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TRACKING DOMAINS FOR UNSTABLE PLANTS WITH SATURATING-LIKE ACTUATORS

Asian Journal of control 2008年第4期1卷

作者： V.A. Yakubovich S. Nakaura K. Furuta Vladimir A. Yakubovich is a corresponding member of Russian Academy of Science. Vladimir A. Yakubovich was born in Novosibirsk Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997 respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at

In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.

关键词： Actuator constraint tracking control nonlinear analysis absolute stability

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A Stable Output Feedback Position control With Integral Action For Robot Manipulators

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Asian Journal of control 2008年第2期5卷

作者： Jose Alvarez-Ramirez Rafael Kelly Ilse Cervantes Universidad Autonoma Metropolitana-Iztapalapa Apartado Postal 55–534 Mexico D.F. 09340 MEXICO. Departamento de Fisica Aplicada CICESE Apartado Postal 2615 Ensenada B.C. 22800 MEXICO. Ilse Cervantes was born in Mexico City in 1973. She received the Ph.D. degree in Applied Mathematics from the Universidad Autónoma Metropolitana in 2000. She is currently a full-time professor at the Postgraduate Studies Section of the Mechanical and Electrical Engineering School (National Polytechnic Institute). Her research interests include nonlinear systems dynamics and control control of electromechanical systems and real time control applications. Sección de Estudios de Posgrado e Investigación Escuela Superior de Ingenieria Mecanica y Electrica Campus Culhuacan. Av. Santa Ana 1000 Col. San Francisco Culhuacan Mexico D.F. 04430 MEXICO. Rafel Kelly was born in Monterry Mexico in 1959. He received the B.S. degree in physics form the Instituto Tecnologico y de Estudios Superiores de Monterrey Mexico and the Ph.D. degree in automatic control from the Institut National Plytechnique de Grenoble Grenoble France in 1980 and 1986 respectively. He is currently a Professor at the Centro de Investigacion Cientifica y de Educacion Superior de Ensenada (CICESE) Mexico. His research interests include adaptive control systems robot control vision systems and neural networks.

In this paper, the problem of robust regulation of robot manipulators using only position measurements is addressed. The main idea of the control design methodology is to use an observer to estimate simultaneously the velocity and the modeling error signal induced by model/system mismatches. The controller is obtained by replacing the velocity and the modeling error in an inverse dynamics feedback by their estimates, which leads to a certainty equivalence controller. The resulting controller has a PID-type structure which, under least prior knowledge, reduces to the PI 2 D regulator studied in [20]. Moreover, the controller is endowed with a natural antireset windup (ARW) scheme to cope with control torque saturations. Regarding the closed-loop behavior, it is proven that the region of attraction can be arbitrarily enlarged with high observer gains only, thus we prove semiglobal asymptotic stability. Our result supersedes previous works in the direction of performance estimates; specifically, it is also proven that the performance induced by a saturated inverse dynamics controller can be recovered by our PID-type controller. In this sense, our work reveals some connections between PID-type and inverse dynamics controllers.

关键词： Robot position control output feedback semiglobal stability robust performance

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A Novel Method Of controller Design For Simultaneous Stabilization And Performance Improvement Of An Electromagnetic Levitation System

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Asian Journal of control 2008年第4期9卷

作者： Subrata Banerjee T. K. Sunil Kumar Jayanta Pal Dinkar Prasad Department of Electrical Engineering Indian Institute of Technology Kharagpur India. T.K.Sunil Kumar:was born in 1974 at Calicut India. He received the B.Tech in electrical engineering in 1997 from N.S.S College of Engineering Palakkad (Calicut University) and M.Tech in Power System in 2001 from Regional Institute of Technology Jamshedpur (Ranchi University). Since 2001 he has been pursuing research work for his Ph.D in Electrical Engineering at Indian Institute of Technology Kharagpur. He is a life member of Systems Society of India. His main research interests includes application of control theory and computers to power system model order reduction genetic algorithm PID tuning random search optimization controller deign in 2-DOF configuration and interval systems. Emerson Network Power India.

This paper describes design and implementation of a control philosophy for simultaneous stabilization and performance improvement of an electromagnetic levitation system. An electromagnetic levitation system is an inherently unstable and strongly nonlinear system. To determine the overall closed loop stability for such a system, cascade lead-lag compensation has mostly been reported [1,2]. However, a single lead controller can not satisfy both stability and performance for such unstable systems [3]. Performance enhancement to satisfy the conflicting requirements of fast response with almost zero overshoot and zero steady state error has been successfully achieved by using a two loop controller configuration. The lead controller in the inner loop is designed to ensure stability while the outer loop PI controller is designed for performance enhancement. This approach decouples the twin requirements of stabilization (by the inner loop) and performance achievement (by the outer PI loop). The outermost PI controller has been designed using the ‘Approximate Model Matching’ technique [4]. The proposed control strategy has been implemented and the experimentation has been demonstrated successfully. Different experimental results have been included for verification.

关键词： Electromagnetic levitation lead-lag compensation approximate model matching control switched-mode DC to DC chopper model order reduction technique.

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Abstracts for the 6th Congress of Asian Sleep Research Society

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Sleep and Biological Rhythms 2009年第4期7卷 A1-A49页

作者： Seog Ju Kim In Kyoon Lyoo Yu-Jin Lee Do-Un Jeong Hirohiko Kanai Masanori Ookubo Atsushi Yoshimura Masako Okawa Noto Yamada Takeshi Munezawa Yoshitaka Kaneita Yoneatsu Osaki Hideyuki Kanda Tadahiro Ohtsu Masumi Minowa Kenji Suzuki Susumu Hijuchi Hiroyuki Suzuki Takashi Ohida Takashi Abe Yoko Komada Shoichi Asaoka Yuichi Inoue Jin-Seong Lee Sang-Yong Cho Deependra Kumar Hruda N. Mallick Velayudhan M. Kumar Mahesh K. Kaushik Akihiro Karashima Noiihiro Katayama Mitsuyuki Nakao Ravindra P. Nagendra Sathiamma Sulekha Sathyaprabha T. Narasappa Pradhan Nityanadan Bindu M. Kutty M. Nirmala P. N. Ravindra Basavaraj Ramappa Tubaki T. N. Sathyaprabha D. Sudhakar G. S. Lavekar C. R. Chandrashekar Kazuyoshi Kitaoka Mika Shimizu Sachiko Chikahisa Kazuo Yoshizaki Hiroyoshi Sei Jong-Won Kim Misa Takegami Shin Yamazaki Yasuaki Hayashino Rei Ono Koji Otani Miho Sekiguchi Shinichi Konno Shunichi Fukuhara Antonia J. Jakobson Paul Fitzgerald Russell Conduit Xin Shirley Li Siu Ping Joyce Lam Wai Man Mandy Yu Yun Kwok Wing Kazue Okamoto-Mizuno Koh Mizuno Mituaki Yamamoto Shuichiro Shirakawa Hirokazu Doi Mikako Kato Kazuyuki Shinohara Masako Tamaki Shiori Matsuda Katsuo Yamazaki Tadao Hori Keiko Ogawa Kazumi Takahashi Kunio Kitahama Katuo Yamazaki Yoshimasa Koyama Kohei Shioda Yugo Ueda Yukiko Nakamura Clara Inoue Kazushige Goto Sunao Uchida Yuko Morita Yoshiko Honda Tohru Kodama Mari Hagihara Toru Nakajima Masato Saito Yoshihiko Koga Shinichiro Tanaka Hiroshi Yamadera Madoka Takahara Sachiko Suwa Minoru Onozuka Sadao Sato Fumiharu Togo Taiki Komatsu Takeshi Mitani Jongbae Choi Bin Zhang Taeko Sasai Hiromi Mitsubayashi Mitsuhiro Ohtsu Isao Hasegawa Tatsuya Ishii Akira Komori Asami Suzuki Yue Nakahara Mitsuyasu Hiroki Mariko Nakauma Nobuo Someya Tomomasa Ochiai Shouhei Komori Rayleigh Ping-Ying Chiang Zai-Ting Yeh Seong T. Kim Seung H. Yoon Jeong S. Kwon Jong H. Choi Hyung J. Ahn Youngsoo Kim Bolortuya Yunren Lichao Chen Radhika Basheer Robert W. Mccarley Robert E. Strecker Makoto Honda Tetsuaki Arai Miyuki Fukazawa Yutaka Honda Kuniaki T Department of Psychiatry Gachon University of Medicine and Science Incheon Republic of Korea Department of Psychiatry Seoul National University Seoul Republic of Korea Department of Neuropsychiatry and Center for Sleep and Chronobiology Seoul National University Hospital Seoul Republic of Korea Department of Neuropsychiatry Seoul National University Hospital Seoul Republic of Korea Seoul National University Hospital Seoul Republic of Korea Department of Psychiatry Shiga University of Medical Science Otsu Japan Division of Public Health Department of Social Medicine Nihon University School of Medicine Tokyo Japan Department of Public Health Nihon University School of Medicine Tokyo Japan Division of Environmental and Preventive Medicine Department of Social Medicine Faculty of Medicine Tottori University Yonago Japan Department of Hygiene and Preventive Medicine Fukushima Medical University Fukushima Japan Department of Public Health Showa University School of Medicine Tokyo Japan Faculty of Humanities Seitoku University Matsudo Japan Section on Behavioral Science Division of Clinical Research National Hospital Organization Kurihama Alcoholism Center Yokosuka Japan Department of Otolaryngology Second Hospital Fujita Health University Nagoya Japan National Hospital Organization Kurihama Alcoholism Center Kanagawa Japan Metropolitan Police Department Criminal Investigation Laboratory Tokyo Japan Japan Somnology Center Neuropsychiatrie Research Institute Tokyo Japan Department of Somnology Tokyo Medical University Tokyo Japan Japan Somnology Center Neuropsychiatric Research Institute Tokyo Japan Department of Somnology Tokyo Medical and Dental University Tokyo Japan Center for Sleep and Chronobiology Department of Psychiatry and Behavioral Science Seoul National University College of Medicine Seoul Republic of Korea Department of Psychiatry and Behavioral Science Center for Sleep and Chronobiology Seoul Republic of Korea Department of Physiology Al

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Preface

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2007年第1期358卷 V-VI页

作者： Findeisen, Rolf Allgöwer, Frank Biegler, Lorenz T. Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70550 Germany Chemical Engineering Department Carnegie Mellon University PittsburghPA15213 United States

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Fault diagnosis of constrained nonlinear systems using structured augmented state models

Fault diagnosis of constrained nonlinear systems using struc...

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作者： Aßfalg, Jochen Allgöower, Frank Research, Corporate Sector engineering, Advance Corporate Sector Research and Advance Engineering Mechatronic Engineering Robert Bosch GmbH 70442 Stuttgart Germany Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany

ISBN: (纸本)9783902661142

This paper considers the single- and multiple-fault diagnosis of constrained and nonlinear systems. In order to describe the system dynamics in fault-free and in faulty operation, a structured augmented state form is introduced. Fault characteristics are considered to be generated by dynamical exosystems that are switched via equality constraints to overcome the augmented state observability limiting the number of diagnosable faults. Based on the proposed model, the fault diagnosis problem is specified as an optimal hybrid (augmented) state estimation problem. Sub-optimal solutions are discussed and an approximate estimation scheme which allows for incorporating constraints is provided. As outlined by simulation, the suggested approach enables to detect, isolate, and identify faults and promises a powerful solution for a large class of fault diagnosis problems. Copyright © 2006 IFAC.

关键词： Nonlinear systems

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On complexity issues in multiobjective controller design using convex optimization

On complexity issues in multiobjective controller design usi...

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作者： Rieber, Jochen M. Scherer, Carsten W. Allgöwer, Frank Institute for Systems Theory in Engineering University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628CD Delft Netherlands

ISBN: (纸本)9783902661104

In multiobjective control of linear systems, critical issues are the size of optimization constraints, number of variables, and computation time. This paper investigates in a quantitative way, how some prominent methods from the literature behave with respect to these critical factors for different problem sizes. Moreover, an alternative formulation is proposed and compared to the existing approaches, showing its favorable properties for a selection of typical applications.

关键词： Convex optimization

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Nonlinear model predictive control of a turbocharged diesel engine

Nonlinear model predictive control of a turbocharged diesel ...

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IEEE International Conference on Computer-Aided Design

作者： Martin Herceg Tobias Raff Rolf Findeisen Frank Allgowe Department of Information Engineering and Process Control Slovak University of Technology Slovakia Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany

control of turbocharged diesel engines is a challenging task due to system nonlinearities and constraints on the inputs and process variables. In this paper nonlinear model predictive control is applied to control a diesel engine with a variable geometry turbocharger and an exhaust gas recirculation valve. The overall control objective is to regulate the setpoints of the air-fuel ratio and the amount of recirculated exhaust gas in order to obtain low exhaust emission values and low fuel consumption without smoke generation. Simulation results are presented to study the advantages and disadvantages of nonlinear model predictive control. The achieved performance is compared in simulations with a linear state feedback controller and an input-output linearization based control method. As shown, nonlinear model predictive control achieves good overall control performance and constraint satisfaction.

关键词： Predictive models Predictive control Diesel engines Linear feedback control systems Nonlinear control systems control nonlinearities control systems Solid modeling Geometry Valves

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Nonlinear model predictive control of a four tank system: An experimental stability study

Nonlinear model predictive control of a four tank system: An...

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IEEE International Conference on Computer-Aided Design

作者： Tobias Raff Steffen Huber Zoltan K. Nagy Frank Allgower Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Chemical Engineering University of Loughborough UK

There are well-known theoretical examples that show that stability constraints in nonlinear model predictive control (NMPC) are necessary in order to guarantee closed loop stability. In this paper it is shown that these stability constraints, derived from theory, are also essential in practice. In particular, an experimental study is carried out on a four tank system that illustrates the stability behavior of NMPC.

关键词： Predictive models Predictive control Stability control systems Nonlinear control systems Optimal control Automatic control Constraint theory Open loop systems MIMO

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FAULT DIAGNOSIS OF CONSTRAINED NONLINEAR systems USING STRUCTURED AUGMENTED STATE MODELS

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IFAC Proceedings Volumes 2006年第13期39卷 1300-1305页

作者： Jochen Aßfalg Frank Allgöwer Corporate Sector Research and Advance Engineering Mechatronic Engineering Robert Bosch GmbH 70442 Stuttgart Germany Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany

关键词： Fault diagnosis nonlinear systems constraints hybrid estimation

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