theory and Automatic Control (IST) University of Stuttgart

This paper proposes a model predictive control scheme for a class of constrained nonlinear time-delay systems with guaranteed closed-loop asymptotic *** stability of the closed-loop is guaranteed by utilizing an appropriate terminal cost functional and an appropriate terminal region.A novel structured procedure is derived to determine the terminal cost and the terminal region *** this purpose,a combination of Lyapunov-Krasovskii and LyapunovRazumikhin arguments is used to compute a locally stabilizing *** resulting conditions are formulated in terms of linear matrix inequalities.

关键词： origin Model Predictive control of Constrained Nonlinear Time-Delay systems

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A morphological index for fault detection and trending in defective gearboxes

A morphological index for fault detection and trending in de...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Gryllias, K.C. Yiakopoulos, C.T. Antoniadis, I.A. Guminski, R. Radkowski, St. National Technical University of Athens School of Mechanical Engineering Machine Design and Control Systems Section Athens 15773 Greece Warsaw University of Technology Institute of Machine Design Fundamentals ul. Narbutta 84 02-524 Warszawa Poland

ISBN: (纸本)9781615677368

Gearboxes consist one of the most widely used industrial machine parts. Due to its importance, a plethora of monitoring methods and fault diagnosis procedures have been developed in order to reduce maintenance costs, improve productivity, and prevent malfunctions and failures during operation which could lead to downtime of machinery. Thus, it is crucial to detect accurately and on time fault symptoms. Typical faults of gears include pitting, chipping and even tooth cracking. The development of a local fault at a gear often introduces both amplitude and phase modulations at the vibration measured signals. A remarkable number of frequency based signal processing methods have been proposed for gear fault identification and detection, including Ceptrum Analysis, Hilbert Transformation, Cyclostationary Analysis, Deconvolution Filters and different Time-Frequency Analysis methods, such as wavelets. The aforementioned methods, although they present a quite effective behaviour in the detection of defects, usually require complex and sophisticated analysis and as a result there are some important obstacles in using them in an automated manner without the presence of special trained personnel Moreover, a number of traditional time domain signal processing methods have been developed, such as the root mean square of the signal, the crest factor, the kurtosis, the shape factor, the impulse factor and the recently introduced morphological analysis. Morphological Signal Processing is closely related to mathematical morphology. Its basic concept is to modify the geometrical features of a signal in the time domain in order to construct a kind of envelop. In this paper Morphological Analysis and the resulting Morphological Index is applied to a set of vibration measurements from a gearbox prior to tooth breakage. Morphological Index, as is shown at the results, seems to be able to monitor the evolution of the potential fault, providing a clear warning prior to the breakage of the t

关键词： Mathematical morphology

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Predictive control for lure systems subject to constraints using LMIs

Predictive control for lure systems subject to constraints u...

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European control Conference (ECC)

作者： Christoph Böhm Shuyou Yu Rolf Findeisen Frank Allgöwer Institute of Systems Theory and Automatic Control University of Stuttgart Germany Institute for Automation Engineering Otto-von-Guericke-Universität Magdeburg Germany

This paper presents a computationally attractive nonlinear model predictive control approach for the class of continuous time Lure systems. The control law is obtained via the repeated solution of an efficient to solve convex optimization problem based on linear matrix inequalities (LMIs). Closed-loop stability and satisfaction of input and state constraints are guaranteed by the feasibility of the LMIs at initial time. The simulation of a flexible link robotic arm shows the applicability and effectiveness of the proposed controller.

关键词： Optimization Upper bound Convex functions Predictive control Standards Trajectory

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