LMI-BASED AERO-ENGINE CONTROLLER DESIGN
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
The problem of analysis and synthesis of robust control is addressed in this work. The approach transferring the robust control design into Linear Matrix Inequality(LMI) is provided. The LMI standard structure of robust controller is also given and the controller is obtained through solving three LMIs. As an example, a robust control law is designed to the twin-spool turbojet engine system using the given approach. The result shows that LMI approach is feasible.
An LMI-based decoupling control for electromagnetic formation flight
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Huang Xianlin
2015-04-01
Full Text Available Electromagnetic formation flight (EMFF leverages electromagnetic force to control the relative position of satellites. EMFF offers a promising alternative to traditional propellant-based spacecraft flight formation. This novel strategy is very attractive since it does not consume fuel. Due to the highly coupled nonlinearity of electromagnetic force, it is difficult to individually design a controller for one satellite without considering others, which poses challenges to communications. This paper is devoted to decoupling control of EMFF, including regulations, constraints and controller design. A learning-based adaptive sliding mode decoupling controller is analyzed to illustrate the problem of existing results, and input rate saturation is introduced to guarantee the validity of frequency division technique. Through transformation, the imposed input rate saturation is converted to state and input constraints. A linear matrix inequalities (LMI-based robust optimal control method can then be used and improved to solve the transformed problem. Simulation results are presented to demonstrate the effectiveness of the proposed decoupling control.
Mixed H2/H∞ State Feedback Attitude Control of Microsatellite Based on Extended LMI Method
Institute of Scientific and Technical Information of China (English)
Keke Shi; Chuang Liu; Feng Wang∗; Zhaowei Sun
2016-01-01
For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system, to avoid the adverse effects, this paper investigates the mixed H2/H∞ state feedback attitude control problem of microsatellite based on extended LMI method. Firstly, the microsatellite attitude control system is established and transformed into corresponding state space form. Then, without the equivalence restriction of the two Lyapunov variables of H2 and H∞ performance, this paper introduces additional variables to design the mixed H2/H∞ control method based on LMI which can also reduce the conservatives. Finally, numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not. The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.
S-variable approach to LMI-based robust control
Ebihara, Yoshio; Arzelier, Denis
2015-01-01
This book shows how the use of S-variables (SVs) in enhancing the range of problems that can be addressed with the already-versatile linear matrix inequality (LMI) approach to control can, in many cases, be put on a more unified, methodical footing. Beginning with the fundamentals of the SV approach, the text shows how the basic idea can be used for each problem (and when it should not be employed at all). The specific adaptations of the method necessitated by each problem are also detailed. The problems dealt with in the book have the common traits that: analytic closed-form solutions are not available; and LMIs can be applied to produce numerical solutions with a certain amount of conservatism. Typical examples are robustness analysis of linear systems affected by parametric uncertainties and the synthesis of a linear controller satisfying multiple, often conflicting, design specifications. For problems in which LMI methods produce conservative results, the SV approach is shown to achieve greater accuracy...
Decentralised stabilizing control based on H-infinity control theory making use of LMI
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Niioka, S.; Yokoyama, R.; Ti, Z.X. [Tokyo Metropolitan University (Japan). Dept. of Electrical Engineering; Ishimaru, M.; Shirai, G. [Hosei University (Japan). Dept. of Electrical Engineering
2000-07-01
In this paper, two decentralized controller designs based on H{sub {infinity}} control theory are presented. In this controller design, LMI (Linear Matrix Inequality) is applied to obtain feedback gains for state feedback control. For an optimal linear regulator design, an index function of the quadratic form must be chosen. The question of how to decide weighting matrix in the quadratic index function used in Riccati equation arises. The problem is transformed into a pole allocation problem by making use of LMI. The effectiveness of the proposed method is shown by numerical simulations on a test system. (author)
Fault Tolerant Control for Civil Structures Based on LMI Approach
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Chunxu Qu
2013-01-01
Full Text Available The control system may lose the performance to suppress the structural vibration due to the faults in sensors or actuators. This paper designs the filter to perform the fault detection and isolation (FDI and then reforms the control strategy to achieve the fault tolerant control (FTC. The dynamic equation of the structure with active mass damper (AMD is first formulated. Then, an estimated system is built to transform the FDI filter design problem to the static gain optimization problem. The gain is designed to minimize the gap between the estimated system and the practical system, which can be calculated by linear matrix inequality (LMI approach. The FDI filter is finally used to isolate the sensor faults and reform the FTC strategy. The efficiency of FDI and FTC is validated by the numerical simulation of a three-story structure with AMD system with the consideration of sensor faults. The results show that the proposed FDI filter can detect the sensor faults and FTC controller can effectively tolerate the faults and suppress the structural vibration.
Robust LMI-Based Control of Wind Turbines with Parametric Uncertainties
DEFF Research Database (Denmark)
Sloth, Christoffer; Esbensen, Thomas; Niss, Michael Odgaard Kuch
2009-01-01
This paper considers the design of robust LMI-based controllers for a wind turbine along its entire nominal operating trajectory. The proposed robust controller design takes into account parametric uncertainties in the model using a structured uncertainty description, which makes the controllers...... less conservative than controllers designed using unstructured uncertainty descriptions. The LMI-based approach enables additional constraints to be included in the design, which is exploited to include requirements for minimizing fatigue loads and actuator usage. Two different methods are adopted...
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Kazuhiko Hiramoto
2012-01-01
Full Text Available An LMI-based method for the integrated system identification and controller design is proposed in the paper. We use the fact that a class of a system identification problem results in an LMI optimization problem. By combining LMIs for the system identification and those to obtain a discrete time controller we propose a framework to integrate two steps for the model-based control system design, that is, the system identification and the controller synthesis. The framework enables us to obtain a good model for control and a model-based feedback controller simultaneously in the sense of the closed-loop performance. An iterative design algorithm similar to so-called Windsurfer Approach is presented.
LMI-based output feedback fuzzy control of chaotic system with uncertainties
Institute of Scientific and Technical Information of China (English)
Tan Wen; Wang Yao-Nan; Duan Feng; Li Xiao-Hui
2006-01-01
This paper studies the robust fuzzy control for nonlinear chaotic system in the presence of parametric uncertainties. An uncertain Takagi-Sugeno (T-S) fuzzy model is employed for fuzzy modelling of an unknown chaotic system. A sufficient condition formulated in terms of linear matrix inequality (LMI) for the existence of fuzzy controller is obtained. Then the output feedback fuzzy-model-based regulator derived from the LMI solutions can guarantee the stability of the closed-loop overall fuzzy system. The T-S fuzzy model of the chaotic Chen system is developed as an example for illustration. The effectiveness of the proposed controller design methodology is finally demonstrated through computer simulations on the uncertain Chen chaotic system.
An LMI-based unified approach to reduced-order controller design
Institute of Scientific and Technical Information of China (English)
郭雷; 忻欣; 冯纯伯
1997-01-01
The design of reduced-order controllers is considered for stabilization control, covariance upper bound control, linear quadratic regulator, ∞ control, H∞ control, positive real control problems and robust H2 control, robust ∞ control and robust H∞ control problems for generalized linear plants without any additional assumptions. An upper bound of the order is obtained with which the (robust) controllers can guarantee stability constraints and satisfy the same design objectives as the so-called "full-order" controllers. A unified linear-matrix-inequality ( LMI) based approach to reduced-order (robust) controller design for all the above-mentioned problems is provided. It us shown that each of these problems is solvable if and only if two uncoupled LMIs with an LMI-type constraint have a pair of positive definite solutions, one of which has a lower dimension than that given by Skelton and iwasaki (1995). All desired reduced-order (robust) controllers are parameterized via the solutions of LMIs Moreov
基于观测器的 LMI 振动控制算法%Observer-based LMI vibration control algorithm
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王露健; 周星德; 秦飞马; 张翔; 李勇直
2014-01-01
针对基于观测器的 LMI 控制器设计中一个线性矩阵不等式中出现双变量的问题，提出一种赋初值迭代求解方法。考虑到双变量中一个为正定矩阵变量、一个为标量的特点，为了保证迭代收敛性和满足矩阵正定的要求，把正定矩阵变量作为初值赋予对象。仿真分析发现所设计的控制器仅能保证控制趋势，达不到预期控制效果，为此提出了调节因子的概念。最后，以3层基准建筑物为例进行仿真分析，结果表明该方法是可行的。%In the design of an observer-based LMI (linear matrix inequality) controller, bivariate values appear in one linear matrix inequality. To solve this problem, we propose an initial value-iteration method in this paper. Of the bivariate values, one is a positive definite matrix variable and the other is a scalar. Considering these two characteristics, we take the positive definite matrix variable as the initial value, in order to ensure the astringency of the iteration and to meet the requirements of positive definite matrices. Simulation analysis shows that the designed controller can guarantee the control trend, which was far from the expected control result. We subsequently put forward the concept of a regulatory factor. As a case study, the simulation analysis of a three-storey benchmark building shows that the proposed method is feasible.
LMI-Based 2-Degrees-of-Freedom Controller Design for Robust Vibration Suppression Positioning
Kato, Takanori; Maeda, Yoshihiro; Iwasaki, Makoto; Hirai, Hiromu
This paper presents a novel 2-degrees-of-freedom (2-DOF) controller design for the robust vibration suppression positioning of mechatronic systems against the frequency perturbation in mechanical vibration modes. The authors have already proposed an linear matrix inequality (LMI)-based feedforward (FF) compensator design method to provide the robust properties in positioning against the perturbation, while the feedback (FB) controller has been independently designed to ensure the robust stability on the basis of the 2-DOF controller design concept. However, a problem still remains in the conventional design that the FB characteristic causes the deterioration of the FF control performance because the undesired response in the FB system due to the perturbation affects the ideal response by the FF compensation. The proposed controller design in this paper, therefore, includes the FB control system with the perturbation in the FF design model to solve the problem in the conventional design. In addition, the FB controller is optimally designed to improve the positioning performance as a cooperated design between FB and FF controllers. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype.
Robust Structured Control Design via LMI Optimization
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Stoustrup, Jakob
2011-01-01
This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L2-norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller...... structures including decentralized of any order, ﬁxed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can...
Multi-loop decentralized PID control based on covariance control criteria: an LMI approach.
Huang, Xin; Huang, Biao
2004-01-01
PID control is well known and widely applied in industry and many design algorithms are readily available in the literature. However, systematic design of multi-loop or decentralized PID control for multivariable processes to meet certain objectives simultaneously is still a challenging task. Designing multi-loop PID controllers such that the process variables satisfy the generalized covariance constraints is studied in this paper. A convergent computational algorithm is proposed to calculate the multi-loop PID controller for a process with stable disturbances. This algorithm is then extended to a process with random-walk disturbances. The feasibility of the proposed algorithm is verified by applying it to several simulation examples.
LMI-Based Generation of Feedback Laws for a Robust Model Predictive Control Algorithm
Acikmese, Behcet; Carson, John M., III
2007-01-01
This technical note provides a mathematical proof of Corollary 1 from the paper 'A Nonlinear Model Predictive Control Algorithm with Proven Robustness and Resolvability' that appeared in the 2006 Proceedings of the American Control Conference. The proof was omitted for brevity in the publication. The paper was based on algorithms developed for the FY2005 R&TD (Research and Technology Development) project for Small-body Guidance, Navigation, and Control [2].The framework established by the Corollary is for a robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems that guarantees the resolvability of the associated nite-horizon optimal control problem in a receding-horizon implementation. Additional details of the framework are available in the publication.
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C. Oktay Azeloglu
2015-01-01
Full Text Available This paper studies the design of a linear matrix inequality (LMI based mixed H2/H∞ state-feedback controller for vibration attenuation problem of seismic-excited container cranes. In order to show effectiveness of the designed controller, a six-degree-of-freedom container crane structural system is modeled using a spring-mass-damper subsystem. The system is then simulated against the real ground motion of El Centro and Northridge earthquakes. Finally, the time history of the crane parts displacements, accelerations, control forces, and frequency responses of both uncontrolled and controlled cases are presented. Additionally, the performance of the designed controller is also compared with a nominal state-feedback H∞ controller performance. Simulations of the designed controller show better seismic performance than a nominal state-feedback H∞ controller. Simulation results show that the designed controller is all effective in reducing vibration amplitudes of crane parts.
LMI Approach to Observer-based FD Systems Designing
Institute of Scientific and Technical Information of China (English)
钟麦英; 汤兵勇; 丁·史蒂芬·先春
2001-01-01
Increasing the robustness to the unknown uncertainty and simultaneously enhancing the sensibility to the faults is one of the important issues considered in the fault detection development. Considering the L2-gain of residual system, this paper deals the observer-based fault detection problem. By using of H∞ control theory,an LMI approach to design fault detection observer is given. A numerical example is used to illustrate the effectiveness of the proposed approach.
LMI-Based Fuzzy Optimal Variance Control of Airfoil Model Subject to Input Constraints
Swei, Sean S.M.; Ayoubi, Mohammad A.
2017-01-01
This paper presents a study of fuzzy optimal variance control problem for dynamical systems subject to actuator amplitude and rate constraints. Using Takagi-Sugeno fuzzy modeling and dynamic Parallel Distributed Compensation technique, the stability and the constraints can be cast as a multi-objective optimization problem in the form of Linear Matrix Inequalities. By utilizing the formulations and solutions for the input and output variance constraint problems, we develop a fuzzy full-state feedback controller. The stability and performance of the proposed controller is demonstrated through its application to the airfoil flutter suppression.
LMI-based robust iterative learning controller design for discrete linear uncertain systems
Institute of Scientific and Technical Information of China (English)
Jianming XU; Mingxuan SUN; Li YU
2005-01-01
This paper addresses the design problem of robust iterative learning controllers for a class of linear discrete-time systems with norm-bounded parameter uncertainties.An iterative learning algorithm with current cycle feedback is proposed to achieve both robust convergence and robust stability.The synthesis problem of the proposed iterative learning control (ILC) system is reformulated as a γ-suboptimal H-infinity control problem via the linear fractional transformation (LFT).A sufficient condition for the convergence of the ILC algorithm is presented in terms of linear matrix inequalities (LMIs).Furthermore,the linear transfer operators of the ILC algorithm with high convergence speed are obtained by using existing convex optimization techniques.The simulation results demonstrate the effectiveness of the proposed method.
An LMI-based variable structure control for a class of uncertain singular Markov switched systems
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
An H-infinifty variable structure control is presented for singular Markov switched systems with mismatched norm-bounded uncertainties and mismatched norm-bounded external disturbances.It iS shown that the sliding mode dynamics on the given switching surface is regular,impulse-free,and stochastically stable and satisfies H-infinity performance.A variable structure controller is designed to guarantee that the system trajectory converges to the linear switching surface in some finite time.Finally,a numencal example is solved to show the effectiveness and validness of the theoretical results.
LMI-based gain scheduled controller synthesis for a class of linear parameter varying systems
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Anderson, Brian; Lanzon, Alexander
2006-01-01
This paper presents a novel method for constructing controllers for a class of single-input multiple-output (SIMO) linear parameter varying (LPV) systems. This class of systems encompasses many physical systems, in particular systems where individual components vary with time, and is therefore...... the parameters are varying, with the degree of stability related directly to a bound on the average rate of allowable parameter variations. Thus, if knowledge of the parameter variations is available, the conservativeness of the design can be kept at a minimum. The construction of the controller is formulated...
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Chao-Jun Chen
2017-01-01
Full Text Available Active mass damper (AMD control system is proposed for high-rise buildings to resist a strong wind. However, negative influence of noise in sensors impedes the application of AMD systems in practice. To reduce the adverse influence of noise on AMD systems, a Kalman filter and a linear matrix inequality- (LMI- based filter are designed. Firstly, a ten-year return period fluctuating wind load is simulated by mixed autoregressive-moving average (MARMA method, and its reliability is tested by wind speed power spectrum and correlation analysis. Secondly, a designed state observer with different filters uses wind-induced acceleration responses of a high-rise building as the feedback signal that includes noise to calculate control force in this paper. Finally, these methods are applied to a numerical example of a high-rise building and an experiment of a single span four-storey steel frame. Both numerical and experimental results are presented to verify that both Kalman filter and LMI-based filter can effectively suppress noise, but only the latter can guarantee the stability of AMD parameters.
Neng-Sheng Pai; Her-Terng Yau
2010-01-01
This paper focuses on the chaos control problem of the unified chaotic systems with structured uncertainties. Applying Schur-complement and some matrix manipulation techniques, the controlled uncertain unified chaotic system is then transformed into the linear matrix inequality (LMI) form. Based on Lyapunov stability theory and linear matrix inequality (LMI) formulation, a simple linear feedback control law is obtained to enforce the prespecified exponential decay dynamics of the uncertain un...
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Neng-Sheng Pai
2010-01-01
Full Text Available This paper focuses on the chaos control problem of the unified chaotic systems with structured uncertainties. Applying Schur-complement and some matrix manipulation techniques, the controlled uncertain unified chaotic system is then transformed into the linear matrix inequality (LMI form. Based on Lyapunov stability theory and linear matrix inequality (LMI formulation, a simple linear feedback control law is obtained to enforce the prespecified exponential decay dynamics of the uncertain unified chaotic system. Numerical results validate the effectiveness of the proposed robust control scheme.
Narimani, Mohammand; Lam, H K; Dilmaghani, R; Wolfe, Charles
2011-06-01
Relaxed linear-matrix-inequality-based stability conditions for fuzzy-model-based control systems with imperfect premise matching are proposed. First, the derivative of the Lyapunov function, containing the product terms of the fuzzy model and fuzzy controller membership functions, is derived. Then, in the partitioned operating domain of the membership functions, the relations between the state variables and the mentioned product terms are represented by approximated polynomials in each subregion. Next, the stability conditions containing the information of all subsystems and the approximated polynomials are derived. In addition, the concept of the S-procedure is utilized to release the conservativeness caused by considering the whole operating region for approximated polynomials. It is shown that the well-known stability conditions can be special cases of the proposed stability conditions. Simulation examples are given to illustrate the validity of the proposed approach.
LMI approach to reliable H∞ control of linear systems
Institute of Scientific and Technical Information of China (English)
Yao Bo; Wang Fuzhong
2006-01-01
The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actuator faults that can be modeled by a scaling factor. The resulting control systems are reliable in that they provide guaranteed asymptotic stability and H∞ performance when some control component (actuator) faults occur. A numerical example is also given to illustrate the design procedure and their effectiveness. Furthermore, the optimal standard controller and the optimal reliable controller are compared to show the necessity of reliable control.
Fault Tolerant Robust Control Applied for Induction Motor (LMI approach
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Hamouda KHECHINI
2007-09-01
Full Text Available This paper foregrounds fault tolerant robust control of uncertain dynamic linear systems in the state space representation. In fact, the industrial systems are more and more complex and the diagnosis process becomes indispensable to guarantee their surety of functioning and availability, that’s why a fault tolerant control law is imperative to achieve the diagnosis. In this paper, we address the problem of state feedback H2 /H∞ mixed with regional pole placement for linear continuous uncertain system. Sufficient conditions for feasibility are derived for a general class of convex regions of the complex plan. The conditions are presented as a collection of linear matrix inequalities (LMI 's. The efficiency and performance of this approach are then tested taking into consideration the robust control of a three- phase induction motor drive with the fluctuation of its parameters during the functioning.
ABSOLUTE STABILIZATION RELATED TO CIRCLE CRITERION: AN LMI-BASED APPROACH
Institute of Scientific and Technical Information of China (English)
杨莹; 黄琳
2003-01-01
A method is proposed for synthesizing output feedback controllers for nonlinear Lur' e systems. The problem of designing an output dynamic controller for uncertain-free systems and systems subject to multiplicative norm-bounded perturbations in the linear part were proposed respectively. The procedure is based on the use of the absolute stability,through the circle criterion, and a linear matrix inequalities (LMI) formulation. The controller existence conditions are given in terms of existence of suitable solutions to a set of parameter- dependent LMIs.
Synthesis of robust feedback missile control strategies by using LMI techniques
Trottemant, E.J.; Weiss, M.; Vermeulen, A.
2009-01-01
Robust programming, and more specific LMI techniques, have proven to be an extremely effective tool for the synthesis of missile guidance laws. The advantage of this model-based approach is that a large class of uncertainties can be taken into account and a robust guidance law is obtained. In this p
Positive Real Synthesis of Networked Control System An LMI Approach
Riyanto, Bambang
2008-01-01
This paper presents the positive real analysis and synthesis for Networked Control Systems (NCS) in discrete time. Based on the definition of passivity, the sufficient condition of NCS is given by stochastic Lyapunov functional. The controller via state feedback is designed to guarantee the stability of NCS and closed-loop positive realness. It is shown that a mode-dependent positive real controller exists if a set of coupled linear matrix inequalities has solutions. The controller can be then constructed in terms of the solutions.
Institute of Scientific and Technical Information of China (English)
WANG Limin; CHEN Xi; GAO Furong
2013-01-01
Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry,a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes with actuator failures.This paper introduces relevant concepts of the fault-tolerant guaranteed cost control and formulates the robust iterative learning reliable guaranteed cost controller (ILRGCC).A significant advantage is that the proposed ILRGCC design method can be used for on-line optimization against batch-to-batch process uncertainties to realize robust tracking of set-point trajectory in time and batch-to-batch sequences.For the convenience of implementation,only measured output errors of current and previous cycles are used to design a synthetic controller for iterative learning control,consisting of dynamic output feedback plus feed-forward control.The proposed controller can not only guarantee the closed-loop convergency along time and cycle sequences but also satisfy the H∞ performance level and a cost function with upper bounds for all admissible uncertainties and any actuator failures.Sufficient conditions for the controller solution are derived in terms of linear matrix inequalities (LMIs),and design procedures,which formulate a convex optimization problem with LMI constraints,are presented.An example of injection molding is given to illustrate the effectiveness and advantages of the ILRGCC design approach.
State feedback control of switched linear systems: An LMI approach
Montagner, V. F.; Leite, V. J. S.; Oliveira, R. C. L. F.; Peres, P. L. D.
2006-10-01
This paper addresses the problem of state feedback control of continuous-time switched linear systems with arbitrary switching rules. A quadratic Lyapunov function with a common matrix is used to derive a stabilizing switching control strategy that guarantees: (i) the assignment of all the eigenvalues of each linear subsystem inside a chosen circle in the left-hand half of the complex plane; (ii) a minimum disturbance attenuation level for the closed-loop switched system. The proposed design conditions are given in terms of linear matrix inequalities that encompass previous results based on quadratic stability conditions with fixed control gains. Although the quadratic stability based on a fixed Lyapunov matrix has been widely used in robust control design, the use of this condition to provide a convex design method for switching feedback gains has not been fully investigated. Numerical examples show that the switching control strategy can cope with more stringent design specifications than the fixed gain strategy, being useful to improve the performance of this class of systems.
Energy Technology Data Exchange (ETDEWEB)
Yamamoto, I.; Hayashi, T. [Mitsubishi Heavy Industries, Ltd., Tokyo (Japan)
1997-10-01
Recently, with a progress of robust control such as H{infinity} control, the application of a control system design considering a robustness of controlled system fluctuation to real machinery became possible. In addition, LMI (Linear Matrix Inequality) control system design method is superior to conventional H{infinity} control, although including various difficult elements. The design algorithm permitting the robust control system design of non-linear problems by giving controlled systems was thus developed by introducing an inverse LMI control design method. This design algorithm determines the solution of models outputting the deviation between a target value and controlled variables by solving the simultaneous equations composed of a linear matrix inequality under an impulse response constraint condition and that under an H{infinity} norm constraint condition. This technique allows to give a pending step response as control condition. The technique was confirmed to be effective by its application to the position keeping control problem of marine floating structures. 6 refs., 11 figs., 2 tabs.
Institute of Scientific and Technical Information of China (English)
侯倩; 程月华; 姜斌; 陆宁云
2011-01-01
During satellite orbit maneuver, the orbit control force causes disturbing torque and affects attitude of a satellite if the control force does not pass through the mass center of the satellite. In this paper, a set of reduced order nonlinear unknown input observers (RO-NUIO) are designed to detect and isolate faults. During the design process, the system is divided into three sub-systems to ensure that some states are not affected by the disturbance. Observers are designed by using the observable information. Meanwhile, some parameters of the observers can be obtained by using the LMI approach to reduce effects of nonlinear part on observers. The existence conditions of the observer proposed in this paper only depend on the inherent feature of the system. Combination of the reduced order idea and the LMI method make the structure of observers easy to be applied to nonlinear satellite attitude control systems. Numerical simulation is carried out to demonstrate the efficiency of the proposed fault diagnosis scheme for satellite attitude control systems.%卫星轨控期间,由于推力偏心,会产生较大的干扰力矩,直接影响卫星姿态.针对轨道控制期间的挠性卫星姿态控制系统,设计了干扰解耦的降阶非线性未知输入观测器(RO-NUIO),用于故障检测与故障隔离.在设计过程中,首先通过坐标变换,使得不可观的状态及部分可观状态不受干扰影响,然后针对不可观的子系统利用可观状态的信息设计观测器,观测器中的部分参数利用LMI方法获得,可以弱化非线性部分对观测器的影响.所设计观测器的存在条件仅依赖于系统本身特性,无需在线验证.观测器采用降阶设计,同时借助LMI思想,结构简单,适合于非线性卫星姿态控制系统.仿真结果验证了降阶非线性未知输入观测器实现卫星姿态控制故障诊断的可行性与有效性.
基于LMI方法的机器人LPV鲁棒H∞控制器设计%Robot Manipulator LPV Robust H∞ Controller Design Based on LMI Approach
Institute of Scientific and Technical Information of China (English)
虞忠伟; 陈辉堂; 王月娟
2001-01-01
对平面两关节直接驱动机器人，提出一种同时将闭环极点配置到满足动态响应区域内的变增益LPV鲁棒H∞控制器设计新方法。利用LPV的凸分解方法，将机器人模型化为具有凸多面体结构的LPV模型，然后利用LMI技术对凸多面体各顶点分别设计满足H∞性能和闭环极点配置的反馈增益，再利用各顶点设计的反馈控制器综合得到具有凸多面体结构的LPV控制器。仿真结果验证了该控制器可使机器人随关节位置变化始终具有良好的控制性能。%A new approach to design robust H∞ contr ollers for a two-jointdirect drive planar manipulator is presented. The time- varying nonlinear model of robot is translated into a linear parameter varyin g(LPV) system with convex polytopic version via the LPV convex decomposition tec h nique. State feedback controllers satisfying H∞ performance and pole plac ement at every vertex of convex polyhedron parameter space are designed via line ar matrix inequalities(LMIs) approach. Using these designed controllers at every vertex, a LPV controller with smaller on-line calculating capacity is synthesi zed via convex decomposition techniques. Simulation results prove that the robot with the LPV controller has good performance as the joint angles vary.
LMI Approach to Robust H∞/H2 Controller Design with Regional Poles Constraint of a Pump-Motor System
Institute of Scientific and Technical Information of China (English)
无
2006-01-01
The time domain guideposts requirements of a pump-motor system is transferred into a series of constraints which express the robust performance upper bound and regional poles limits of the closed loop system. Then the servo system control problem is transferred into the problem of robust performance optimizing under regional poles constrains described by linear matrix inequality (LMI). These LMIs are easy to solve through the Matlab LMI-toolbox. Simulations indicate that the controller has excellent dynamic, static and disturbance rejection performance, and the control system is robust and has perfect H2 performance to the bounded external torque disturbance.
FREQUENCY DOMAIN CRITERIA FOR ROBUST D-STABILITY OF MIMO SYSTEMS BASED ON LMI METHOD
Institute of Scientific and Technical Information of China (English)
LI Hai-bin; WANG Zhi-zhen; WANG Long; LI Zhao-ping; LI Er-xiao
2006-01-01
The problem of checking robust D-stability of multi-in and multi-out (MIMO) systems was studied. Three system models were introduced, i.e. multilinear polynomial matrix, polytopic polynomial matrix and feedback system model. Furthermore, the convex property of each model with respect to the parametric uncertainties was estabilished respectively. Based on this, sufficient conditions for D-stability were expressed in terms of linear matrix inequalities (LMIs) involving only the convex vertices. Therefore, the robust D-stability was tested by solving an LMI optimal problem.
Lam, H K; Leung, Frank H F
2007-10-01
This correspondence presents the stability analysis and performance design of the continuous-time fuzzy-model-based control systems. The idea of the nonparallel-distributed-compensation (non-PDC) control laws is extended to the continuous-time fuzzy-model-based control systems. A nonlinear controller with non-PDC control laws is proposed to stabilize the continuous-time nonlinear systems in Takagi-Sugeno's form. To produce the stability-analysis result, a parameter-dependent Lyapunov function (PDLF) is employed. However, two difficulties are usually encountered: 1) the time-derivative terms produced by the PDLF will complicate the stability analysis and 2) the stability conditions are not in the form of linear-matrix inequalities (LMIs) that aid the design of feedback gains. To tackle the first difficulty, the time-derivative terms are represented by some weighted-sum terms in some existing approaches, which will increase the number of stability conditions significantly. In view of the second difficulty, some positive-definitive terms are added in order to cast the stability conditions into LMIs. In this correspondence, the favorable properties of the membership functions and nonlinear control laws, which allow the introduction of some free matrices, are employed to alleviate the two difficulties while retaining the favorable properties of PDLF-based approach. LMI-based stability conditions are derived to ensure the system stability. Furthermore, based on a common scalar performance index, LMI-based performance conditions are derived to guarantee the system performance. Simulation examples are given to illustrate the effectiveness of the proposed approach.
Chiang, Tung-Sheng; Chiu, Chian-Song
This paper proposes the sliding mode control using LMI techniques and adaptive recurrent fuzzy neural network (RFNN) for a class of uncertain nonlinear time-delay systems. First, a novel TS recurrent fuzzy neural network (TS-RFNN) is developed to provide more flexible and powerful compensation of system uncertainty. Then, the TS-RFNN based sliding model control is proposed for uncertain time-delay systems. In detail, sliding surface design is derived to cope with the non-Isidori-Bynes canonical form of dynamics, unknown delay time, and mismatched uncertainties. Based on the Lyapunov-Krasoviskii method, the asymptotic stability condition of the sliding motion is formulated into solving a Linear Matrix Inequality (LMI) problem which is independent on the time-varying delay. Furthermore, the input coupling uncertainty is also taken into our consideration. The overall controlled system achieves asymptotic stability even if considering poor modeling. The contributions include: i) asymptotic sliding surface is designed from solving a simple and legible delay-independent LMI; and ii) the TS-RFNN is more realizable (due to fewer fuzzy rules being used). Finally, simulation results demonstrate the validity of the proposed control scheme.
Institute of Scientific and Technical Information of China (English)
黄东胜; 邹富顺; 冯波
2011-01-01
For practical application,this paper presented a fuzzy static output feedback controller design approach for vehicle electro-hydraulic active suspensions.Takagi-Sugeno（T-S） fuzzy modeling was applied for approximating the dynamic nonlinear active suspension model.Three main performance requirements should be considered in designing suspension,ride comfort,handing stability and suspension deflection,this paper took the vertical acceleration of the car body as H2 performance,and suspension deflection and tyre deflection as the H∞ performance.NSGA_2 was atilized for searching the feedback gain matrix,the H2 and H∞ norm were acquired via solving LMI.The comparison of the simulation results between active suspension and passive suspension in MATLAB/simulink shows that the three main performances of active suspension are better.%考虑实际应用,提出一种考虑电液作动器动态特性的主动悬架模糊静态输出反馈控制器的设计方法。利用T-S模糊模型逼近具有非线性动态特性的主动悬架模型,将悬架设计考虑的三个指标中的行驶平顺性（车身垂直加速度）作为H2性能指标,操纵稳定性（轮胎动载荷）和悬架动行程作为H∞性能指标,利用多目标遗传算法——NSGA_2对控制增益进行搜索,通过解线性矩阵不等式得到H2和H∞范数。用MATLAB/Simulink仿真进行比较,结果表明,所得主动悬架的三个性能指标都优于被动悬架。
LMI-based Gain Scheduled Robust Flux Observer for Induction Motors
DEFF Research Database (Denmark)
Trangbæk, Klaus
2000-01-01
In this paper a robust flux observer for an induction motor is developed through an LMI approach. The observer is robust to changes in rotational speed and in rotor and stator resistances. The problem is formulated as complex-valued rank constrained LMIs and solved through alternating projections...
Robust control of uncertain time delay system: a novel sliding mode control design via LMI
Institute of Scientific and Technical Information of China (English)
Qu Shaocheng; Wang Yongji
2006-01-01
The sliding mode control problem (SMC) is studied for a class of uncertain delay system in the presence of both parameter uncertainties and external disturbances. A novel virtual feedback control method is presented. Based on Lyapunov theory, sufficient conditions for design of the robust sliding mode plane are derived. Sliding mode controller based on reaching law concept is developed, which is to ensure system trajectories from any initial conditions asymptotically convergent to sliding mode plane. The global asymptotically stability of the closed-loop system is guaranteed. A numerical example with simulation results is given to illustrate the effectiveness of the methodology.
Robust stabilization using LMI techniques of neutral time-delay systems subject to input saturation
El Fezazi, Nabil; El Haoussi, Fatima; Houssaine Tissir, El; Alvarez, Teresa; Tadeo, Fernando
2017-01-01
The robust stabilization of uncertain saturated neutral systems with state delay is solved in this paper: based on a free weighting matrix approach, sufficient conditions are obtained via an LMI formulation. From these conditions, state feedback gains that ensure stability for the largest set of admissible initial conditions can be calculated solving optimization problems with LMI constraints. Some applications of this methodology to feedback control are then presented and compared with previous results in the literature.
建筑结构基于LMI的鲁棒非脆弱H∞控制%ROBUST AND NON-FRAGILE H∞ CONTROL FOR BUILDINGS VIA LMI APPROACH
Institute of Scientific and Technical Information of China (English)
李志军; 王社良
2013-01-01
考虑一维地震动作用和结构参数不确定性影响,提出一种基于线性矩阵不等式(Linear Matrix Inequalities,LMI)的鲁棒非脆弱H∞控制方法.引入工程中常用的二次型最优指标,并应用线性矩阵不等式减小求解的复杂度,使得控制器的性能指标容易衡量,设计相对简单,便于工程应用.以一个三层剪切型结构模型为例进行数值分析,并与传统H∞控制方法进行对比,仿真结果初步表明:1)所提方法具有很好的控制效果和鲁棒性；2)合理地计算结构参数值,可使控制系统在具有最优反应品质的前提下,获得相对更好的鲁棒性和非脆弱性.%The behavior of building structures is naturally uncertain because of the numerous uncertainties of seismic disturbances and structural parameters. In this paper, we present a new robust and non-fragile H∞ control approach that can provide a convenient design procedure for active controllers to facilitate practical implementations of control systems through the use of a quadratic performance index and the use of an efficient solution procedure based on linear matrix inequalities (LMI). Such a new robust and non-fragile H∞, controller for buildings can be designed to guarantee the robust stability and performance of the closed-loop system in the presence of parameter uncertainties. In view of the uncertainty of seismic disturbance and the model errors of the building structure, a three-storey shear building model containing active brace systems is analyzed. The simulation results obtained from the proposed control method are compared with those obtained from traditional H∞ control method, which shows preliminarily that the performance of robust and non-fragile H∞ controllers is remarkable and robust. Considering reasonable parameter values, the controller can acquire considerably better performance of robust and non-fragile than traditional H∞ controller under the optimal response quantities
An LMI approach to robust H-infinity control for uncertain singular time-delay systems
Institute of Scientific and Technical Information of China (English)
Xiaofu JI; Hongye SU; Jian CHU
2006-01-01
The problem of robust H-infinity control for a class of uncertain singular time-delay systems is studied in this paper. A new approach is proposed to describe the relationship between slow and fast subsystems of singular time-delay systems, based on which, a sufficient condition is presented for a singular time-delay system to be regular, impulse free and stable with an H-infinity performance. The robust H-infinity control problem is solved and an explicit expression of the desired state-feedback control law is also given. The obtained results are formulated in terms of strict linear matrix inequalities (LMIs) involving no decomposition of system matrices. A numerical example is given to show the effectiveness of the proposed method,
An LMI approach to stabilization of linear port-controlled Hamiltonian systems
Prajna, Stephen; Schaft, van der Arjan; Meinsma, Gjerrit
2002-01-01
In this paper, it is shown that controllers for stabilizing linear port-controlled Hamiltonian (PCH) systems via interconnection and damping assignment can be obtained by solving a set of linear matrix inequalities (LMIs). Two sets of (almost) equivalent LMIs are proposed. In the first set, the inte
Improved State Feedback H∞ Control for Flexible Air-Breathing Hypersonic Vehicles on LMI Approach
Directory of Open Access Journals (Sweden)
Zhang Xue
2017-01-01
Full Text Available Focusing on a nonlinear longitudinal dynamical model for Air-breathing Hypersonic Flight Vehicles (AHFV, a linearized model on a nominal trim condition is proposed. To stabilize the flight of an AHFV in the presence of external disturbances and actuator uncertainties, a state feedback H∞ control is designed. With bounds on the uncertainties, a feedback stabilization problem is converted to an optimal control problem and the cost function is minimized by solving a set of linear matrix inequalities. Since uncertainties in the design of AHFV are inevitable, to make a comparison, a general H∞ robust controller is constructed by only considering the disturbances firstly. Then the results are extended by incorporating the actual existing uncertainties as well as the external disturbances in the AHFV system. Numerical simulation shows that the controller, which takes both disturbances and uncertainties into account, can effectively stabilize the AHFV system.
Parity Relation Based Fault Estimation for Nonlinear Systems: An LMI Approach
Institute of Scientific and Technical Information of China (English)
Sing Kiong Nguang; Ping Zhang; Steven X. Ding
2007-01-01
This paper proposes a parity relation based fault estimation for a class of nonlinear systems which can be modelled by Takagi-Sugeno (TS) fuzzy models. The design of a parity relation based residual generator is formulated in terms of a family of linear matrix inequalities (LMIs). A numerical example is provided to illustrate the effectiveness of the proposed design techniques.
Directory of Open Access Journals (Sweden)
Zrida Jalel
2010-01-01
Full Text Available This paper introduces new dilated LMI conditions for continuous-time linear systems which not only characterize stability and performance specifications, but also, performance specifications. These new conditions offer, in addition to new analysis tools, synthesis procedures that have the advantages of keeping the controller parameters independent of the Lyapunov matrix and offering supplementary degrees of freedom. The impact of such advantages is great on the multiobjective full-order dynamic output feedback control problem as the obtained dilated LMI conditions always encompass the standard ones. It follows that much less conservatism is possible in comparison to the currently used standard LMI based synthesis procedures. A numerical simulation, based on an empirically abridged search procedure, is presented and shows the advantage of the proposed synthesis methods.
TCSC controller design based on output feedback control with linear matrix inequality
Energy Technology Data Exchange (ETDEWEB)
Ishimaru, Masachika; Shirai, Goro [Hosei University, Tokyo (Japan). Dept. of Electrical Engineering; Niioka, Satoru; Yokoyama, Ryuichi [Tokyo Metropolitan University (Japan). Dept. of Electrical Engineering
2000-07-01
The authors aim at designing the fast responsible and robust stabilizing controller. Recently, many researches propose robust stabilizing compensators based on H{sub {infinity}} control theory. Especiady, the LMI (Linear Matrix Inequality) solving efficient convex problems is very effective. LMI is based on a linear function composed by matrices, and it is expansion of conventional H{sub {infinity}} control. In addition to the LMI approach, authors pay attention to the output-feedback control for stabilizing a system using observable output values. This paper presents a stabilizing control using measurable values by using the output-feedback method. In order to discuss the advantage of the proposed method, 3-machine 9-bus system is used. Moreover, this system is applied TCSC (Thyristor Controlled Series Capacitor) controllers, and H{sub {infinity}} control based on the LMI is proposed for the design method of TCSC controllers to attain the robust stability. (author)
H{sub {infinity}} with reference model for active suspension system : an LMI approach
Energy Technology Data Exchange (ETDEWEB)
Abdellahi, E.; Mehdi, D. [LAII ESIP, Poitiers (France); Ramirez Mendoza, R. [LAII ESIP, Poitiers (France)]|[Dept. of Mechatronic and Automation, ITESM Garza Sada, Monterrey (Mexico); M' saad, M. [LAII ESIP, Poitiers (France)]|[LAP-ISMRA, Caen (France)
2001-07-01
This paper deals with active suspension systems. A two-degree-of-freedom quarter-car model is used to implement an LMI-based H{sub {infinity}} approach with reference model. The results are compared with those obtained with H{sub {infinity}} control without reference model. The main purpose of the controller is to ensure vibration isolation between different parts of the system. Careful tuning of weighting functions are necessary for H{sub {infinity}} design method. (orig.)
Robust Admissibilization of Descriptor Systems by Static Output-Feedback: An LMI Approach
Directory of Open Access Journals (Sweden)
M. Chaabane
2011-01-01
static output-feedback is studied in this paper and an approach to solve it is proposed. For this, sufficient conditions are derived for the closed-loop system to be admissible (i.e., stable, regular, and impulse-free. These conditions are expressed in terms of a strict Linear Matrix Inequality (LMI; so they are tractable using numerical computations. The proposed controller design methodology is based on two steps: the first is dedicated to synthesizing a classical state-feedback controller, which is used as the initial value for the second step, which uses an LMI problem to obtain static output-feedback controllers that give admissibility. Finally, a numerical example is given to illustrate the results.
Evaluasi Sistem Informasi Penjualan dan Piutang Dagang pada PT. LMY
Directory of Open Access Journals (Sweden)
Henny Hendarti
2011-06-01
Full Text Available The purpose of this research is to evaluate and test the reliability of sales and accounts receivable information system of PT. LMY in order to help overcome the problems faced by the company. The methods used are literature review and field researches such as interviews, checked-question lists, observations and analysis. Audit around the Computer is used as the audit method. The evaluation results in some discoveries of the advantages and disadvantages of the sales and account receivable information systems used, where the disadvantages allow for the potential risks. The conclusion based on the obtained evaluation results on the control of information systems sales and accounts receivable company is that any improvement is still needed, especially on the control of security management as well as boundary. Thus, it is necessary for the company to do audits regularly on sales and account receivable information system so that the information system can be more reliable.
An improved LMI-based approach for stability of piecewise affine time-delay systems with uncertainty
Duan, Shiming; Ni, Jun; Galip Ulsoy, A.
2012-09-01
The stability problem for uncertain piecewise affine (PWA) time-delay systems is investigated in this article. It is assumed that there exists a known constant time delay in the system and the uncertainly is norm-bounded. Sufficient conditions for the stability of nominal systems and the stability of systems subject to uncertainty are derived using the Lyapunov-Krasovskii functional with a triple integration term. This approach handles switching based on the delayed states (in addition to the states) for a PWA time-delay system, considers structured as well as unstructured uncertainty and reduces the conservativeness of previous approaches. The effectiveness of the proposed approach is demonstrated by comparing with the existing methods through numerical examples.
Development of Analysis Tools for Certification of Flight Control Laws
2009-03-31
In Proc. Conf. on Decision and Control, pages 881-886, Bahamas, 2004. [7] G. Chesi, A. Garulli, A. Tesi , and A. Vicino. LMI-based computation of...Minneapolis, MN, 2006, pp. 117-122. [10] G. Chesi, A. Garulli, A. Tesi . and A. Vicino, "LMI-based computation of optimal quadratic Lyapunov functions...Convex Optimization. Cambridge Univ. Press. Chesi, G., A. Garulli, A. Tesi and A. Vicino (2005). LMI-based computation of optimal quadratic Lyapunov
基于圆判据的一种LMI绝对镇定方法%Absolute Stabilization Related to Circle Criterion: an LMI-Based Approach
Institute of Scientific and Technical Information of China (English)
杨莹; 黄琳
2003-01-01
针对非线性Lur'e系统,提出了一种输出反馈控制器综合方法.对于系统在无摄动及线性部分存在乘性范数摄动的情况,分别设计了保证闭环系统绝对稳定的动态输出反馈控制器.由圆判据出发,通过把绝对稳定性问题等价地转化成H∞控制问题,得到了一组由线性矩阵不等式(LMI)表达的控制器存在的充分性条件.
Energy Technology Data Exchange (ETDEWEB)
Ishimaru, Masachika; Yokoyama, Ryuichi [Tokyo Metropolitan Univ., Hachioji, Tokyo (Japan); Shirai, Goro [Hosei Univ., Koganei, Tokyo (Japan); Niimura, Takahide [British Columbia Univ., Vancouver, BC (Canada)
2002-10-01
Power system stabilizing control has an important role in maintaining synchronism in power systems during major disturbances resulting from sudden changes of load and configuration. The thyristor- controlled series capacitor (TCSC) is one of the representative devices in flexible AC transmission systems. In this paper, robust TCSC controllers are applied to suppress disturbances in realistic power systems. H{sub {infinity}} control is adopted as the methodology of the robust controller design along with a linear matrix inequality (LMI), which solves the Lyapunov inequality without the weighting coefficients used in other control theories. In the proposed design, load changes are treated as a system uncertainty in the LMI approach. The proposed LMI -based approach is shown to be effective in the design of TCSC controllers to enhance robustness and response by simulations on a test system. (Author)
PHOTOMETRIC ANALYSIS OF HS Aqr, EG Cep, VW LMi, AND DU Boo
Energy Technology Data Exchange (ETDEWEB)
Djurasevic, G.; Latkovic, O. [Astronomical Observatory, Volgina 7, 11000 Belgrade (Serbia); Bastuerk, Oe.; Y Latin-Small-Letter-Dotless-I lmaz, M. [Astronomy and Space Sciences Research and Application Center, Ankara University, TR-06837 Ahlatl Latin-Small-Letter-Dotless-I bel, Ankara (Turkey); Cal Latin-Small-Letter-Dotless-I skan, S.; Senavc Latin-Small-Letter-Dotless-I , H. V.; K Latin-Small-Letter-Dotless-I l Latin-Small-Letter-Dotless-I coglu, T.; Ekmekci, F. [Department of Astronomy and Space Sciences, Faculty of Science, Ankara University, TR-06100 Tandogan, Ankara (Turkey); Tanr Latin-Small-Letter-Dotless-I verdi, T., E-mail: olivia@aob.rs [Department of Physics, Faculty of Arts and Sciences, Nigde University, 51240 Nigde (Turkey)
2013-03-15
We analyze new multicolor light curves for four close late-type binaries: HS Aqr, EG Cep, VW LMi, and DU Boo, in order to determine the orbital and physical parameters of the systems and estimate the distances. The analysis is done using the modeling code of G. Djurasevic, and is based on up-to-date measurements of spectroscopic elements. All four systems have complex, asymmetric light curves that we model by including bright or dark spots on one or both components. Our findings indicate that HS Aqr and EG Cep are in semi-detached, while VW LMi and DU Boo are in overcontact configurations.
Directory of Open Access Journals (Sweden)
MohammadReza Davoodi
2009-12-01
Full Text Available This paper offers a design procedure for robust stability, robust H-infinity control and robust H2 control via dynamic output feedback for a class of uncertain linear systems. The uncertainties are of norm bounded type. Then in order to support a high-speed energy storage flywheel, these procedures are applied to an active radial magnetic bearing system. The state space matrices of this controller are the solution of some linear matrix inequalities (LMIs.
TP-model transformation-based-control design frameworks
Baranyi, Péter
2016-01-01
This book covers new aspects and frameworks of control, design, and optimization based on the TP model transformation and its various extensions. The author outlines the three main steps of polytopic and LMI based control design: 1) development of the qLPV state-space model, 2) generation of the polytopic model; and 3) application of LMI to derive controller and observer. He goes on to describe why literature has extensively studied LMI design, but has not focused much on the second step, in part because the generation and manipulation of the polytopic form was not tractable in many cases. The author then shows how the TP model transformation facilitates this second step and hence reveals new directions, leading to powerful design procedures and the formulation of new questions. The chapters of this book, and the complex dynamical control tasks which they cover, are organized so as to present and analyze the beneficial aspect of the family of approaches (control, design, and optimization). Additionally, the b...
Energy Technology Data Exchange (ETDEWEB)
Yu, Ming; Bozek, Jody; Lamoy, Melanie; Kagan, Mikhail; Benites, Pedro; Onthank, David; Robinson, Simon P. [Lantheus Medical Imaging, Discovery Research, N. Billerica, MA (United States)
2012-12-15
Regional cardiac sympathetic denervation (RCSD) associated with reduced noradrenaline transporter (NAT) function has been linked to cardiac arrhythmia. This study examined the association of LMI1195, an {sup 18}F-labeled NAT substrate developed for positron emission tomography (PET) imaging, with NAT in vitro, and its imaging to detect RCSD and guide antiarrhythmic drug treatment in vivo. LMI1195 association with NAT was assessed in comparison with other substrates, noradrenaline (NA) and {sup 123}I-metaiodobenzylguanidine (MIBG), in NAT-expressing cells. LMI1195 cardiac imaging was performed for evaluation of RCSD in a rabbit model surgically developed by regional phenol application on the left ventricular (LV) wall. The normal LV areas in images were quantified as regions with radioactivity {>=}50 % maximum. Potential impact of RCSD on dofetilide, an antiarrhythmic drug, induced ECG changes was assessed. NAT blockade with desipramine reduced LMI1195 cell uptake by 90 {+-} 3 %, similar to NA and MIBG. NA, MIBG, or self inhibited LMI1195 cell uptake concentration-dependently with comparable IC{sub 50} values (1.09, 0.21, and 0.90 {mu}M). LMI1195 cardiac imaging differentiated innervated and denervated areas in RCSD rabbits. The surgery resulted in a large denervated LV area at 2 weeks which was partially recovered at 12 weeks. Myocardial perfusion imaging with flurpiridaz F 18 showed normal perfusion in RCSD areas. Dofetilide induced more prominent QTc prolongation in RCSD than control animals. However, changes in heart rate were comparable. LMI1195 exhibits high association with NAT and can be used for imaging RCSD. The detected RCSD increases cardiac risks to the antiarrhythmic drug, dofetilide, by inducing more QTc prolongation. (orig.)
Multiobjective H2/H? Control Design with Regional Pole Constraints
Directory of Open Access Journals (Sweden)
Junaidi Junaidi
2012-03-01
Full Text Available This paper presents multiobjective H2/H? control design with regional pole constraints. The state feedback gain can be obtained by solving a linear matrix inequality (LMI feasibility problem that robustly assigns the closed-loop poles in a prescribed LMI region. The proposed technique is illustrated with applications to the design of stabilizer for a typical single-machine infinite-bus (SMIB power system. The LMI-based control ensures adequate damping for widely varying system operating conditions. The simulation results illustrate the effectiveness and robustness of the proposed stabilizer.
Kun, David William
Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known dynamic equations. Second, the final control law is valid in a larger region of operation, including far from the equilibrium states. And third, the procedure is largely methodical, requiring less expertise with gain tuning, which can be arduous for a novice engineer. Considering these facts, this thesis proposes a nonlinear controller design method that combines the advantages of adaptive robust control (ARC) with the powerful design tools of linear matrix inequalities (LMI). The ARC-LMI controller is designed with a discontinuous projection-based adaptation law, and guarantees a prescribed transient and steady state tracking performance for uncertain systems in the presence of matched disturbances. The norm of the tracking error is bounded by a known function that depends on the controller design parameters in a known form. Furthermore, the LMI-based part of the controller ensures the stability of the system while overcoming polytopic uncertainties, and minimizes the control effort. This can reduce the number of parameters that require adaptation, and helps to avoid control input saturation. These desirable characteristics make the ARC-LMI control algorithm well suited for the quadrotor UAS, which may have unknown parameters and may encounter external
Institute of Scientific and Technical Information of China (English)
无
2009-01-01
The guaranteed cost control problem for a continuous-time uncertain singular system with state and control delays, and a given quadratic cost function is studied in this paper. Sufficient conditions for the existence of the guaranteed cost controller are derived based on the linear inequality (LMI) approach. A parameterized characterization of the guaranteed cost laws is given in terms of the feasible solutions to a certain LMI, and the cost function of guaranteed cost controller exists an upper bound.
Observer-based H∞ control over packet dropping networks
Institute of Scientific and Technical Information of China (English)
无
2008-01-01
A new controller design problem of networked control systems with packet dropping is proposed. Depending on the place that the observer is put in the system, the network control systems with packet dropping are modeled as stochastic systems with the random variables satisfying the Bernoulli random binary distribution. The observer-based controller is designed to stabilize the networked system in the sense of mean square, and the prescribed H∞ disturbance attenuation level is achieved. The controller design problem is formulated as the feasibility of the convex optimization problem, which can be solved by a linear matrix inequality (LMI) approach. Numerical examples illustrate the effectiveness of the proposed methods.
Robust ‚H-2 static output feedback to control an automotive throttle valve
Vargas A.N.; Acho L.; Pujol G.; Oliveira R.C.L.F.; Do Val J.B.R.; Peres P.L.D.
2014-01-01
The paper presents a control strategy for an automotive electronic throttle body, a device largely used into vehicles to increase the efficiency of the combustion engines. The synthesis of the proposed controller is based on a linear matrix inequality (LMI) formulation, which allows us to deal with uncertainties on the measurements of the position of the throttle valve. The LMI approach generates a suboptimal solution for the robust ‚Ñã2 static output feedback control problem, and the corresp...
H∞ tracking control of coupled spatiotemporal chaos based on fuzzy models
Institute of Scientific and Technical Information of China (English)
Dou Chun-Xia
2005-01-01
Due to the interactions among coupled spatiotemporal subsystems, it is difficult to achieve the tracking control of the coupled spatiotemporal chaos. However, every subsystem of the coupled spatiotemporal chaos can be approximated by a set of fuzzy models, of which each represents a linearized model of the subsystem corresponding to the operating point of the controlled system. Based on these fuzzy models, an H∞ fuzzy tracking control scheme is suggested,where a linear matrix inequalities (LMI) is employed to represent the feedback controller. The parameters of controller are obtained by using convex optimization techniques of LMI. The model reference tracking control of the coupled spatiotemporal chaos is achieved, and the stability of the system is also guaranteed. The tracking performance is tested by simulation as an example.
Stability Analysis of Uncertain Discrete Time-Delay Control Systems
Institute of Scientific and Technical Information of China (English)
Long Xuming; Duan Ping
2006-01-01
Based on Lyapunov stability theory, a less conservative sufficient conditions for the stabilities of uncertain discrete delay-independent and delay-dependent control systems are obtained by using the linear matrix inequality (LMI) approach. Judgement of the stability of time-delay systems is transformed to judgement of the feasible solution of an LMI, and hence is solved by use of MATLAB. Numerical simulations verify the validity of the proposed method.
Guaranteed Cost Control for Uncertain Nonlinear Time-Delay Neutral Systems Based on T-S Fuzzy Model
Institute of Scientific and Technical Information of China (English)
无
2005-01-01
The problem of guaranteed cost fuzzy controller is studied for a class of nonlinear time-delay neutral systems with norm-bounded uncertainty based on T-S model. The sufficient conditions are first derived for the existence of guaranteed cost fuzzy controllers. These sufficient conditions are equivalent to a kind of linear matrix inequalities. Furthermore, a convex optimization problem with LMI constraints is formulated to design the optimal guaranteed cost controller.
An Equivalent LMI Representation of Bounded Real Lemma for Continuous-Time Systems
Directory of Open Access Journals (Sweden)
Xie Wei
2008-01-01
Full Text Available Abstract An equivalent linear matrix inequality (LMI representation of bounded real lemma (BRL for linear continuous-time systems is introduced. As to LTI system including polytopic-type uncertainties, by using a parameter-dependent Lyapunov function, there are several LMIs-based formulations for the analysis and synthesis of performance. All of these representations only provide us with different sufficient conditions. Compared with previous methods, this new representation proposed here provides us the possibility to obtain better results. Finally, some numerical examples are illustrated to show the effectiveness of proposed method.
Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality
Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur
2017-04-01
Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.
Robust H {sub {infinity}} output dynamic observer-based control of uncertain time-delay systems
Energy Technology Data Exchange (ETDEWEB)
Chen, J.-D. [Department of Electronic Engineering, National Kinmen Institute of Technology, Jinning, Kinmen 892, Taiwan (China)]. E-mail: tdchen@mail.kmit.edu.tw
2007-01-15
In this paper, the robustness and H {sub {infinity}} control problems of output dynamic observer-based control for a class of uncertain linear systems with time delay are considered. Under no disturbance input, the asymptotic stabilization for uncertain time-delay systems will be guaranteed. Linear matrix inequality (LMI) optimization approach is used to design three classes of the H {sub {infinity}} output dynamic controls. Based on the results of this paper, the constraint of matrix equality is not necessary for designing the observer-based controls.
Directory of Open Access Journals (Sweden)
Jinxing Lin
2013-01-01
Full Text Available This paper is concerned with the problems of delay-dependent robust stability and stabilization for a class of continuous singular systems with time-varying delay in range and parametric uncertainties. The parametric uncertainties are assumed to be of a linear fractional form, which includes the norm bounded uncertainty as a special case and can describe a class of rational nonlinearities. In terms of strict linear matrix inequalities (LMIs, delay-range-dependent robust stability criteria for the unforced system are presented. Moreover, a strict LMI design approach is developed such that, when the LMI is feasible, a desired state feedback stabilizing controller can be constructed, which guarantees that, for all admissible uncertainties, the closed-loop dynamics will be regular, impulse free, and robustly asymptotically stable. Numerical examples are provided to demonstrate the effectiveness of the proposed methods.
LMI1-like genes involved in leaf margin development of Brassica napus.
Ni, Xiyuan; Liu, Han; Huang, Jixiang; Zhao, Jianyi
2017-06-01
In rapeseed (Brassica napus L.), leaf margins are variable and can be entire, serrate, or lobed. In our previous study, the lobed-leaf gene (LOBED-LEAF 1, BnLL1) was mapped to a 32.1 kb section of B. napus A10. Two LMI1-like genes, BnaA10g26320D and BnaA10g26330D, were considered the potential genes that controlled the lobed-leaf trait in rapeseed. In the present study, these two genes and another homologous gene (BnaC04g00850D) were transformed into Arabidopsis thaliana (L.) Heynh. plants to identify their functions. All three LMI1-like genes of B. napus produced serrate leaf margins. The expression analysis indicated that the expression level of BnaA10g26320D determined the difference between lobed- and entire-leaved lines in rapeseed. Therefore, it is likely that BnaA10g26320D corresponds to BnLL1.
LMI Conditions for Global Stability of Fractional-Order Neural Networks.
Zhang, Shuo; Yu, Yongguang; Yu, Junzhi
2016-08-02
Fractional-order neural networks play a vital role in modeling the information processing of neuronal interactions. It is still an open and necessary topic for fractional-order neural networks to investigate their global stability. This paper proposes some simplified linear matrix inequality (LMI) stability conditions for fractional-order linear and nonlinear systems. Then, the global stability analysis of fractional-order neural networks employs the results from the obtained LMI conditions. In the LMI form, the obtained results include the existence and uniqueness of equilibrium point and its global stability, which simplify and extend some previous work on the stability analysis of the fractional-order neural networks. Moreover, a generalized projective synchronization method between such neural systems is given, along with its corresponding LMI condition. Finally, two numerical examples are provided to illustrate the effectiveness of the established LMI conditions.
Directory of Open Access Journals (Sweden)
Ruofeng Rao
2013-01-01
Full Text Available The robust exponential stability of delayed fuzzy Markovian-jumping Cohen-Grossberg neural networks (CGNNs with nonlinear p-Laplace diffusion is studied. Fuzzy mathematical model brings a great difficulty in setting up LMI criteria for the stability, and stochastic functional differential equations model with nonlinear diffusion makes it harder. To study the stability of fuzzy CGNNs with diffusion, we have to construct a Lyapunov-Krasovskii functional in non-matrix form. But stochastic mathematical formulae are always described in matrix forms. By way of some variational methods in W1,p(Ω, Itô formula, Dynkin formula, the semi-martingale convergence theorem, Schur Complement Theorem, and LMI technique, the LMI-based criteria on the robust exponential stability and almost sure exponential robust stability are finally obtained, the feasibility of which can efficiently be computed and confirmed by computer MatLab LMI toolbox. It is worth mentioning that even corollaries of the main results of this paper improve some recent related existing results. Moreover, some numerical examples are presented to illustrate the effectiveness and less conservatism of the proposed method due to the significant improvement in the allowable upper bounds of time delays.
Directory of Open Access Journals (Sweden)
Lun Zhai
2014-01-01
Full Text Available A parametric learning based robust iterative learning control (ILC scheme is applied to the time varying delay multiple-input and multiple-output (MIMO linear systems. The convergence conditions are derived by using the H∞ and linear matrix inequality (LMI approaches, and the convergence speed is analyzed as well. A practical identification strategy is applied to optimize the learning laws and to improve the robustness and performance of the control system. Numerical simulations are illustrated to validate the above concepts.
Institute of Scientific and Technical Information of China (English)
Ruiquan LIN; Fuwen YANG; Renchong PENG
2009-01-01
Considering that the controller feedback gain and the observer gain are of additive norm-bounded variations, a design method of observer-based H-infinity output feedback controller for uncertain Delta operator systems is proposed in this paper. A sufficient condition of such controllers is presented in linear matrix inequality (LMI) forms. A numerical example is then given to illustrate the effectiveness of this method, that is, the obtained controller guarantees the closed-loop system asymptotically stable and the expected H-infinity performance even if the controller feedback gain and the observer gain are varied.
Stability analysis of stochastic delayed cellular neural networks by LMI approach
Energy Technology Data Exchange (ETDEWEB)
Zhu Wenli [Department of Economic Mathematics, South Western University of Finance and Economics, Chengdu 610074 (China)]. E-mail: zhuwenli67@hotmail.com; Hu Jin [School of Applied Mathematics, University of Electronic Science and Technology of China, Chengdu 610054 (China)
2006-07-15
Some sufficient mean square exponential stability conditions for a class of stochastic DCNN model are obtained via the LMI approach. These conditions improve and generalize some existing global asymptotic stability conditions for DCNN model.
Robust chaos synchronization using input-to-state stable control
Indian Academy of Sciences (India)
Choon Ki Ahn
2010-05-01
In this paper, we propose a new input-to-state stable (ISS) synchronization method for a general class of chaotic systems with disturbances. Based on Lyapunov theory and linear matrix inequality (LMI) approach, for the first time, the ISS synchronization controller is presented not only to guarantee the asymptotic synchronization but also to achieve the bounded synchronization error for any bounded disturbance. The proposed controller can be obtained by solving a convex optimization problem represented by the LMI. Simulation studies are presented to demonstrate the effectiveness of the proposed ISS synchronization scheme.
Institute of Scientific and Technical Information of China (English)
ZHANG Yan-hu; YAN Wen-jun; LU Jian-ning; ZHAO Guang-zhou
2005-01-01
Multi-objective robust state-feedback controller synthesis problems for linear discrete-time uncertain systems are addressed. Based on parameter-dependent Lyapunov functions, the Gl2 and GH2 norm expressed in terms of LMI (Linear Matrix Inequality) characterizations are further generalized to cope with the robust analysis for convex polytopic uncertain system.Robust state-feedback controller synthesis conditions are also derived for this class of uncertain systems. Using the above results,multi-objective state-feedback controller synthesis procedures which involve the LMI optimization technique are developed and less conservative than the existing one. An illustrative example verified the validity of the approach.
Institute of Scientific and Technical Information of China (English)
张学龙; 王云峰
2014-01-01
平稳运行是精敏供应链管理的重要基础，针对具有区间灰色非线性特征的精敏供应链系统波动性的难题，以非线性时滞精敏供应链系统为研究基础，建立了灰色非线性精敏供应链系统，采用线性矩阵不等式算法分析其稳定性问题，并获取了一种灰色非线性精敏供应链系统的稳定性判定方法。为验证该方法的有效性和可行性，以医药行业YL集团核心产品的供应链系统为案例分析对象，通过观测两个时点的运行数据，使用Matlab7.0计算工具，得出[0，20]和[20，40]2个时间段供应链系统的稳定性状态变化图。并假设当客户订货分离点（ CODP）下移时，运用同样的观测数据，模拟系统稳定性状态的变化。对比案例分析的结果得出结论：随着CODP从精敏供应链的上游端在下移至下游端时，不仅仅体现的是供应链系统类型的改变，而且更重要的是揭示了精益供应链和敏捷供应链稳定性的影响因素不同，前者受订单量大小程度的影响，而后者由市场需求预测的准确性程度决定。%In leagile supply chain management , it is important to operate a supply chain smoothly .Howev-er, with grey and non-linearity, it is very challenging to model and control such a supply chain .On the basis of non-linear and time delay leagile supply chain systems , a grey and non-linear model is developed for a leagile supply chain .Then, a linear matrix inequality method is used to analyze its stability and an effective stability criterion is obtained .In order to verify the feasibility and effectiveness of the proposed method, a core product supply chain systems of YL Group in the medicine industry is used as a case stud -y.By using Matlab 7.0, the stability of the system state diagram is drawn before and after customer order decoupling point ( CODP) .Results show that when CODP moves down , not only the supply chain type is changed but
T-S Fuzzy Model Based Control Strategy for the Networked Suspension Control System of Maglev Train
Directory of Open Access Journals (Sweden)
Guang He
2015-01-01
Full Text Available The control problem for the networked suspension control system of maglev train with random induced time delay and packet dropouts is investigated. First, Takagi-Sugeno (T-S fuzzy models are utilized to represent the discrete-time nonlinear networked suspension control system, and the parameters uncertainties of the nonlinear model have also been taken into account. The controllers take the form of parallel distributed compensation. Then, a sufficient condition for the stability of the networked suspension control system is derived. Based on the criteria, the state feedback fuzzy controllers are obtained, and the controller gains can be computed by using MATLAB LMI Toolbox directly. Finally, both the numerical simulations and physical experiments on the full-scale single bogie of CMS-04 maglev train have been accomplished to demonstrate the effectiveness of this proposed method.
Robust stabilization for a class of nonlinear networked control systems
Institute of Scientific and Technical Information of China (English)
Jinfeng GAO; Hongye SU; Xiaofu JI; Jian CHU
2008-01-01
The problem of robust stabilization for a class of uncertain networked control systems(NCSs)with nonlinearities satisfying a given sector condition is investigated in this paper.By introducing a new model of NCSs with parameter uncertainty,network.induced delay,nonlinearity and data packet dropout in the transmission,a strict linear matrix inequality(LMI)criterion is proposed for robust stabilization of the uncenmn nonlinear NCSs based on the Lyapunov stability theory.The maximum allowable transfer interval(MATI)can be derived by solving the feasibility problem of the corresponding LMI.Some numerical examples are provided to demonstrate the applicability of the proposed algorithm.
Directory of Open Access Journals (Sweden)
Yuanchun Li
2015-01-01
Full Text Available The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI technique, the decentralized proportional-integral observer (DPIO is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence of H∞ fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.
On stabilizing PI controller ranges for multivariable systems
Energy Technology Data Exchange (ETDEWEB)
Lin Chong [Institute of Complexity Science, Qingdao University, Qingdao, Shandong 266071 (China); Wang Qingguo; He Yong [Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Singapore); Wen Guilin [State Key Laboratory of Advanced Design and Manufactory for Vehicle Body, Hunan University, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China)], E-mail: wenguilin@yahoo.com.cn; Han Xu; Li Guangyao; Zhong Zhihua [State Key Laboratory of Advanced Design and Manufactory for Vehicle Body, Hunan University, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China)
2008-02-15
The paper is concerned with the computation of the maximum ranges of stabilizing proportional-integral (PI) controllers for multiple-input and multiple-output (MIMO) systems. A time-domain scheme is proposed by converting the considered problem to a robust stability problem for a polytopic system. An algorithm based on linear matrix inequality (LMI) is established to find the maximum ranges.
Design of robust non-fragile H-infinity controller based on Delta operator theory
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
Considering that the controller parameters are of additive norm-bounded uncertainties when realized,a design method of robust non-fragile H-infinity controller for uncertain systems based on Delta operator theory is illustrated in this paper.A sufficient and necessary condition of the existence for the controller is given,which is presented in LMI forms.Finally,the designed method is used in the speed control system of a permanent magnet linear synchronous motor (PMLSM).With the designed controller,the resulting speed closed-loop system is still stable and has the expected Hinfinity performance even if the sample period is reduced and the parameters of the controller and the controlled object are varied.The results show that the designed method is effective.
Institute of Scientific and Technical Information of China (English)
Yu-Ping Zhang; Hong Zhu; Shou-Ming Zhong
2007-01-01
This paper concerns the robust non-fragile guaranteed cost control for nonlinear time delay discrete-time systems based on Takagi-Sugeno (T-S) model. The problem is to design a guaranteed cost state feedback controller which can tolerate uncertainties from both models and gain variation. Sufficient conditions for the existence of such controller are given based on the linear matrix inequality (LMI) approach combined with Lyapunov method and inequality technique. A numerical example is given to illustrate the feasibility and effectiveness of our result.
广义时滞系统时滞依赖H∞控制的改进结果%Improved Results on Delay-dependent H∞ Control for Singular Time-delay Systems
Institute of Scientific and Technical Information of China (English)
吴争光; 苏宏业; 褚健
2009-01-01
The problem of delay-dependent H∞ control for singular systems with state delay is discussed. In terms of linear matrix inequality (LMI) approach, a delay-dependent bounded real lemma (BRL) is presented to ensure the system to be regular,impulse free, and stable with H∞ performance condition via an augmented Lyapunov functional. Based on the BRL obtained, the delay-dependent condition for the existence of H∞ state feedback controller is presented via strict LMI. An explicit expression for the desired state feedback controller is also given. Numerical examples are presented to illustrate the significant improvement on the conservativeness of some reported results in the literature.
H(infinity) output tracking control for nonlinear systems via T-S fuzzy model approach.
Lin, Chong; Wang, Qing-Guo; Lee, Tong Heng
2006-04-01
This paper studies the problem of H(infinity) output tracking control for nonlinear time-delay systems using Takagi-Sugeno (T-S) fuzzy model approach. An LMI-based design method is proposed for achieving the output tracking purpose. Illustrative examples are given to show the effectiveness of the present results.
Predictive Function Control for Communication-Based Train Control (CBTC Systems
Directory of Open Access Journals (Sweden)
Bing Bu
2013-01-01
Full Text Available In Communication‐Based Train Control (CBTC systems, random transmission delays and packet drops are inevitable in the wireless networks, which could result in unnecessary traction, brakes or even emergency brakes of trains, losses of line capacity and passenger dissatisfaction. This paper applies predictive function control technology with a mixed H 2 / H ∞ control approach to improve the control performances. The controller is in the state feedback form and satisfies the requirement of quadratic input and state constraints. A linear matrix inequality (LMI approach is developed to solve the control problem. The proposed method attenuates disturbances by incorporating H 2 / H ∞ into the control scheme. The control command from the automatic train operation (ATO is included in the reward function to optimize the train’s running profile. The influence of transmission delays and packet drops is alleviated through improving the performances of the controller. Simulation results show that the method is effective to improve the performances and robustness of CBTC systems.
LMI Fuzzy Observer Design for Cryptography in Wireless Mobile Communications
Directory of Open Access Journals (Sweden)
P.Sivakumar
2013-07-01
Full Text Available Recently the engineering community began to seek the possibly application of chaos. The fact that the cryptographic community had used discrete pseudo-chaotic systems for a long time to generate cipher keys that leads to the initiation of applying chaos to secure communications. This paper presents a schematic design methodology for a fuzzy observer based secure communication of hyper chaotic systems in cryptographic applications. The transmitter and receiver, which are based on a 3D hyper chaotic oscillator, are synchronized by exploiting the concept on the observer from the control theory. The scalar transmitted signal is designed so that the hyper chaotic carrier masks the encrypted signal, which in turn hides the message signal. To encrypt the message signal, an n-shirt cipher with multiple key algorithms is proposed. In receiver side, the fuzzy observer of chaotic system is designed based on the general Takagi-Sugeno fuzzy model. This approach leads to the design of communication systems with higher security.
DESIGNING REDUCED-ORDER CONTROLLERS OF MIXED SENSITIVITY PROBLEM FOR FLIGHT CONTROL SYSTEMS
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
Based on linear matrix inequalities (LMI), the design method of reduced-order controllers of mixed sensitivity problem is studied for flight control systems. It is shown that there exists a controller with order not greater than the difference between the generalized plant order and the number of independent control variables, if the mixed sensitivity problem is solvable for strict regular flight control plants. The proof is constructive, and an approach to design such a controller can be obtained in terms of a pair of feasible solution to the well-known 3 LMI. Finally, an example of mixed sensitivity problem for a flight control system is given to demonstrate practice of the approach.
Robust chaos synchronization based on adaptive fuzzy delayed feedback $\\mathcal{H}_{∞}$ control
Indian Academy of Sciences (India)
Choon Ki Ahn
2012-03-01
In this paper, we propose a new adaptive $\\mathcal_{∞}$ synchronization strategy, called an adaptive fuzzy delayed feedback $\\mathcal_{∞}$ synchronization (AFDFHS) strategy, for chaotic systems with uncertain parameters and external disturbances. Based on Lyapunov–Krasovskii theory, Takagi–Sugeno (T–S) fuzzy model and adaptive delayed feedback $\\mathcal_{∞}$ control scheme, the AFDFHS controller is presented such that the synchronization error system is asymptotically stable with a guaranteed $\\mathcal_{∞}$ performance. It is shown that the design of the AFDFHS controller with adaptive law can be achieved by solving a linear matrix inequality (LMI), which can be easily facilitated by using some standard numerical packages. An illustrative example is given to demonstrate the effectiveness of the proposed AFDFHS approach.
Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays
Institute of Scientific and Technical Information of China (English)
Wei-Sheng Chen; Rui-Hong Li; Jing Li
2010-01-01
An observer-based adaptive iterative learning control (AILC) scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality (LMI) method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative (PID) feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function (CEF), we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper.
Institute of Scientific and Technical Information of China (English)
何勇; 吴敏
2005-01-01
Some delay-dependent absolute stability criteria for Lurie control systems with timevarying delay are derived, in which some free-weighting matrices are used to express the relationships between the terms in the Leibniz-Newton formula. These criteria are based on linear matrix inequality(LMI) such that the upper bound of time-delay guaranteeing the absolute stability and the free-weighting matrices can be obtained through the solutions of the LMI. Moreover, the Lyapunov functional constructed by the solutions of these LMIs is adopted to guarantee the absolute stability of the systems. Finally, some examples axe provided to demonstrate the effectiveness of the proposed methods.
Directory of Open Access Journals (Sweden)
Fetah Kolonic
2006-10-01
Full Text Available The Tensor Product (TP model transformation is a recently proposed techniquefor transforming given Linear Parameter Varying (LPV state-space models into polytopicmodel form, namely, to parameter varying convex combination of Linear Time Invariant(LTI systems. The main advantage of the TP model transformation is that it is executablein a few minutes and the Linear Matrix Inequality (LMI-based control design frameworkscan immediately be applied to the resulting polytopc models to yield controllers withtractable and guaranteed performance. Various applications of the TP modeltransformation-based design were studied via academic complex and benchmark problems,but no real experimental environment-based study was published. Thus, the main objectiveof this paper is to study how the TP model transformation performs in a real world problemand control setup. The laboratory concept for TP model-based controller design,simulation and real time running on an electromechanical system is presented.Development system for TP model-based controller with one hardware/software platformand target system with real-time hardware/ software support are connected in the uniquesystem. Proposed system is based on microprocessor of personal computer (PC forsimulation and software development as well as for real-time control. Control algorithm,designed and simulated in MATLAB/SIMULINK environment, use graphically orientedsoftware interface for real-time code generation. Some specific conflicting industrial tasksin real industrial crane application, such as fast load positioning control and load swingangle minimization, are considered and compared with other controller types.
Controller Based Observer in Switched System with Norm Bounded Uncertainty
Directory of Open Access Journals (Sweden)
Mongi Besbes
2012-01-01
Full Text Available Problem statement: This study discusses the robust stabilization of norm bounded discrete switched systems. Approach: The proposed method is using the second Lyapunov approach and the poly-quadratic function concept. The stabilization conditions are written through linear matrix inequality relations. The control law is based on a static output feedback with the use of a switched observer. The synthesis conditions of the controller are written in the form of linear matrix inequalities difficult to resolve by current numerical solvers. Thatâs why relaxations are proposed to mitigate the pessimism of LMI conditions obtained. Results: The poly-quadratic Lyapunov approach provides a constructive way to tackle uncertainty in the switched framework. The feasibility is illustrated by the example of discrete uncertain switched systems. Conclusion: With these results, the study of stability can be achieved for arbitrary switching laws, state-dependent, time dependent or generated by a controller. However, the implementation of the control law is possible only if the switching status is well known in real time.
Pan, Indranil; Ghosh, Soumyajit; Gupta, Amitava; 10.1109/PACC.2011.5978958
2012-01-01
Networked Control Systems (NCSs) are often associated with problems like random data losses which might lead to system instability. This paper proposes a method based on the use of variable controller gains to achieve maximum parametric robustness of the plant controlled over a network. Stability using variable controller gains under data loss conditions is analyzed using a suitable Linear Matrix Inequality (LMI) formulation. Also, a Particle Swarm Optimization (PSO) based technique is used to maximize parametric robustness of the plant.
LPV control of a tensegrity-membrane system
Yang, Shu; Sultan, Cornel
2017-10-01
This article presents the details of designing a linear parameter-varying (LPV) controller for a tensegrity-membrane system. The major control objective is to deploy the system from its initial packaged configuration to its final deployed configuration. Since LPV synthesis naturally leads to an infinite-dimensional linear matrix inequality (LMI) problem, a gridding method is used to reduce it to a finite-dimensional LMI problem and the control design is performed using a control-oriented model based on the linearized system dynamics at a set of system equilibriums. To test the performance of the resulting controller, a nonlinear finite element model and the control-oriented model are used in numerical simulations. To test the robustness of the controller, sensor noise is considered in another nonlinear finite element simulation and the results are compared with the simulation results given by the nominal system.
New Sufficient LMI Conditions for Static Output Stabilization
DEFF Research Database (Denmark)
Adegas, Fabiano Daher
2014-01-01
This paper presents new linear matrix inequality conditions to the static output feedback stabilization problem. Although the conditions are only sufficient, numerical experiments show excellent success rates in finding a stabilizing controller.......This paper presents new linear matrix inequality conditions to the static output feedback stabilization problem. Although the conditions are only sufficient, numerical experiments show excellent success rates in finding a stabilizing controller....
Structured Control of LPV Systems with Application to Wind Turbines
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Stoustrup, Jakob
2012-01-01
can synthesize structured controllers like decentralized, static output and reduced order output feedback for discrete-time LPV systems. Based on a coordinate decent, it relies on a sufficient matrix inequality condition extended with slack variables to an upper bound on the induced L2-norm...... of the closed-loop system. Algorithms for the computation of feasible as well as optimal controllers are presented. The general case where no restrictions are imposed on the parameter dependence is treated here due to its suitability for modeling wind turbines. A comprehensive numerical example of a gain......This paper deals with structured control of linear parameter varying systems (LPV) with application to wind turbines. Instead of attempting to reduce the problem to linear matrix inequalities (LMI), we propose to design the controllers via an LMI-based iterative algorithm. The proposed algorithm...
Li, Xiaofan; Fang, Jian-An; Li, Huiyuan
2017-09-01
This paper investigates master-slave exponential synchronization for a class of complex-valued memristor-based neural networks with time-varying delays via discontinuous impulsive control. Firstly, the master and slave complex-valued memristor-based neural networks with time-varying delays are translated to two real-valued memristor-based neural networks. Secondly, an impulsive control law is constructed and utilized to guarantee master-slave exponential synchronization of the neural networks. Thirdly, the master-slave synchronization problems are transformed into the stability problems of the master-slave error system. By employing linear matrix inequality (LMI) technique and constructing an appropriate Lyapunov-Krasovskii functional, some sufficient synchronization criteria are derived. Finally, a numerical simulation is provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2017 Elsevier Ltd. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
Wen Guilin [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China); Wang Qingguo [Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Singapore)]. E-mail: elewqg@nus.edu.sg; Lin Chong [Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Singapore); Han Xu [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China); Li Guangyao [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China)
2006-09-15
Synchronization under output feedback control with multiple random time delays is studied, using the paradigm in nonlinear physics-Chua's circuit. Compared with other synchronization control methods, output feedback control with multiple random delay is superior for a realistic synchronization application to secure communications. Sufficient condition for global stability of delay-dependent synchronization is established based on the LMI technique. Numerical simulations fully support the analytical approach, in spite of the random delays.
Directory of Open Access Journals (Sweden)
O. P. Bharti
2016-08-01
Full Text Available This paper describes the controller design for a DFIG based wind energy generation system using the static output feedback technique through the LMI Toolbox. The features of the DFIG, its converters and their controllers are discussed. The lower order nominal representation of DFIG is obtained using numerical differentiation of the SIMULINK model which is subsequently used for PID controller design. The obtained results are compared with existing methods for performance enhancement of the DFIG and wind energy conversion systems.
Dichotomy of nonlinear systems: Application to chaos control of nonlinear electronic circuit
Energy Technology Data Exchange (ETDEWEB)
Wang Jinzhi [State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science, Peking University, Beijing 100871 (China)]. E-mail: jinzhiw@pku.edu.cn; Duan Zhisheng [State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science, Peking University, Beijing 100871 (China); Huang Lin [State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science, Peking University, Beijing 100871 (China)
2006-02-27
In this Letter a new method of chaos control for Chua's circuit and the modified canonical Chua's electrical circuit is proposed by using the results of dichotomy in nonlinear systems. A linear feedback control based on linear matrix inequality (LMI) is given such that chaos oscillation or hyperchaos phenomenon of circuit systems injected control signal disappear. Numerical simulations are presented to illustrate the efficiency of the proposed method.
Control design for discrete-time state-multiplicative noise stochastic systems
Krokavec, Dušan; Filasová, Anna
2015-11-01
Design conditions for existence of the H∞ linear state feedback control for discretetime stochastic systems with state-multiplicative noise and polytopic uncertainties are presented in the paper. Using an enhanced form of the bounded real lemma for discrete-time stochastic systems with state-multiplicative noise, the LMI-based procedure is provided for computation of the gains of linear, as well as nonlinear, state control law. The approach is illustrated on an example demonstrating the validity of the proposed method.
Improved Stability Analysis of Nonlinear Networked Control Systems over Multiple Communication Links
Delavar, Rahim; Tavassoli, Babak; Beheshti, Mohammad Taghi Hamidi
2015-01-01
In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss, sampling jitter and data packet miss-ordering are captured by time-varying delays. Stability analysis is carried out based on the Lyapunov Krasovskii method to obtain a condition for stability of the nonlinear NCS in the form of linear matrix inequality (LMI...
Synchronisation of chaotic systems using a novel sampled-data fuzzy controller
Institute of Scientific and Technical Information of China (English)
Feng Yi-Fu; Zhang Qing-Ling
2011-01-01
This paper presents the synchronisation of chaotic systems using a sampled-data fuzzy controller and is meaningful for many physical real-life applications. Firstly, a Takagi-Sugeno (T-S) fuzzy model is employed to represent the chaotic systems that contain some nonlinear terms, then a type of fuzzy sampled-data controller is proposed and an error system formed by the response and drive chaotic system. Secondly, relaxed LMI-based synchronisation conditions are derived by using a new paraneter-dependent Lyapunov-Krasovskii functional and relaxed stabilisation techniques for the underlying error system. The derived LMI-based conditions are used to aid the design of a sampled-data fuzzy controller to achieve the synchronisation of chaotic systems. Finally, a numerical example is provided to illustrate the effectiveness of the proposed results.
Guaranteed cost control with constructing switching law of uncertain discrete-time switched systems
Institute of Scientific and Technical Information of China (English)
Zhang Ying; Duan Guangren
2007-01-01
A guaranteed cost control problem for a class of linear discrete-time switched systems with normbounded uncertainties is considered in this article. The purpose is to construct a switching rule and design a state feedback control law, such that, the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties under the constructed switching rule.A sufficient condition for the existence of guaranteed cost controllers and switching rules is derived based on the Lyapunov theory together with the linear matrix inequality (LMI) approach. Furthermore, a convex optimization problem with LMI constraints is formulated to select the suboptimal guaranteed cost controller. A numerical example demonstrates the validity of the proposed design approach.
Unknown Input Observer Design for Fuzzy Bilinear System: An LMI Approach
Directory of Open Access Journals (Sweden)
D. Saoudi
2012-01-01
Full Text Available A new method to design a fuzzy bilinear observer (FBO with unknown inputs is developed for a class of nonlinear systems. The nonlinear system is modeled as a fuzzy bilinear model (FBM. This kind of T-S fuzzy model is especially suitable for a nonlinear system with a bilinear term. The proposed fuzzy bilinear observer subject to unknown inputs is developed to ensure the asymptotic convergence of the error dynamic using the Lyapunov method. The proposed design conditions are given in linear matrix inequality (LMI formulation. The paper studies also the problem of fault detection and isolation. An unknown input fuzzy bilinear fault diagnosis observer design is proposed. This work is given for both continuous and discrete cases of fuzzy bilinear models. Illustrative examples are chosen to provide the effectiveness of the given methodology.
Bernal Muñoz, Ferran
2015-01-01
ARDUINO is a vey usefull platform for prototypes. In this project ARDUINO will be used for controling a Semiconductor Tuneable Laser. [ANGLÈS] Diode laser for communications control based on an Arduino board. Temperature control implementation. Software and hardware protection for the laser implementation. [CASTELLÀ] Control de un láser de comunicaciones ópticas desde el ordenador utilizando una placa Arduino. Implementación de un control de temperatura y protección software y hardware ...
Bernal Muñoz, Ferran
2015-01-01
ARDUINO is a vey usefull platform for prototypes. In this project ARDUINO will be used for controling a Semiconductor Tuneable Laser. [ANGLÈS] Diode laser for communications control based on an Arduino board. Temperature control implementation. Software and hardware protection for the laser implementation. [CASTELLÀ] Control de un láser de comunicaciones ópticas desde el ordenador utilizando una placa Arduino. Implementación de un control de temperatura y protección software y hardware ...
Robust control of an aircraft model
Energy Technology Data Exchange (ETDEWEB)
Werner, H. [Bochum Univ. (Germany). Fakultaet fuer Elektrotechnik
1999-12-01
A new multimodel approach to robust controller design is illustrated by a practical application: for a laboratory aircraft model, a robust controller is designed simultaneously for normal operating conditions and for propeller failure. Based on a linear model for each operating mode, an LMI formulation of the problem and convex programming are used to search for a state feedback controller which achieves the objective. This state feedback design is then realized simultaneously in both operating modes by a controller which is based on fast output sampling. Robust performance is demonstrated by experimental results. (orig.)
Robust control of an aircraft model
Energy Technology Data Exchange (ETDEWEB)
Werner, H. (Bochum Univ. (Germany). Fakultaet fuer Elektrotechnik)
1999-01-01
A new multimodel approach to robust controller design is illustrated by a practical application: for a laboratory aircraft model, a robust controller is designed simultaneously for normal operating conditions and for propeller failure. Based on a linear model for each operating mode, an LMI formulation of the problem and convex programming are used to search for a state feedback controller which achieves the objective. This state feedback design is then realized simultaneously in both operating modes by a controller which is based on fast output sampling. Robust performance is demonstrated by experimental results. (orig.)
Directory of Open Access Journals (Sweden)
Özgü CAN
2010-02-01
Full Text Available As computer technologies become pervasive, the need for access control mechanisms grow. The purpose of an access control is to limit the operations that a computer system user can perform. Thus, access control ensures to prevent an activity which can lead to a security breach. For the success of Semantic Web, that allows machines to share and reuse the information by using formal semantics for machines to communicate with other machines, access control mechanisms are needed. Access control mechanism indicates certain constraints which must be achieved by the user before performing an operation to provide a secure Semantic Web. In this work, unlike traditional access control mechanisms, an "Ontology Based Access Control" mechanism has been developed by using Semantic Web based policies. In this mechanism, ontologies are used to model the access control knowledge and domain knowledge is used to create policy ontologies.
Stabilization of a class of discrete-time switched systems via observer-based output feedback
Institute of Scientific and Technical Information of China (English)
Jiao LI; Yuzhong LIU
2007-01-01
In this paper, observer-based static output feedback control problem for discrete-time uncertain switched systems is investigated under an arbitrary switching rule. The main method used in this note is combining switched. Lyapunov function (SLF) method with Finsler's Lemma. Based on linear matrix inequality (LMI) a less conservative stability condition is established and this condition allows extra degree of freedom for stability analysis. Finally, a simulation example is given to illustrate the efficiency of the result.
Institute of Scientific and Technical Information of China (English)
王永强; 叶昊; Ding X.Steven; 王桂增
2008-01-01
Fault detection of networked control systems (NCSs) with random and unknown network-induced delay that might be larger than one sampling period is studied in this paper. First, influence caused by network-induced delay is transformed into structured modeling error, then an existent continuous time domain robust fault detection method based on reference model is extended to discrete time domain and applied to fault detec-tion of networked control systems. The proposed method can be easily implemented by Matlab LMI toolbox, and its performance is finally evaluated by a simulation example.
Stability of singular networked control systems with control constraint
Institute of Scientific and Technical Information of China (English)
Qiu Zhanzhi; Zhang Qingling; Zhao Zhiwu
2007-01-01
Based on bounded network-induced time-delay, the networked control system is modeled as a linear time-variant singular system.Using the Lyapunov theory and the linear matrix inequality approach, the criteria for delay-independent stability and delay-dependent stability of singular networked control systems are derived and transformed to a feasibility problem of linear matrix inequality formulation, which can be solved by the Matlab LMI toolbox, and the feasible solutions provide the maximum allowable delay bound that makes the system stable.A numerical example is provided, which shows that the analysis method is valid and the stability criteria are feasible.
Staða tímarita á íslenskum fjölmiðlamarkaði
Róbert Hlynur Baldursson
2007-01-01
Í essu lokaverkefni er leita svara vi ví hver sta a „sölutímarita“ sé á íslenskum fjölmi lamarka i. ar er átt vi au tímarit sem gefin eru út á almennum marka i af fyrirtækjum me ar semiskröfu a lei arljósi, .e. me ví a selja í eim augl singar og/e a selja au lesendum. Í ritger inni er liti yfir sögu útgáfustarfseminnar frá upphafi til vorra daga. Einnig er fari yfir fjölmi lakannanir sem s na róun útgáfu tímarita gagnvart ö rum mi lum á marka inum sí ustu tvo ...
Directory of Open Access Journals (Sweden)
Wrastawa Ridwan
2011-08-01
Full Text Available This paper investigates the problem of H∞ performance analysis for continous–time systems with two additive time-varying delays in the state. Our objective is focused on stability analysis of a continuous system with two time-varying delays with an H∞ disturbance attenuation level γ. By exploiting Lyapunov-Krasovski functional and introducing free weighting matrix variables, LMI stability condition have been derived.
Synthesis Methods for Robust Passification and Control
Kelkar, Atul G.; Joshi, Suresh M. (Technical Monitor)
2000-01-01
The research effort under this cooperative agreement has been essentially the continuation of the work from previous grants. The ongoing work has primarily focused on developing passivity-based control techniques for Linear Time-Invariant (LTI) systems. During this period, there has been a significant progress made in the area of passivity-based control of LTI systems and some preliminary results have also been obtained for nonlinear systems, as well. The prior work has addressed optimal control design for inherently passive as well as non- passive linear systems. For exploiting the robustness characteristics of passivity-based controllers the passification methodology was developed for LTI systems that are not inherently passive. Various methods of passification were first proposed in and further developed. The robustness of passification was addressed for multi-input multi-output (MIMO) systems for certain classes of uncertainties using frequency-domain methods. For MIMO systems, a state-space approach using Linear Matrix Inequality (LMI)-based formulation was presented, for passification of non-passive LTI systems. An LMI-based robust passification technique was presented for systems with redundant actuators and sensors. The redundancy in actuators and sensors was used effectively for robust passification using the LMI formulation. The passification was designed to be robust to an interval-type uncertainties in system parameters. The passification techniques were used to design a robust controller for Benchmark Active Control Technology wing under parametric uncertainties. The results on passive nonlinear systems, however, are very limited to date. Our recent work in this area was presented, wherein some stability results were obtained for passive nonlinear systems that are affine in control.
Yi-You Hou; Zhang-Lin Wan
2014-01-01
This paper considers the problem of the robust stability for the nonlinear system with time-varying delay and parameters uncertainties. Based on the H∞ theorem, Lyapunov-Krasovskii theory, and linear matrix inequality (LMI) optimization technique, the H∞ quasi-sliding mode controller and switching function are developed such that the nonlinear system is asymptotically stable in the quasi-sliding mode and satisfies the disturbance attenuation (H∞-norm performance). The effectiveness and accura...
VW LMi: tightest quadruple system known. Light-time effect and possible secular changes of orbits
Pribulla, T; Dubovsky, P; Kudzej, I; Parimucha, S; Siwak, M; Vanko, M
2008-01-01
Tightest known quadruple systems VW LMi consists of contact eclipsing binary with P_12 = 0.477551 days and detached binary with P_34 = 7.93063 days revolving in rather tight, 355.0-days orbit. This paper presents new photometric and spectroscopic observations yielding 69 times of minima and 36 disentangled radial velocities for the component stars. All available radial velocities and minima times are combined to better characterize the orbits and to derive absolute parameters of components. The total mass of the quadruple system was estimated at 4.56 M_sun. The detached, non-eclipsing binary with orbital period P = 7.93 days is found to show apsidal motion with U approximately 80 years. Precession period in this binary, caused by the gravitational perturbation of the contact binary, is estimated to be about 120 years. The wide mutual orbit and orbit of the non-eclipsing pair are found to be close to coplanarity, preventing any changes of the inclination angle of the non-eclipsing orbit and excluding occurrenc...
Curious Variables Experiment (CURVE). RZ LMi - the most active SU UMa star
Olech, A; Zloczewski, K; Cook, L M; Mularczyk, K; Kedzierski, P
2008-01-01
We report extensive photometry of the frequently outbursting dwarf nova RZ Leo Minoris. During two seasons of observations we detected 12 superoutbursts and 7 normal outbursts. The V magnitude of the star varied in range from 16.5 to 13.9 mag. The superoutbursts occur quite regularly flashing every 19.07(4) days and lasting slightly over 10 days. The average interval between two successive normal outbursts is 4.027(3) days. The mean superhump period observed during the superoutbursts is 0.059396(4) days (85.530(6) min). The period of the superhumps was constant except for one superoutburst when it increased with a rate of $\\dot P/P_{\\rm sh} = 7.6(1.9)\\cdot 10^{-5}$. Our observations indicate that RZ LMi goes into long intervals of showing permanent superhumps which are observed both in superoutbursts and quiescence. This may indicate that decoupling of thermal and tidal instabilities play important role in ER UMa systems. No periodic light variations which can be connected with orbital period of the binary we...
Institute of Scientific and Technical Information of China (English)
M.Kalpana; P.Balasubramaniam
2013-01-01
We investigate the stochastic asymptotical synchronization of chaotic Markovian jumping fuzzy cellular neural networks (MJFCNNs) with discrete,unbounded distributed delays,and the Wiener process based on sampled-data control using the linear matrix inequality (LMI) approach.The Lyapunov-Krasovskii functional combined with the input delay approach as well as the free-weighting matrix approach is employed to derive several sufficient criteria in terms of LMIs to ensure that the delayed MJFCNNs with the Wiener process is stochastic asymptotical synchronous.Restrictions (e.g.,time derivative is smaller than one) are removed to obtain a proposed sampled-data controller.Finally,a numerical example is provided to demonstrate the reliability of the derived results.
RBF neural network based $\\mathcal{H}_{\\infty}$ synchronization for unknown chaotic systems
Indian Academy of Sciences (India)
Choon Ki Ahn
2010-08-01
In this paper, we propose a new $\\mathcal{H}_{\\infty}$ synchronization strategy, called a Radial Basis Function Neural Network $\\mathcal{H}_{\\infty}$ synchronization (RBFNNHS) strategy, for unknown chaotic systems in the presence of external disturbance. In the proposed framework, a radial basis function neural network (RBFNN) is constructed as an alternative to approximate the unknown nonlinear function of the chaotic system. Based on this neural network and linear matrix inequality (LMI) formulation, the RBFNNHS controller and the learning laws are presented to reduce the effect of disturbance to an $\\mathcal{H}_{\\infty}$ norm constraint. It is shown that ﬁnding the RBFNNHS controller and the learning laws can be transformed into the LMI problem and solved using the convex optimization method. A numerical example is presented to demonstrate the validity of the proposed RBFNNHS scheme.
Satisfactory control of discrete-time linear periodic systems
Institute of Scientific and Technical Information of China (English)
Shiqian LIU; Jihong ZHU; JinChun HU
2007-01-01
In this paper satisfactory control for discrete-time linear periodic systems is studied.Based on a suitable time-invariant state sampled reformulation,periodic state feedback controller has been designed such that desired requirements of steady state covariance,H-infinity rejection bound and regional pole assignment for the periodic system are met simultaneously.By using satisfactory control theory,the problem of satisfactory periodic controller can be transformed into a linear programming problem subject to a set of linear matrix inequalities(LMIs).and a feasible designing approach is presented via LMI technique.Numeric example validates the obtained conclusion.
A Modified Model Predictive Control Scheme
Institute of Scientific and Technical Information of China (English)
Xiao-Bing Hu; Wen-Hua Chen
2005-01-01
In implementations of MPC (Model Predictive Control) schemes, two issues need to be addressed. One is how to enlarge the stability region as much as possible. The other is how to guarantee stability when a computational time limitation exists. In this paper, a modified MPC scheme for constrained linear systems is described. An offline LMI-based iteration process is introduced to expand the stability region. At the same time, a database of feasible control sequences is generated offline so that stability can still be guaranteed in the case of computational time limitations. Simulation results illustrate the effectiveness of this new approach.
Mixed H2／H∞ Optimal Guaranteed Cost Control of Uncertain Linear Systems
Institute of Scientific and Technical Information of China (English)
GuodingChen; MayingYang; LiYu
2004-01-01
The mixed H2/H∞ guaranteed cost control problem via state feedback control laws is considered in this paper for linear systems with norm-bounded parameter uncertainty. Based on the linear matrix inequality (LMI) approach, sufficient conditions are derived for the existence of guaranteed cost controllers whihc guarantee not only a prespecified H∞ disturbance attenuation level on one controlled output for all admissible parameter uncertainties, but also the worst-case H2 performance index on the other controlled output to be no more than a specified bound. Furthermore, a convex optimization problem is formulated to design an optimal H2/H∞ guaranteed cost controller.
H∞ Control for Uncertain Discrete-Dime Systems with Delays
Institute of Scientific and Technical Information of China (English)
潘俊涛
2007-01-01
In this paper,a new approach to H∞ controller design for a class of uncertain discrete-time T-S fuzzy systems are proposed.According to the Lyapunov stability theory as well as parallel distributed compensation (PDC),several sufficient conditions for stabilization of considered systems are derived.The design procedures based on LMI for the fuzzy robust controller are given, which guarantee the closed-loop system is asymptotically stable and the effect of disturbance input on the controlled output is reduced to a prescribed level.The simulation results show the proposed method is effective.
DEFF Research Database (Denmark)
Kallesøe, Carsten; Vadstrup, Pierre; Rasmussen, Henrik;
2006-01-01
This paper addresses the subject of inter-turn short circuit estimation in the stator of an induction motor. In the paper an adaptive observer scheme is proposed. The proposed observer is capable of simultaneously estimating the speed of the motor, the amount turns involved in the short circuit a...... derived. The efficiency of the proposed observer is demonstrated by tests performed on a test setup with a customized designed induction motor. With this motor it is possible to simulate inter-turn short circuit faults....
LMI-based approach for global asymptotic stability analysis of continuous BAM neural networks
Institute of Scientific and Technical Information of China (English)
ZHANG Sen-lin; LIU Mei-qin
2005-01-01
Studies on the stability of the equilibrium points of continuous bidirectional associative memory (BAM) neural network have yielded many useful results. A novel neural network model called standard neural network model (SNNM) is advanced. By using state affine transformation, the BAM neural networks were converted to SNNMs. Some sufficient conditions for the global asymptotic stability of continuous BAM neural networks were derived from studies on the SNNMs' stability. These conditions were formulated as easily verifiable linear matrix inequalities (LMIs), whose conservativeness is relatively low. The approach proposed extends the known stability results, and can also be applied to other forms of recurrent neural networks (RNNs).
Stability analysis of extended discrete-time BAM neural networks based on LMI approach
Institute of Scientific and Technical Information of China (English)
无
2005-01-01
We propose a new approach for analyzing the global asymptotic stability of the extended discrete-time bidirectional associative memory (BAM) neural networks. By using the Euler rule, we discretize the continuous-time BAM neural networks as the extended discrete-time BAM neural networks with non-threshold activation functions. Here we present some conditions under which the neural networks have unique equilibrium points. To judge the global asymptotic stability of the equilibrium points, we introduce a new neural network model - standard neural network model (SNNM).For the SNNMs, we derive the sufficient conditions for the global asymptotic stability of the equilibrium points, which are formulated as some linear matrix inequalities (LMIs). We transform the discrete-time BAM into the SNNM and apply the general result about the SNNM to the determination of global asymptotic stability of the discrete-time BAM. The approach proposed extends the known stability results, has lower conservativeness, can be verified easily, and can also be applied to other forms of recurrent neural networks.
Methods in Logic Based Control
DEFF Research Database (Denmark)
Christensen, Georg Kronborg
1999-01-01
Desing and theory of Logic Based Control systems.Boolean Algebra, Karnaugh Map, Quine McClusky's algorithm. Sequential control design. Logic Based Control Method, Cascade Control Method. Implementation techniques: relay, pneumatic, TTL/CMOS,PAL and PLC- and Soft_PLC implementation. PLC-design met......Desing and theory of Logic Based Control systems.Boolean Algebra, Karnaugh Map, Quine McClusky's algorithm. Sequential control design. Logic Based Control Method, Cascade Control Method. Implementation techniques: relay, pneumatic, TTL/CMOS,PAL and PLC- and Soft_PLC implementation. PLC...
Wei Guan; Qiao Zhu; Xu-Dong Wang; Xu-Hui Liu
2014-01-01
This paper is concerned with the variable initial states problem in iterative learning control (ILC) for linear continuous systems. Firstly, the properties of the trajectory of 2-D continuous-discrete Roesser model are analyzed by using Lyapunov's method. Then, for any variable initial states which absolutely converge to the desired initial state, some ILC design criteria in the form of linear matrix inequalities (LMI) are given to ensure the convergence of the PD-type ILC rules. The converge...
Institute of Scientific and Technical Information of China (English)
Huang Yiqing; Sun Changyin; Qian Chengshan; Wang Li
2013-01-01
This article proposes a linear parameter varying (LPV) switching tracking control scheme for a flexible air-breathing hypersonic vehicle (FAHV).First,a polytopic LPV model is constructed to represent the complex nonlinear longitudinal model of the FAHV by using Jacobian linearization and tensor-product (T-P) model transformation approach.Second,for less conservative controller design purpose,the flight envelope is divided into four sub-regions and a non-fragile LPV controller is designed for each parameter sub-region.These non-fragile LPV controllers are then switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a specified performance criterion.The desired non-fragile LPV switching controller is found by solving a convex constraint problem which can be efficiently solved using available linear matrix inequality (LMI) techniques,and robust stability analysis of the closed-loop FAHV system is verified based on multiple Lypapunov functions (MLFs).Finally,numerical simulations have demonstrated the effectiveness of the proposed approach.
Stability analysis and design of fuzzy control system with bounded uncertain delays
Institute of Scientific and Technical Information of China (English)
Jianguo GUO; Juntao LI; Fengqi ZHOU; Jun ZHOU
2005-01-01
Fuzzy control problems for systems with bounded uncertain delays were studied.Based on Lyapunov stability theory and matrix theory,a nonlinear state feedback fuzzy controller was designed by linear matrix inequalities (LMI) approach,and the global exponential stability of the closed-loop system was strictly proved.For a fuzzy control system with bounded uncertain delays,under the global exponential stability condition which is reduced to p linear matrix inequalities,the controller guarantees stability performances of state variables.Finally,the simulation shows the validity of the method in this paper.
Robust output feedback H-infinity control and filtering for uncertain linear systems
Chang, Xiao-Heng
2014-01-01
"Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.
Fuzzy Model-based Pitch Stabilization and Wing Vibration Suppression of Flexible Wing Aircraft.
Ayoubi, Mohammad A.; Swei, Sean Shan-Min; Nguyen, Nhan T.
2014-01-01
This paper presents a fuzzy nonlinear controller to regulate the longitudinal dynamics of an aircraft and suppress the bending and torsional vibrations of its flexible wings. The fuzzy controller utilizes full-state feedback with input constraint. First, the Takagi-Sugeno fuzzy linear model is developed which approximates the coupled aeroelastic aircraft model. Then, based on the fuzzy linear model, a fuzzy controller is developed to utilize a full-state feedback and stabilize the system while it satisfies the control input constraint. Linear matrix inequality (LMI) techniques are employed to solve the fuzzy control problem. Finally, the performance of the proposed controller is demonstrated on the NASA Generic Transport Model (GTM).
Wang, Tianbo; Zhou, Wuneng; Zhao, Shouwei; Yu, Weiqin
2014-03-01
In this paper, the robust exponential synchronization problem for a class of uncertain delayed master-slave dynamical system is investigated by using the adaptive control method. Different from some existing master-slave models, the considered master-slave system includes bounded unmodeled dynamics. In order to compensate the effect of unmodeled dynamics and effectively achieve synchronization, a novel adaptive controller with simple updated laws is proposed. Moreover, the results are given in terms of LMIs, which can be easily solved by LMI Toolbox in Matlab. A numerical example is given to illustrate the effectiveness of the method.
Methods in Logic Based Control
DEFF Research Database (Denmark)
Christensen, Georg Kronborg
1999-01-01
Desing and theory of Logic Based Control systems.Boolean Algebra, Karnaugh Map, Quine McClusky's algorithm. Sequential control design. Logic Based Control Method, Cascade Control Method. Implementation techniques: relay, pneumatic, TTL/CMOS,PAL and PLC- and Soft_PLC implementation. PLC...
Adaptive control for a class of discrete-time time-delay systems with regard to delay parameter
Institute of Scientific and Technical Information of China (English)
Chai Lin; Cheng Ming; Fei Shumin; Zhai Junyong
2009-01-01
The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.
Optimal guaranteed cost control for an uncertain discrete T-S fuzzy system with time-delay
Institute of Scientific and Technical Information of China (English)
Renming WANG; Thierry Marie GUERRA; Juntao PAN
2009-01-01
This paper considers the guaranteed cost control problem for a class of uncertain discrete T-S fuzzy systems with time delay and a given quadratic cost function. Sufficient conditions for the existence of such controllers are derived based on the linear matrix inequalities (LMI) approach by constructing a specific nonquadratic Lyapunov-Krasovskii functional and a nonlinear PDC-like control law. A convex optimization problem is also formulated to select the optimal guaranteed cost controller that minimizes the upper bound of the closed-loop cost function. Finally, numerical examples are presented to demonstrate the effectiveness of the proposed approaches.
Utilization-Based Congestion Control
Satoshi Utsumi; Salahuddin Muhammad Salim Zabir
2012-01-01
Traditional connection oriented protocols like TCP NewReno perform poorly over wireless links. Theproblem lies in their design assumptions based on loss based congestion control. Various modificationsto loss based congestion control schemes have so far been proposed to overcome the issue. In addition,the comparatively newer family of delay based congestion control mechanisms like Caia-Hamilton Delay(CHD), offer effective solutions for wireless link loss. All these approaches aim at improving ...
Unfalsified control based on the ? controller parameterisation
Sánchez-Peña, R. S.; Colmegna, P.; Bianchi, F.
2015-11-01
This paper presents an implementation of the unfalsified control (UC) method using the Riccati-based parameterisation of ? controllers. The method provides an infinite controller set to (un)falsify the real-time data streams seeking for the best performance. Different sets may be designed to increase the degrees of freedom of the set of controller candidates to perform UC. In general, a set of m central controllers could be designed, each one seeking different objectives and all with their own parameterisation as a function of a stable and bounded transfer matrix. For example, one controller parameterisation could be designed to solve the robust stability of a model set which covers the physical system, therefore guaranteeing feasibility. The implementation requires the online optimisation of either quadratic fractional or quadratic problems, depending on the selection of the cost function. A multi-input, multi-output (MIMO) time-varying model of a permanent magnet synchronous generator illustrates the use of this technique.
An integrated approach to the design of an aircraft gain scheduled controller
Berglund, Erik
1995-01-01
This thesis addresses the problem of integrated design of the aircraft plant parameters and of the corresponding feedback controller. The plant parameters are typically the sizes of the control surfaces or other aerodynamical surfaces of the aircraft. The approach is to rewrite the aircraft dynamic requirements as linear matrix inequalities (LMI's) and to optimize a linear cost function associated with aircraft plant parameters, while meeting the LMI constraints. An algorithm using Matlab and...
Mixed Gl2/GH2 multi-channel multi-objective control synthesis for discrete time systems
Institute of Scientific and Technical Information of China (English)
颜文俊; 张森林
2004-01-01
This paper proposes a new approach for multi-objective robust control.The approach extends the standard generalized l2(Gl2)and generalized H2(GH2)conditions to a set of new linear matrix inequality(LMI)constraints based on a new stability condition.A technique for variable parameterization is introduced to the multi-objective control problem to preserve the linearity of the synthesis variables.Consequently,the multi-channel multi-objective mixed Gl2/GH2 control problem can be solved less conservatively using computationally tractable algorithms developed in the paper.
Sugiyama, Ryusuke; Kanazawa, Kengo; Seki, Mika; Azuma, Takashi; Sasaki, Akira; Takeuchi, Hideki; Fujiwara, Keisuke; Itani, Kazunori; Tamano, Satoshi; Yoshinaka, Kiyoshi; Takagi, Shu; Matsumoto, Yoichiro
2015-07-01
High-intensity focused ultrasound (HIFU) is one of the noninvasive treatment for tumors. Visualizing the treated area inside the human body is necessary to control the HIFU exposure. Localized motion imaging (LMI) using ultrasound to induce and detect tissue deformation is one technique to detect a change in tissue stiffness caused by thermal coagulation. In experiments with porcine liver, LMI has shown to detect deformation with less than 20% accuracy. We have developed a prototype feedback control system using real-time LMI. In this system, coagulation size was measured every 1 s and controlled to correspond to a targeted size. The typical size error was reduced to 14% from 35%. LMI displacements in normal and coagulated tissues were sufficiently different to discriminate between coagulated areas and noncoagulated ones after HIFU sonication and to visualize treated areas after HIFU treatment.
H∞ Enhanced Control Design of Discrete-Time Takagi-Sugeno State-Multiplicative Noisy Systems
Directory of Open Access Journals (Sweden)
Dušan Krokavec
2014-01-01
Full Text Available Design conditions for existence of the H∞ state feedback control for Takagi-Sugeno fuzzy discrete-time stochastic systems with state-multiplicative noise, stabilizing the closed-loop in such way that the quadratic performance in the mean is satisfied, are presented in the paper. Using newly introduced enhanced form of the bounded real lemma for such stochastic systems, the LMI-based procedure is provided for computation of gain matrices of the state control law, realized in the parallel distributed compensation structure. The approach is illustrated on an example, demonstrating the validity of the proposed method.
A new positive real characterization and robust positive real control of descriptor systems
Institute of Scientific and Technical Information of China (English)
Hanyong SHAO; Chunbo FENG
2005-01-01
This paper investigates the positive real control problem for uncertain descriptor systems.The parametric uncertainty is assumed to be norm bounded.Firstly,for the nominal system,a new positive real characterization is given,which is expressed by a strict linear matrix inequality(LMI) without equality constraints.Secondly,for the uncertain system,necessary and sufficient conditions for the solvability of the positive real control problem are derived.Based on these conditioos a state feedback law is obtained,which renders the resultant closed-loop system robustly positive real.
Exponential stability of a PI plus reset integrator controller by a sampled-data system approach
Davó, M. A.; Gouaisbaut, F.; Baños, A; Tarbouriech, S.; Seuret, A.
2016-01-01
The paper deals with the stability analysis of time-delay reset control systems, for which the resetting law is assumed to satisfy a time-dependent condition. A stability analysis of the closed-loop system is performed based on an appropriate sampled-data system. New linear matrix inequality (LMI) conditions are proposed to ensure the exponential stability of the closed-loop resulting of the connection of a plant with a proportional and integral controller together with a reset integrator (PI...
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearched. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtained by using switched Lyapunov function.Then,based on the characterization,a linear matrix inequality (LMI)approach is developed to design a switched output feedback controller which guarantees the stability and H∞ performance of the closed-loop system.A numerical example is presented to demonstrate the application of the proposed method.
Process control using reliability based control charts
Directory of Open Access Journals (Sweden)
J.K. Jacob
2008-12-01
Full Text Available Purpose: The paper presents the method to monitor the mean time between failures (MTBF and detect anychange in intensity parameter. Here, a control chart procedure is presented for process reliability monitoring.Control chart based on different distributions are also considered and were used in decision making. Results anddiscussions are presented based on the case study at different industries.Design/methodology/approach: The failure occurrence process can be modeled by different distributions likehomogeneous Poisson process, Weibull model etc. In each case the aim is to monitor the mean time betweenfailure (MTBF and detect any change in intensity parameter. When the process can be described by a Poissonprocess the time between failures will be exponential and can be used for reliability monitoring.Findings: In this paper, a new procedure based on the monitoring of time to observe r failures is also proposedand it can be more appropriate for reliability monitoring.Practical implications: This procedure is useful and more sensitive when compared with the λ-chart although itwill wait until r failures for a decision. These charts can be regarded as powerful tools for reliability monitoring.λr gives more accurate results than λ-chart.Originality/value: Adopting these measures to system of equipments can increase the reliability and availabilityof the system results in economic gain. A homogeneous Poisson process is usually used to model the failureoccurrence process with certain intensity.
Flexible-link Robot Control Using a Linear Parameter Varying Systems Methodology
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Houssem Halalchi
2014-03-01
Full Text Available This paper addresses the issues of the Linear Parameter Varying (LPV modelling and control of flexible-link robot manipulators. The LPV formalism allows the synthesis of nonlinear control laws and the assessment of their closed-loop stability and performances in a simple and effective manner, based on the use of Linear Matrix Inequalities (LMI. Following the quasi-LPV modelling approach, an LPV model of a flexible manipulator is obtained, starting from the nonlinear dynamic model stemming from Euler-Lagrange equations. Based on this LPV model, which has a rational dependence in terms of the varying parameters, two different methods for the synthesis of LPV controllers are explored. They guarantee the asymptotic stability and some level of closed-loop L2-gain performance on a bounded parametric set. The first method exploits a descriptor representation that simplifies the rational dependence of the LPV model, whereas the second one manages the troublesome rational dependence by using dilated LMI conditions and taking the particular structure of the model into account. The resulting controllers involve the measured state variables only, namely the joint positions and velocities. Simulation results are presented that illustrate the validity of the proposed control methodology. Comparisons with an inversion-based nonlinear control method are performed in the presence of velocity measurement noise, model uncertainties and high-frequency inputs.
Guaranteed Cost Fault-Tolerant Control for Networked Control Systems with Sensor Faults
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Qixin Zhu
2015-01-01
Full Text Available For the large scale and complicated structure of networked control systems, time-varying sensor faults could inevitably occur when the system works in a poor environment. Guaranteed cost fault-tolerant controller for the new networked control systems with time-varying sensor faults is designed in this paper. Based on time delay of the network transmission environment, the networked control systems with sensor faults are modeled as a discrete-time system with uncertain parameters. And the model of networked control systems is related to the boundary values of the sensor faults. Moreover, using Lyapunov stability theory and linear matrix inequalities (LMI approach, the guaranteed cost fault-tolerant controller is verified to render such networked control systems asymptotically stable. Finally, simulations are included to demonstrate the theoretical results.
Guo, Xiang-Gui; Yang, Guang-Hong
2013-04-01
The problem of designing insensitive H ∞ output tracking controller for discrete-time systems is studied in a unified framework by using the delta operator approach. A type of coefficient sensitivity performance measure is first developed tomeasure the sensitivity of the transfer function with respect to controller coefficient variations, and the corresponding controller design problem is naturally reformulated as a mixed-objective H ∞ control problem. It is worth mentioning that a novel bounded real lemma (BRL), i.e. Theorem 1 in this article, for delta operator systems is obtained, which is adapted to deal with the multi-objective optimisation problem or polytopic uncertain systems in a potentially less conservative framework. Then, based on the novel lemma, an linear matrix inequality (LMI)-based design method is proposed for achieving the output tracking purpose. Finally, a numerical example based on the linearised model of F-18 aircraft is given to illustrate the effectiveness of the proposed method.
Fuzzy logic based robotic controller
Attia, F.; Upadhyaya, M.
1994-01-01
Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.
Li, Zhifu; Hu, Yueming; Li, Di
2016-08-01
For a class of linear discrete-time uncertain systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which is comprised of an iterative learning controller and two current iteration feedback controllers. The iterative learning controller is used to improve the performance along the iteration direction and the feedback controllers are used to improve the performance along the time direction. First of all, the uncertain feedback feed-forward ILC system is presented by an uncertain two-dimensional Roesser model system. Then, two robust control schemes are proposed. One can ensure that the feedback feed-forward ILC system is bounded-input bounded-output stable along time direction, and the other can ensure that the feedback feed-forward ILC system is asymptotically stable along time direction. Both schemes can guarantee the system is robust monotonically convergent along the iteration direction. Third, the robust convergent sufficient conditions are given, which contains a linear matrix inequality (LMI). Moreover, the LMI can be used to determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed schemes.
Directory of Open Access Journals (Sweden)
Yi-You Hou
2014-01-01
Full Text Available This paper considers the problem of the robust stability for the nonlinear system with time-varying delay and parameters uncertainties. Based on the H∞ theorem, Lyapunov-Krasovskii theory, and linear matrix inequality (LMI optimization technique, the H∞ quasi-sliding mode controller and switching function are developed such that the nonlinear system is asymptotically stable in the quasi-sliding mode and satisfies the disturbance attenuation (H∞-norm performance. The effectiveness and accuracy of the proposed methods are shown in numerical simulations.
Enhanced LMI Representations for H2 Performance of Polytopic Uncertain Systems: Continuous-time Case
Institute of Scientific and Technical Information of China (English)
Ai-Guo Wu; Guang-Ren Duan
2006-01-01
Based on two recent results, several new criteria of H2 performance for continuous-time linear systems are established by introducing two slack matrices. When used in robust analysis of systems with polytopic uncertainties, they can reduce conservatism inherent in the earlier quadratic method and the established parameter-dependent Lyapunov function approach. Two numerical examples are included to illustrate the feasibility and advantage of the proposed representations.
Robust reliable control design for networked control system with sampling communication
Sakthivel, R.; Santra, Srimanta; Mathiyalagan, K.; Su, Hongye
2015-12-01
In this article, the problem of robust exponential stability and reliable stabilisation for a class of continuous-time networked control systems (NCSs) with a sample-data controller and unknown time-varying sampling rate is considered. The analysis is based on average dwell-time, Lyapunov-Krasovskii functional and linear matrix inequality (LMI) technique. The delay-dependent criteria are developed for ensuring the robust exponential stability of the considered NCSs. The obtained conditions are formulated in terms of LMIs that can easily be solved by using standard software packages. Furthermore, the result is extended to study the robust stabilisation for NCS with parameter uncertainties. A state feedback controller is constructed in terms of the solution to a set of LMIs, which guarantee the robust exponential stabilisation of NCS and the controller. Finally, numerical examples are presented to illustrate the effectiveness of the obtained results.
Fuzzy robust attitude controller design for hydrofoil catamaran
Institute of Scientific and Technical Information of China (English)
Ren Junsheng; Yang Yansheng
2005-01-01
A robust attitude controller for hydrofoil catamaran throughout its operating envelope is proposed, based on Tagaki-Sugeno (T-S) fuzzy model. Firstly, T-S fuzzy model and robust attitude control strategy for hydrofoil catamaran is presented by use of linear matrix inequality (LMI) techniques. Secondly, a nonlinear mathematical model of hydrofoil catamaran is established, acting as the platform for further researches. The specialty in interpolation of T-S fuzzy model guarantees that feedback gain can be obtained smoothly, while boat's speed is shifting over the operating envelope. The external disturbances are also attenuated to achieve H∞ control performance, meanwhile. Finally, based on such a boat,HC200B-A1, simulation researches demonstrate the design procedures and the effectiveness of fuzzy robust attitude controller.
Bluetooth Based Android Controlled Robot
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Rowjatul Zannat Eshita
2016-06-01
Full Text Available The project aims in designing a Robot that can be operated using Android Apps. The controlling of the Robot is done wirelessly through Android smart phone using the Bluetooth module feature present in it. Here in the project the Android smart phone is used as a remote control for operating the Robot. Android is a software stack for mobile devices that includes an operating system, middleware and key applications. Android boasts a healthy array of connectivity options, including Wi-Fi, Bluetooth, and wireless data over a cellular connection (for example, GPRS, EDGE (Enhanced Data rates for GSM Evolution, and 3G. Android provides access to a wide range of useful libraries and tools that can be used to build rich applications. Bluetooth is an open standard specification for a radio frequency (RF-based, short-range connectivity technology that promises to change the face of computing and wireless communication. It is designed to be an inexpensive, wireless networking system for all classes of portable devices, such as laptops, PDAs (personal digital assistants, and mobile phones. The controlling device of the whole system is a Microcontroller. Bluetooth module, DC motors are interfaced to the Microcontroller. The data received by the Bluetooth module from Android smart phone is fed as input to the controller. The controller acts accordingly on the DC motors of the Robot. The robot in the project can be made to move in all the four directions using the Android phone. The direction of the robot is indicated using LED indicators of the Robot system. In achieving the task the controller is loaded with a program written using Embedded ‘C’ language.
Multi-objective optimization framework for networked predictive controller design.
Das, Sourav; Das, Saptarshi; Pan, Indranil
2013-01-01
Networked Control Systems (NCSs) often suffer from random packet dropouts which deteriorate overall system's stability and performance. To handle the ill effects of random packet losses in feedback control systems, closed over communication network, a state feedback controller with predictive gains has been designed. To achieve improved performance, an optimization based controller design framework has been proposed in this paper with Linear Matrix Inequality (LMI) constraints, to ensure guaranteed stability. Different conflicting objective functions have been optimized with Non-dominated Sorting Genetic Algorithm-II (NSGA-II). The methodology proposed in this paper not only gives guaranteed closed loop stability in the sense of Lyapunov, even in the presence of random packet losses, but also gives an optimization trade-off between two conflicting time domain control objectives.
Directory of Open Access Journals (Sweden)
Cheng-Dong Yang
2014-01-01
Full Text Available This paper addresses the problem of robust H∞ control design via the proportional-spatial derivative (P-sD control approach for a class of nonlinear distributed parameter systems modeled by semilinear parabolic partial differential equations (PDEs. By using the Lyapunov direct method and the technique of integration by parts, a simple linear matrix inequality (LMI based design method of the robust H∞ P-sD controller is developed such that the closed-loop PDE system is exponentially stable with a given decay rate and a prescribed H∞ performance of disturbance attenuation. Moreover, a suboptimal H∞ controller is proposed to minimize the attenuation level for a given decay rate. The proposed method is successfully employed to address the control problem of the FitzHugh-Nagumo (FHN equation, and the achieved simulation results show its effectiveness.
Institute of Scientific and Technical Information of China (English)
Zhang Yougang; Xu Bugong
2006-01-01
Decentralized robust stabilization problem of discrete-time fuzzy large-scale systems with parametric uncertainties is considered. This uncertain fuzzy large-scale system consists of N interconnected T-S fuzzy subsystems, and the parametric uncertainties are unknown but norm-bounded. Based on Lyapunov stability theory and decentralized control theory of large-scale system, the design schema of decentralized parallel distributed compensation (DPDC) fuzzy controllers to ensure the asymptotic stability of the whole fuzzy large-scale system is proposed. The existence conditions for these controllers take the forms of LMIs. Finally a numerical simulation example is given to show the utility of the method proposed.
Software based controls module development
Energy Technology Data Exchange (ETDEWEB)
Graves, v.b.; kelley, g; welch, j.c.
1999-12-10
A project was initiated at the Oak Ridge Y-12 Plant to implement software geometric error compensation within a PC-based machine tool controller from Manufacturing Data Systems, Inc. This project may be the first in which this type of compensation system was implemented in a commercially available machine tool controller totally in software. Previous implementations typically required using an external computer and hardware to interface through the position feedback loop of the controller because direct access to the controller software was not available. The test-bed machine for this project was a 2-axis Excello 921 T-base lathe. A mathematical error model of the lathe was created using homogeneous transformation matrices to relate the positions of the machine's slides to each other and to a world reference system. Equations describing the effects of the geometric errors were derived from the model. A software architecture was developed to support geometric error compensation for machine tools with up to 3 linear axes. Rotary axes were not supported in this implementation, but the developed architecture would not preclude their support in the future. Specific implementations will be dependent upon the configuration of the machine tool. A laser measuring system from Automated Precision, Inc. was used to characterize the lathe's geometric errors as functions of axis position and direction of motion. Multiple data files generated by the laser system were combined into a single Error File that was read at system startup and used by the compensation system to provide real-time position adjustments to the axis servos. A Renishaw Ballbar was used to evaluate the compensation system. Static positioning tests were conducted in an attempt to observe improved positioning accuracy with the compensation system enabled. These tests gave inconsistent results due to the lathe's inability to position the tool repeatably. The development of the architecture and
Institute of Scientific and Technical Information of China (English)
年晓红; 杨莹; 黄琳
2005-01-01
This paper deals with a general class of optimization problems in robust control with given expectation value of performance index, which can be transformed into the problem of matrix approximation with matrix inequalities constraints. Theorem for existence and the uniqueness of the solutions of matrix approximation with linear matrix inequalities (LMIs) constraints is presented and algorithms for solving the problems of matrix approximation with matrix inequalities constraints are given based on the fact that such problems can be converted into the generalized eigenvalue problem (GEVP) of LMI. Examples are given to illustrate the main results of the paper.
Synchronization and Control of Linearly Coupled Singular Systems
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Fang Qingxiang
2013-01-01
Full Text Available The synchronization and control problem of linearly coupled singular systems is investigated. The uncoupled dynamical behavior at each node is general and can be chaotic or, otherwise the coupling matrix is not assumed to be symmetrical. Some sufficient conditions for globally exponential synchronization are derived based on Lyapunov stability theory. These criteria, which are in terms of linear matrix inequality (LMI, indicate that the left and right eigenvectors corresponding to eigenvalue zero of the coupling matrix play key roles in the stability analysis of the synchronization manifold. The controllers are designed for state feedback control and pinning control, respectively. Finally, a numerical example is provided to illustrate the effectiveness of the proposed conditions.
SMS BASED REMOTE CONTROL SYSTEM
Directory of Open Access Journals (Sweden)
Reecha Ranjan Singh , Sangeeta Agrawal , Saurabh Kapoor ,S. Sharma
2011-08-01
Full Text Available A modern world contains varieties of electronic equipment and systems like: TV, security system, Hi-fi equipment, central heating systems, fire alarm systems, security alarm systems, lighting systems, SET Top Box, AC (Air Conditioner etc., we need to handle, ON/OFF or monitor these electrical devices remotely or to communicate with these but, if you are not at the home or that place and you want to communicate with these device. So the new technology for handled these devices remotely and for communication to required the GSM, mobile technology, SMS (short message service and some hardware resources. SMS based remote control for home appliances is beneficial for the human generation, because mobile is most recently used technology nowadays.
Fuzzy cascade control based on control's history for superheated temperature
Institute of Scientific and Technical Information of China (English)
WANG Guangjun; LI Gang; SHEN Shuguang
2007-01-01
To address the characteristics of the large delay and uncertainty of superheated temperature,a new cascade control system is presented based on control's history.Based on the analysis of the control objects' dynamic characteristics,historical control information (substituting for the deviation change rate) is used as the basis for decision-making of the fuzzy control.Therefore,the changing trend of the controlled variable can be accurately reflected.Furthermore,a proportional component is introduced,the advantages of PID and fuzzy controllers are integrated,and the structure weaknesses of conventional fuzzy controllers are overcome.Simulation shows that this control method can effectively reduce the adverse impact of the delay on control effects and,therefore,exhibit strong adaptability by comparing the superheated temperature control system by this controller with PID and conventional fuzzy controllers.
Institute of Scientific and Technical Information of China (English)
刘碧玉; 桂卫华; 吴敏
2005-01-01
Passivity is not only an important property of a system,but also an important approach to control a system. Based on decentralized control method, the passivity of interconnected systems with time-delays is studied. Employing Lyapunov-Krasovskii functional method and Hamiltonian function method, the decentralized and passive controllers are presented explicitly by solving some linear matrix inequalities (LMIs). The new passivity criteria and the parameters of the passive controllers presented here are delay-dependent. By using the LMI toolbox in software Matlab, the conditions in the new results are easy to be verified and the parameters of the passive controllers are easy to be well set too, when the interconnected delays are known. A numerical example illustrates the availability of the theorems of passivity and the design procedure of the passive controllers.%无源性不仅是系统的一个重要性质,而且是控制一个系统的重要途径.本文基于分散控制方法研究了关联大系统的无源性.利用Lyapunov-Krasovskii泛函方法和Hamilton函数方法,通过求解线性矩阵不等式(LMIs)得到了分散无源控制器的显式表达.所得到的新的无源性判据和无源控制器的参数是与时滞相关的.当关联时滞已知时,这些新结果的条件易于用Matlab中的LMI工具箱进行验证,因而控制器的设计也容易实现.最后用数值例子说明了所得到定理的有效性和无源控制器的设计过程.
Control of Unknown Chaotic Systems Based on Neural Predictive Control
Institute of Scientific and Technical Information of China (English)
LIDong-Mei; WANGZheng-Ou
2003-01-01
We introduce the predictive control into the control of chaotic system and propose a neural network control algorithm based on predictive control. The proposed control system stabilizes the chaotic motion in an unknown chaotic system onto the desired target trajectory. The proposed algorithm is simple and its convergence speed is much higher than existing similar algorithms. The control system can control hyperchaos. We analyze the stability of the control system and prove the convergence property of the neural controller. The theoretic derivation and simulations demonstrate the effectiveness of the algorithm.
Agent-Based Cooperative Control
2005-12-01
IEEE Transactions on Automatic Control , vol. 45, issue 12, Dec, 2000, pp. 2253-2270. [15] A. M. Bloch, Dong Eui Chang, N. E. Leonard, J. E...Marsden, “Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping,” IEEE Transactions on Automatic Control , vol. 46...a new approach to constructive nonlinear control,” IEEE Transactions on Automatic Control , Volume 49, Issue 7, July
Robust linear parameter varying induction motor control with polytopic models
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Dalila Khamari
2013-01-01
Full Text Available This paper deals with a robust controller for an induction motor which is represented as a linear parameter varying systems. To do so linear matrix inequality (LMI based approach and robust Lyapunov feedback controller are associated. This new approach is related to the fact that the synthesis of a linear parameter varying (LPV feedback controller for the inner loop take into account rotor resistance and mechanical speed as varying parameter. An LPV flux observer is also synthesized to estimate rotor flux providing reference to cited above regulator. The induction motor is described as a polytopic model because of speed and rotor resistance affine dependence their values can be estimated on line during systems operations. The simulation results are presented to confirm the effectiveness of the proposed approach where robustness stability and high performances have been achieved over the entire operating range of the induction motor.
LMI Condition of Quadratic D-stability for a Class of Uncertain Linear Systems%一类不确定线性系统二次D-稳定的LMI条件
Institute of Scientific and Technical Information of China (English)
周武能; 苏宏业; 褚健
2005-01-01
A necessary and sufficient condition of the quadratic D-stability for a class of uncertain linear systems is presented in terms of linear matrix inequslity (LMI) technology. Finally, the validity and less conservatism of the obtained results in this paper are illustrated by a benchmark example.
Microprocessor-Based Valved Controller
Norman, Arnold M., Jr.
1987-01-01
New controller simpler, more precise, and lighter than predecessors. Mass-flow controller compensates for changing supply pressure and temperature such as occurs when gas-supply tank becomes depleted. By periodically updating calculation of mass-flow rate, controller determines correct new position for valve and keeps mass-flow rate nearly constant.
Robust H∞ output-feedback control for path following of autonomous ground vehicles
Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed
2016-03-01
This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.
具有随机丢包的网络控制系统的镇定%Stabilization of networked control systems with random packet dropouts
Institute of Scientific and Technical Information of China (English)
高守婉; 唐功友
2011-01-01
The stabilization problem for networked control systems(NCS) with random packet dropouts is studied in this paper. Both sensor-to-controller(S/C) and controller-to-actuator(C/A) packet dropouts are considered, which are modeled respectively. Based on Lyapunov stability theory, sufficient condition is derived, which ensures the globally mean-square asymptotically stability for the closed-loop systems. Moreover, the gain matrix of the state feedback control law is obtained by using the linear matrix inequality(LMI) approach. Numerical examples illustrate the effectiveness of the results.%研究具有随机丢包的网络控制系统(NCS)的镇定问题.同时考虑传感器节点到控制器节点(S/C)和控制器节点到执行器节点(C/A)的随机丢包,并分别对这两种丢包现象建模.幕于Lyapunov稳定性理论.得到闭环系统令局均方渐近稳定的充分条件.进一步利用线性矩阵不等式(LMI)方法,得到状态反馈控制律的增益矩阵.数值仿真算例验证了所得结果的有效性.
Li, Zhijun; Su, Chun-Yi
2013-09-01
In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.
Satisfactory fault-tolerant controller design for uncertain systems subject to actuator faults
Institute of Scientific and Technical Information of China (English)
Zhang Dengfeng; Su Hongye; Wang Zhiquan
2008-01-01
Based on satisfactory control strategy, a new method for robust passive fault tolerant controller is proposed for a class of uncertain discrete-time systems subject to actuator faults. The state-feedback gain matrix is calculated by linear matrix inequality (LMI) technique. The designed controller guarantees that the closed-loop system meets the pre-specified consistent constraints on circular pole index and steady-state variance index simultaneously for normal case and possible actuator fault case. The consistency of the performance indices is discussed. Furthermore, with the mentioned indices constraints, a solution is obtained by convex optimal technique for the robust satisfactory fault-tolerant controller with optimal control-cost.
Control of Unknown Chaotic Systems Based on Neural Predictive Control
Institute of Scientific and Technical Information of China (English)
LI Dong-Mei; WANG Zheng-Ou
2003-01-01
We introduce the predictive control into the control of chaotic system and propose a neural networkcontrol algorithm based on predictive control. The proposed control system stabilizes the chaotic motion in an unknownchaotic system onto the desired target trajectory. The proposed algorithm is simple and its convergence speed is muchhigher than existing similar algorithms. The control system can control hyperchaos. We analyze the stability of thecontrol system and prove the convergence property of the neural controller. The theoretic derivation and simulationsdemonstrate the effectiveness of the algorithm.
Directory of Open Access Journals (Sweden)
Francisco Palacios-Quiñonero
2014-07-01
Full Text Available In this paper, we present a novel two-step strategy for static output-feedback controller design. In the first step, an optimal state-feedback controller is obtained by means of a linear matrix inequality (LMI formulation. In the second step, a transformation of the LMI variables is used to derive a suitable LMI formulation for the static output-feedback controller. This design strategy can be applied to a wide range of practical problems, including vibration control of large structures, control of offshore wind turbines, control of automotive suspensions, vehicle driving assistance and disturbance rejection. Moreover, it allows designing decentralized and semi-decentralized static output-feedback controllers by setting a suitable zero-nonzero structure on the LMI variables. To illustrate the application of the proposed methodology, two centralized static velocity-feedback H-Infinity controllers and two fully decentralized static velocity-feedback H-Infinity controllers are designed for the seismic protection of a five-story building.
Audit-based compliance control
Cederquist, J.G.; Corin, R.; Dekker, M.A.C.; Etalle, S.; Hartog, J.I. den; Lenzini, G.
2007-01-01
In this paper we introduce a new framework for controlling compliance to discretionary access control policies [Cederquist et al. in Proceedings of the International Workshop on Policies for Distributed Systems and Networks (POLICY), 2005; Corin et al. in Proceedings of the IFIP Workshop on Formal A
Institute of Scientific and Technical Information of China (English)
童长飞; 章辉; 孙优贤
2007-01-01
By means of polynomial decomposition, a control scheme for polynomial nonlinear systems with affine timevarying uncertain parameters is presented. The idea of polynomial decomposition is to convert the coefficients of polynomial into a matrix with free variables, so that the nonnegativity of polynomials with even orders can be checked by linear matrix inequality (LMI) solvers or bilinear matrix inequality (BMI)solvers. Control synthesis for polynomial nonlinear system is based on Lyapunov stability theorem in this paper. Constructing Lyapunov function and finding feedback controller are automatically finished by computer programming with algorithms given in this paper. For multidimension systems with relatively high-order controller, the controller constructed with full monomial base will be in numerous terms. To overcome this problem,the reduced-form controller with minimum monomial terms is derived by the proposed algorithm. Then a suboptimal control aiming at minimum cost performance with gain constraints is advanced. The control scheme achieves effective performance as illustrated by numerical examples.
Institute of Scientific and Technical Information of China (English)
Zhihu WU; Run PEI
2009-01-01
This paper proposes a delay-dependent guaranteed cost control scheme for engine idle speed control (ISC) with induction-to-torque delay and external load disturbance.An augmented linearization model of engine at idle speed operating mode was developed based on physical principle and experiment data.To provide a compromise between disturbance rejection and other performance requirements of ISC,a multi-objective cost function upper bound was given,which can help us to take into account the fuel economy and disturbance rejection performance together in ISC.Poles constraint was added to the closed-loop system to guarantee convergence rates of state.The whole optimization solution to ISC can be solved under the framework of LMI.A commercial engine model was utilized to assess the performance of the controller.Simulation results on this model show us that designed controller can achieve desired performance.
Noninteracting control of nonlinear systems based on relaxed control
Jayawardhana, B.
2010-01-01
In this paper, we propose methodology to solve noninteracting control problem for general nonlinear systems based on the relaxed control technique proposed by Artstein. For a class of nonlinear systems which cannot be stabilized by smooth feedback, a state-feedback relaxed control can be designed to
Robust Moving Horizon H∞ Control of Discrete Time-Delayed Systems with Interval Time-Varying Delays
Directory of Open Access Journals (Sweden)
F. Yıldız Tascikaraoglu
2014-01-01
Full Text Available In this study, design of a delay-dependent type moving horizon state-feedback control (MHHC is considered for a class of linear discrete-time system subject to time-varying state delays, norm-bounded uncertainties, and disturbances with bounded energies. The closed-loop robust stability and robust performance problems are considered to overcome the instability and poor disturbance rejection performance due to the existence of parametric uncertainties and time-delay appeared in the system dynamics. Utilizing a discrete-time Lyapunov-Krasovskii functional, some delay-dependent linear matrix inequality (LMI based conditions are provided. It is shown that if one can find a feasible solution set for these LMI conditions iteratively at each step of run-time, then we can construct a control law which guarantees the closed-loop asymptotic stability, maximum disturbance rejection performance, and closed-loop dissipativity in view of the actuator limitations. Two numerical examples with simulations on a nominal and uncertain discrete-time, time-delayed systems, are presented at the end, in order to demonstrate the efficiency of the proposed method.
Institute of Scientific and Technical Information of China (English)
马静; 高翔; 李益楠; 邱扬
2016-01-01
An adaptive control strategy based on continuous Markov model for time-varying power system is proposed to deal with the large variation in operating condition of power system caused by the wind generator output fluctuation.First, Lyapunov functional containing a continuous Markov model of time-varying power system is developed and Dynkin lemma is used to deduce the robust stochastic stabilization theorem with H ∞ norm boundγ.On this basis,Schur complement lemma is used to deduce robust stochastic stabilization linear matrix inequalities (LMI) meeting decay rate γ and minimum variance constraints considering steady-state variance constraints of various operating conditions.Then it is turned into a minimization problem of linear objective function to obtain the sub-controllers.The operating condition is identified online with the stochastic gradient method and the weighted coefficient of each condition is determined to construct the adaptive control strategy.Time-domain simulation results show that the strategy has efficiently solved the problem that fixed fault sets cannot be matched with current operating condition reasonably.%针对风电机组出力波动等时变因素导致电力系统运行工况变化较大的问题，提出了一种基于连续马尔可夫(Markov)模型的时变电力系统自适应控制策略。首先，构建含连续 Markov 时变电力系统模型的 Lyapunov 泛函，利用 Dynkin 引理，推导出具有 H ∞范数界γ的鲁棒随机稳定性定理。在此基础上，利用 Schur 补引理，考虑系统各子工况下稳态方差约束，推导出满足干扰衰减度γ和最小方差约束的鲁棒随机稳定线性矩阵不等式(LMI)，并将该 LMI 转化为线性目标函数的最小化问题求解各子控制器。然后，利用随机梯度法辨识系统工况，确定各子控制器加权系数，构造自适应控制策略。时域仿真表明，该控制策略有效避免了固定故障集无法与当前工况合理匹配的问题。
An ellipsoid algorithm for probabilistic robust controller design
Kanev, S.K.; de Schutter, B.; Verhaegen, M.H.G.
2003-01-01
In this paper, a new iterative approach to probabilistic robust controller design is presented, which is applicable to any robust controller/filter design problem that can be represented as an LMI feasibility problem. Recently, a probabilistic Subgradient Iteration algorithm was proposed for solving
H∞ State Feedback Delay-dependent Control for Discrete Systems with Multi-time-delay
Institute of Scientific and Technical Information of China (English)
Bai-Da Qu
2005-01-01
In this paper,H∞ state feedback control with delay information for discrete systems with multi-time-delay is discussed. Making use of linear matrix inequality (LMI) approach, a time-delay-dependent criterion for a discrete system with multi-time-delay to satisfy H∞ performance indices is induced, and then a strategy for H∞ state feedback control with delay values for plant with multi-time-delay is obtained. By solving corresponding LMI, a delay-dependent state feedback controller satisfying H∞ performance indices is designed. Finally, a simulation example demonstrates the validity of the proposed approach.
A Lyapunov theory based UPFC controller for power flow control
Energy Technology Data Exchange (ETDEWEB)
Zangeneh, Ali; Kazemi, Ahad; Hajatipour, Majid; Jadid, Shahram [Center of Excellence for Power Systems Automation and Operation, Iran University of Science and Technology, Tehran (Iran)
2009-09-15
Unified power flow controller (UPFC) is the most comprehensive multivariable device among the FACTS controllers. Capability of power flow control is the most important responsibility of UPFC. According to high importance of power flow control in transmission lines, the proper controller should be robust against uncertainty and disturbance and also have suitable settling time. For this purpose, a new controller is designed based on the Lyapunov theory and its stability is also evaluated. The Main goal of this paper is to design a controller which enables a power system to track reference signals precisely and to be robust in the presence of uncertainty of system parameters and disturbances. The performance of the proposed controller is simulated on a two bus test system and compared with a conventional PI controller. The simulation results show the power and accuracy of the proposed controller. (author)
Bluetooth Based Android Controlled Robot
National Research Council Canada - National Science Library
Rowjatul Zannat Eshita; Tanwy Barua; Arzon Barua; Anik Mahamood Dip
2016-01-01
The project aims in designing a Robot that can be operated using Android Apps. The controlling of the Robot is done wirelessly through Android smart phone using the Bluetooth module feature present...
Formation control for a network of small-scale robots.
Kim, Yoonsoo
2014-10-01
In this paper, a network of small-scale robots (typically centimeter-scale robots) equipped with artificial actuators such as electric motors is considered. The purpose of this network is to have the robots keep a certain formation shape (or change to another formation shape) during maneuvers. The network has a fixed communication topology in the sense that robots have a fixed group of neighbors to communicate during maneuvers. Assuming that each robot and its actuator can be modeled as a linear system, a decentralized control law (such that each robot activates its actuator based on the information from its neighbors only) is introduced to achieve the purpose of formation keeping or change. A linear matrix inequality (LMI) for deriving the upper bound on the actuator's time constant is also presented. Simulation results are shown to demonstrate the merit of the introduced control law.
Modified active disturbance rejection control for time-delay systems.
Zhao, Shen; Gao, Zhiqiang
2014-07-01
Industrial processes are typically nonlinear, time-varying and uncertain, to which active disturbance rejection control (ADRC) has been shown to be an effective solution. The control design becomes even more challenging in the presence of time delay. In this paper, a novel modification of ADRC is proposed so that good disturbance rejection is achieved while maintaining system stability. The proposed design is shown to be more effective than the standard ADRC design for time-delay systems and is also a unified solution for stable, critical stable and unstable systems with time delay. Simulation and test results show the effectiveness and practicality of the proposed design. Linear matrix inequality (LMI) based stability analysis is provided as well.
Adaptive fuzzy controllers based on variable universe
Institute of Scientific and Technical Information of China (English)
李洪兴
1999-01-01
Adaptive fuzzy controllers by means of variable universe are proposed based on interpolation forms of fuzzy control. First, monotonicity of control rules is defined, and it is proved that the monotonicity of interpolation functions of fuzzy control is equivalent to the monotonicity of control rules. This means that there is not any contradiction among the control rules under the condition for the control rules being monotonic. Then structure of the contraction-expansion factor is discussed. At last, three models of adaptive fuzzy control based on variable universe are given which are adaptive fuzzy control model with potential heredity, adaptive fuzzy control model with obvious heredity and adaptive fuzzy control model with successively obvious heredity.
Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control
Directory of Open Access Journals (Sweden)
Mbaitiga Zacharie
2010-01-01
Full Text Available Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controller for robot motion control in indoor and outdoor environment. Approach: The proposed method consisted of two components: the process monitor that detects changes in the process characteristics and the adaptation mechanism that used information passed to it by the process monitor to update the controller parameters. Results: Experimental evaluation had been done in both indoor and outdoor environment where the robot communicates with the base station through its Wireless fidelity antenna and the performance monitor used a set of five performance criteria to access the fuzzy knowledge based controller. Conclusion: The proposed method had been found to be robust.
Jia, Qingxian; Chen, Wen; Zhang, Yingchun; Li, Huayi
2016-12-01
This paper addresses the problem of integrated fault reconstruction and fault-tolerant control in linear systems subject to actuator faults via learning observers (LOs). A reconfigurable fault-tolerant controller is designed based on the constructed LO to compensate for the influence of actuator faults by stabilising the closed-loop system. An integrated design of the proposed LO and the fault-tolerant controller is explored such that their performance can be simultaneously considered and their coupling problem can be effectively solved. In addition, such an integrated design is formulated in terms of linear matrix inequalities (LMIs) that can be conveniently solved in a unified framework using LMI optimisation technique. At last, simulation studies on a micro-satellite attitude control system are provided to verify the effectiveness of the proposed approach.
Novel controller design demonstration for vibration alleviation of helicopter rotor blades
Ulker, Fatma Demet; Nitzsche, Fred
2012-04-01
This paper presents an advanced controller design methodology for vibration alleviation of helicopter rotor sys- tems. Particularly, vibration alleviation in a forward ight regime where the rotor blades experience periodically varying aerodynamic loading was investigated. Controller synthesis was carried out under the time-periodic H2 and H∞ framework and the synthesis problem was solved based on both periodic Riccati and Linear Matrix Inequality (LMI) formulations. The closed-loop stability was analyzed using Floquet-Lyapunov theory, and the controller's performance was validated by closed-loop high-delity aeroelastic simulations. To validate the con- troller's performance an actively controlled trailing edge ap strategy was implemented. Computational cost was compared for both formulations.
Gesture & Speech Based Appliance Control
Directory of Open Access Journals (Sweden)
Dr. Sayleegharge,
2014-01-01
Full Text Available This document explores the use of speech & gestures to control home appliances. Aiming at the aging population of the world and relieving them from their dependencies. The two approaches used to sail through the target are the MFCC approach for speech processing and the Identification of Characteristic Point Algorithm for gesture recognition. A barrier preventing wide adoption is that this audience can find controlling assistive technology difficult, as they are less dexterous and computer literate. Our results hope to provide a more natural and intuitive interface to help bridge the gap between technology and elderly users.
Validation of a skinfold based index for tracking proportional changes in lean mass.
Slater, G J; Duthie, G M; Pyne, D B; Hopkins, W G
2006-03-01
The lean mass index (LMI) is a new empirical measure that tracks within-subject proportional changes in body mass adjusted for changes in skinfold thickness. To compare the ability of the LMI and other skinfold derived measures of lean mass to monitor changes in lean mass. 20 elite rugby union players undertook full anthropometric profiles on two occasions 10 weeks apart to calculate the LMI and five skinfold based measures of lean mass. Hydrodensitometry, deuterium dilution, and dual energy x ray absorptiometry provided a criterion choice, four compartment (4C) measure of lean mass for validation purposes. Regression based measures of validity, derived for within-subject proportional changes through log transformation, included correlation coefficients and standard errors of the estimate. The correlation between change scores for the LMI and 4C lean mass was moderate (0.37, 90% confidence interval -0.01 to 0.66) and similar to the correlations for the other practical measures of lean mass (range 0.26 to 0.42). Standard errors of the estimate for the practical measures were in the range of 2.8-2.9%. The LMI correctly identified the direction of change in 4C lean mass for 14 of the 20 athletes, compared with 11 to 13 for the other practical measures of lean mass. The LMI is probably as good as other skinfold based measures for tracking lean mass and is theoretically more appropriate. Given the impracticality of the 4C criterion measure for routine field use, the LMI may offer a convenient alternative for monitoring physique changes, provided its utility is established under various conditions.
Brushless DC Motor Speed Control Based on Emotional Intelligent Controller
Directory of Open Access Journals (Sweden)
Gholamreza ArabMarkadeh
2014-03-01
Full Text Available This paper presents an emotional controller for brushless DC motor (BLDC drive. The proposed controller is called brain emotional learning based intelligent controller (BELBIC. The utilization of the new controller is based on the emotion processing mechanism in brain. This intelligent control is inspired by the limbic system of mammalian brain, especially amygdala. The controller is successfully implemented in simulation using MATLAB software, brushless dc drive with trapezoidal back-emf. In this work, a novel and simple implementation of BLDC motor drive system is achieved by using the intelligent controller, which controls the motor speed accurately. This emotional intelligent controller has simple structure with high auto learning feature. Simulation results show that both accurate steady state and fast transient speed responses can be achieved in wide range of speed from 20 to 300 [rpm]. Moreover, to evaluate this emotional controller, the performance of the proposed control scheme is compared with both Fuzzy Logic (FL and PID controllers, in different conditions. This indicates proper operating in comparison to the FLC and PID controllers. And also shows excellent promise for industrial scale utilization.
Disturbance observer based current controller for vector controlled IM drives
DEFF Research Database (Denmark)
Teodorescu, Remus; Dal, Mehmet
2008-01-01
In order to increase the accuracy of the current control loop, usually, well known parameter compensation and/or cross decoupling techniques are employed for advanced ac drives. In this paper, instead of using these techniques an observer-based current controller is proposed for vector controlled...... coupling effects and increase robustness against parameters change without requiring any other compensation strategies. The experimental implementation results are provided to demonstrate validity and performance of the proposed control scheme.......In order to increase the accuracy of the current control loop, usually, well known parameter compensation and/or cross decoupling techniques are employed for advanced ac drives. In this paper, instead of using these techniques an observer-based current controller is proposed for vector controlled...
Genetic Algorithm based Decentralized PI Type Controller: Load Frequency Control
Dwivedi, Atul; Ray, Goshaidas; Sharma, Arun Kumar
2016-12-01
This work presents a design of decentralized PI type Linear Quadratic (LQ) controller based on genetic algorithm (GA). The proposed design technique allows considerable flexibility in defining the control objectives and it does not consider any knowledge of the system matrices and moreover it avoids the solution of algebraic Riccati equation. To illustrate the results of this work, a load-frequency control problem is considered. Simulation results reveal that the proposed scheme based on GA is an alternative and attractive approach to solve load-frequency control problem from both performance and design point of views.
Jung, Hoeguk; Wang, Haifeng; Hu, Tingshu
2014-12-01
This paper considers some control design problems in a power system driven by battery/supercapacitor hybrid energy storage devices. The currents in the battery and the supercapacitor are actively controlled by two bidirectional buck-boost converters. Two control objectives are addressed in this paper: one is to achieve robust tracking of two reference variables, the battery current and the load voltage, the other is to achieve smooth transition of these variables during load switch. Based on the state-space averaged model we newly developed, the control design problems are converted into numerically efficient optimization problems with linear matrix inequality (LMI) constraints. An experimental system is constructed to validate the control design methods.
Control volume based hydrocephalus research
Cohen, Benjamin; Voorhees, Abram; Wei, Timothy
2008-11-01
Hydrocephalus is a disease involving excess amounts of cerebral spinal fluid (CSF) in the brain. Recent research has shown correlations to pulsatility of blood flow through the brain. However, the problem to date has presented as too complex for much more than statistical analysis and understanding. This talk will highlight progress on developing a fundamental control volume approach to studying hydrocephalus. The specific goals are to select physiologically control volume(s), develop conservation equations along with the experimental capabilities to accurately quantify terms in those equations. To this end, an in vitro phantom is used as a simplified model of the human brain. The phantom's design consists of a rigid container filled with a compressible gel. The gel has a hollow spherical cavity representing a ventricle and a cylindrical passage representing the aquaducts. A computer controlled piston pump supplies pulsatile volume fluctuations into and out of the flow phantom. MRI is used to measure fluid velocity, and volume change as functions of time. Independent pressure measurements and flow rate measurements are used to calibrate the MRI data. These data are used as a framework for future work with live patients.
Model based development of engine control algorithms
Dekker, H.J.; Sturm, W.L.
1996-01-01
Model based development of engine control systems has several advantages. The development time and costs are strongly reduced because much of the development and optimization work is carried out by simulating both engine and control system. After optimizing the control algorithm it can be executed b
Budgeting-Based Organization of Internal Control
Rogulenko, Tatiana; Ponomareva, Svetlana; Bodiaco, Anna; Mironenko, Valentina; Zelenov, Vladimir
2016-01-01
The article suggests methodical approaches to the budgeting-based organization of internal control, determines the tasks and subtasks of control that consist in the construction of an efficient system for the making, implementation, control, and analysis of managerial decisions. The organization of responsibility centers by means of implementing…
Fuzzy Based composition Control of Distillation Column
Directory of Open Access Journals (Sweden)
Guru.R
2013-04-01
Full Text Available This paper proposed a control scheme based on fuzzy logic for a methanol - water system of bubble cap distillation column. Fuzzy rule base and Inference System of fuzzy (FIS is planned to regulatethe reflux ratio (manipulated variable to obtain the preferred product composition (methanol for a distillation column. Comparisons are made with conventional controller and the results confirmed the potentials of the proposed strategy of fuzzy control.
FLIGHT／THRUST INTEGRATED CONTROL USINGH∞SYNTHESIS IN AUTOMATIC CARRIER LANDING
Institute of Scientific and Technical Information of China (English)
YuYong; YangYidong; DaiShijun
2002-01-01
The landing task of an aircraft under low aerodynamic pressure on carrier requires precise airplane control,A flight/thrust integrated control system(FTICS)with constant ad,actual angle of attack,is developed using LMI-based H∞synthesis.The typical single input/outputspecifications are translated into the weighting functions of an H∞output-feedback synthesis problem.The motiva-tion of the work is to improve the key performance of dy-namic tracking and air disturbance attenuation.The FTICS can keep the attitude andgle and the path angle un-changeable as the airplane is passing through the ramp at which the tracking radar doesnot work and the guidance signal is terminated.For engineering application,an or-der-reduction method of the H∞controller is also pro-posed,Simulational results indicate that the system satis-fies the design requirements quite well.
Robust reliable guaranteed cost control for nonlinear singular stochastic systems with time delay
Institute of Scientific and Technical Information of China (English)
Zhang Aiqing; Fang Huajing
2008-01-01
To study the design problem of robust reliable guaranteed cost controller for nonlinear singular stochastic systems,the Takagi-Sugeno(T-S)fuzzy model is used to represent a nonlinear singular stochastic system with norm-bounded parameter uncertainties and time delay.Based on the linear matrix inequality(LMI)techniques and stability theory of stochastic differential equations,a stochastic Lyapunov function method is adopted to design a state feedback fuzzy controller.The resulting closed-loop fuzzy system is robustly reliable stochastically stable,and the corresponding quadratic cost function is guarauteed to be no more than a certain upper bound for all admissible uncertainties,as well as different actuator fault cases.A sufficient condition of existence and design method of robust reliable guaranteed cost controller is presented.Finally,a numerical simulation is given to illustrate the effectiveness of the proposed method.
Guaranteed cost control with pole constraints for uncertain discrete-time switched systems
Institute of Scientific and Technical Information of China (English)
Ying ZHANG; Guangren DUAN; Liyan CHEN
2009-01-01
For a class of discrete-time switched systems with norm-bounded uncertainties and a quadratic cost index, the problem of designing a guaranteed cost state feedback controller with pole constraints is considered. A sufficient condition on the existence of robust guaranteed controllers is derived by a quadratic Lyapunov function approach together with linear matrix inequality (LMI)technique. Based on a constructed switching law, the closed-loop system is quadratic D-stable and the closedloop cost function value is not more than a specified upper bound. Furthermore, the design of suboptimal guaranteed cost controllers is turned into a convex optimization problem with linear matrix inequalities constraints. A numerical example demonstrates the effect of the proposed design approach.
Adaptive fault-tolerant control of linear systems with actuator saturation and L2-disturbances
Institute of Scientific and Technical Information of China (English)
Wei GUAN; Guanghong YANG
2009-01-01
This paper studies the problem of designing adaptive fault-tolerant H-infinity controllers for linear timeinvariant systems with actuator saturation. The disturbance tolerance ability of the closed-loop system is measured by an optimal index. The notion of an adaptive H-infinity performance index is proposed to describe the disturbance attenuation performances of closed-loop systems. New methods for designing indirect adaptive fault-tolerant controllers via state feedback are presented for actuator fault compensations. Based on the on-line estimation of eventual faults, the adaptive fault-tolerant controller parameters are updated automatically to compensate for the fault effects on systems. The designs are developed in the framework of the linear matrix inequality (LMI) approach, which can guarantee the disturbance tolerance ability and adaptive H-infinity performances of closed-loop systems in the cases of actuator saturation and actuator failures. An example is given to illustrate the efficiency of the design method.
Institute of Scientific and Technical Information of China (English)
P. Balasubramaniam; M. Kalpana; R. Rakkiyappan
2012-01-01
Fuzzy cellular neural networks (FCNNs) are special kinds of cellular neural networks (CNNs).Each cell in an FCNN contains fuzzy operating abilities.The entire network is governed by cellular computing laws.The design of FCNNs is based on fuzzy local rules.In this paper,a linear matrix inequality (LMI) approach for synchronization control of FCNNs with mixed delays is investigated.Mixed delays include discrete time-varying delays and unbounded distributed delays.A dynamic control scheme is proposed to achieve the synchronization between a drive network and a response network.By constructing the Lyapunov-Krasovskii functional which contains a triple-integral term and the free-weighting matrices method an improved delay-dependent stability criterion is derived in terms of LMIs.The controller can be easily obtained by solving the derived LMIs.A numerical example and its simulations are presented to illustrate the effectiveness of the proposed method.
The Feedback Control Strategy of the Takagi-Sugeno Fuzzy Car-Following Model with Two Delays
Directory of Open Access Journals (Sweden)
Cong Zhai
2016-01-01
Full Text Available Considering the driver’s sensing the headway and velocity the different time-varying delays exist, respectively, and the sensitivity of drivers changes with headway and speed. Introducing the fuzzy control theory, a new fuzzy car-following model with two delays is presented, and the feedback control strategy of the new fuzzy car-following model is studied. Based on the Lyapunov function theory and linear matrix inequality (LMI approach, the sufficient condition that the existence of the fuzzy controller is given making the closed-loop system is asymptotic, stable; namely, traffic congestion phenomenon can effectively be suppressed, and the controller gain matrix can be obtained via solving linear matrix inequality. Finally, the simulation examples verify that the method which suppresses traffic congestion and reduces fuel consumption and exhaust emissions is effective.
Linearizing Control of Induction Motor Based on Networked Control Systems
Institute of Scientific and Technical Information of China (English)
Jun Ren; Chun-Wen Li; De-Zong Zhao
2009-01-01
A new approach to speed control of induction motors is developed by introducing networked control systems (NCSs) into the induction motor driving system. The control strategy is to stabilize and track the rotor speed of the induction motor when the network time delay occurs in the transport medium of network data. First, a feedback linearization method is used to achieve input-output linearization and decoupling control of the induction motor driving system based on rotor flux model, and then the characteristic of network data is analyzed in terms of the inherent network time delay. A networked control model of an induction motor is established. The sufficient condition of asymptotic stability for the networked induction motor driving system is given, and the state feedback controller is obtained by solving the linear matrix inequalities (LMIs). Simulation results verify the efficiency of the proposed scheme.
Directory of Open Access Journals (Sweden)
Wei Guan
2014-01-01
Full Text Available This paper is concerned with the variable initial states problem in iterative learning control (ILC for linear continuous systems. Firstly, the properties of the trajectory of 2-D continuous-discrete Roesser model are analyzed by using Lyapunov's method. Then, for any variable initial states which absolutely converge to the desired initial state, some ILC design criteria in the form of linear matrix inequalities (LMI are given to ensure the convergence of the PD-type ILC rules. The convergence for variable initial states implies that the ILC rules can be used to achieve the perfect tacking for variable initial states, even if the system dynamic is unknown. Finally, the micropropulsion system is considered to illustrate efficiency of the proposed ILC design criteria.
Model-Based Power Plant Master Control
Energy Technology Data Exchange (ETDEWEB)
Boman, Katarina; Thomas, Jean; Funkquist, Jonas
2010-08-15
The main goal of the project has been to evaluate the potential of a coordinated master control for a solid fuel power plant in terms of tracking capability, stability and robustness. The control strategy has been model-based predictive control (MPC) and the plant used in the case study has been the Vattenfall power plant Idbaecken in Nykoeping. A dynamic plant model based on nonlinear physical models was used to imitate the true plant in MATLAB/SIMULINK simulations. The basis for this model was already developed in previous Vattenfall internal projects, along with a simulation model of the existing control implementation with traditional PID controllers. The existing PID control is used as a reference performance, and it has been thoroughly studied and tuned in these previous Vattenfall internal projects. A turbine model was developed with characteristics based on the results of steady-state simulations of the plant using the software EBSILON. Using the derived model as a representative for the actual process, an MPC control strategy was developed using linearization and gain-scheduling. The control signal constraints (rate of change) and constraints on outputs were implemented to comply with plant constraints. After tuning the MPC control parameters, a number of simulation scenarios were performed to compare the MPC strategy with the existing PID control structure. The simulation scenarios also included cases highlighting the robustness properties of the MPC strategy. From the study, the main conclusions are: - The proposed Master MPC controller shows excellent set-point tracking performance even though the plant has strong interactions and non-linearity, and the controls and their rate of change are bounded. - The proposed Master MPC controller is robust, stable in the presence of disturbances and parameter variations. Even though the current study only considered a very small number of the possible disturbances and modelling errors, the considered cases are
Smith Predictor Based Robust Rapid Tracking Controller
Institute of Scientific and Technical Information of China (English)
LIU Hongbin; HU Dejin
2006-01-01
Precise model is hard to get in real application, a Smith predictor based robust rapid tracking controller for inaccurate model is proposed. Zero phase error feedforward controller which increases system closed-loop dynamics and disturbance observer based Smith feedback control which diminishes model hysteresis and improves stability are integrated. This method is applied in the noncircular machining with piezoelectric ceramic driver. The simulation and experiment show that the performance robustness and stability are well balanced in bandwidth about 200 Hz. The controller can decrease system hysteresis and get good tracking performance for predefined square-wave input signal.
ROBUST INTERNAL MODEL CONTROL STRATEGY BASED PID CONTROLLER FOR BLDCM
Directory of Open Access Journals (Sweden)
A.PURNA CHANDRA RAO
2010-11-01
Full Text Available All the closed loop control system requires the controller for improvement of transient response of the error signal. Though the tuning of PID controller in real time is bit difficult and moreover it lacks the disturbance rejection capability. This paper presents a tuning of PID parameters based on internal model strategy. The advantageous of the proposed control strategy is well described in the paper. To test the validity of the proposed control, it is implemented in brushless dc motor drive. The mathematical model of brushless dc motor (BLDC is presented for control design. In addition the robustness of the control strategy is discussed. The proposed control strategy possesses good transient responses and good load disturbance response. In addition, the proposed control strategy possesses good tracking ability. To test the effectiveness of the proposed strategy, the BLDC is represented in transfer function model and later implemented in test system. The results are presented to validate the proposed control strategy for BLDC drive.
GALEX and Optical Light Curves of WX LMi, SDSSJ103100.5+202832.2 and SDSSJ121209.31+013627.7
Linnell, Albert P; Plotkin, Richard M; Holtzman, Jon; Seibert, Mark; Harrison, Thomas E; Howell, Steve B
2010-01-01
{\\it GALEX} near ultraviolet (NUV) and far-ultraviolet (FUV) light curves of three extremely low accretion rate polars show distinct modulations in their UV light curves. While these three systems have a range of magnetic fields from 13 to 70 MG, and of late type secondaries (including a likely brown dwarf in SDSSJ121209.31+013627.7), the accretion rates are similar, and the UV observations imply some mechanism is operating to create enhanced emission zones on the white dwarf. The UV variations match in phase to the two magnetic poles viewed in the optical in WX LMi and to the single poles evident in the optical in SDSSJ1212109.31+013627.7 and SDSSJ103100.55+202832.2. Simple spot models of the UV light curves show that if hot spots are responsible for the UV variations, the temperatures are on the order of 10,000-14,000K. For the single pole systems, the size of the FUV spot must be smaller than the NUV and in all cases, the geometry is likely more complicated than a simple circular spot.
Control of acrobot based on Lyapunov function
Institute of Scientific and Technical Information of China (English)
赖旭芝; 吴敏; 佘锦华
2004-01-01
Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an acrobot to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from upswing to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.
Model-based control of networked systems
Garcia, Eloy; Montestruque, Luis A
2014-01-01
This monograph introduces a class of networked control systems (NCS) called model-based networked control systems (MB-NCS) and presents various architectures and control strategies designed to improve the performance of NCS. The overall performance of NCS considers the appropriate use of network resources, particularly network bandwidth, in conjunction with the desired response of the system being controlled. The book begins with a detailed description of the basic MB-NCS architecture that provides stability conditions in terms of state feedback updates . It also covers typical problems in NCS such as network delays, network scheduling, and data quantization, as well as more general control problems such as output feedback control, nonlinear systems stabilization, and tracking control. Key features and topics include: Time-triggered and event-triggered feedback updates Stabilization of uncertain systems subject to time delays, quantization, and extended absence of feedback Optimal control analysis and ...
SPOT Controlled Image Base 10 meter
U.S. Geological Survey, Department of the Interior — SPOT Controlled Image Base 10 meter (CIB-10) is a collection of orthorectified panchromatic (grayscale) images. The data were acquired between 1986 and 1993 by the...
SPOT Controlled Image Base 10 meter
U.S. Geological Survey, Department of the Interior — SPOT Controlled Image Base 10 meter (CIB-10) is a collection of orthorectified panchromatic (grayscale) images. The data were acquired between 1986 and 1993 by the...
Institute of Scientific and Technical Information of China (English)
陆妹; 金成波; 邵惠鹤
2009-01-01
A finite horizon predictive control algorithm, which applies a saturated feedback control law as its local control law, is presented for nonlinear systems with time-delay subject to input constraints. In the algorithm, N free control moves, a saturated local control law and the terminal weighting matrices are solved by a minimization problem based on linear matrix inequality (LMI) constraints online. Compared with the algorithm with a nonsatu-rated local law, the presented algorithm improves the performances of the closed-loop systems such as feasibility and optimality. This model predictive control (MPC) algorithm is applied to an industrial continuous stirred tank reac-tor (CSTR) with explicit input constraint. The simulation results demonstrate that the presented algorithm is effective.
Directory of Open Access Journals (Sweden)
Hwanyub Joo
2015-01-01
Full Text Available This paper addresses the output regulation problem of synchronous buck converters with piecewise-constant load fluctuations via linear parameter varying (LPV control scheme. To this end, an output-error state-space model is first derived in the form of LPV systems so that it can involve a mismatch error that temporally arises from the process of generating a feedforward control. Then, to attenuate the mismatch error in parallel with improving the transient behavior of the converter, this paper proposes an LMI-based stabilization condition capable of achieving both H∞ and pole-placement objectives. Finally, the simulation and experimental results are provided to show the validity of our approach.
Linear parameter-varying and time-delay systems analysis, observation, filtering & control
Briat, Corentin
2015-01-01
This book provides an introduction to the analysis and control of Linear Parameter-Varying Systems and Time-Delay Systems and their interactions. The purpose is to give the readers some fundamental theoretical background on these topics and to give more insights on the possible applications of these theories. This self-contained monograph is written in an accessible way for readers ranging from undergraduate/PhD students to engineers and researchers willing to know more about the fields of time-delay systems, parameter-varying systems, robust analysis, robust control, gain-scheduling techniques in the LPV fashion and LMI based approaches. The only prerequisites are basic knowledge in linear algebra, ordinary differential equations and (linear) dynamical systems. Most of the results are proved unless the proof is too complex or not necessary for a good understanding of the results. In the latter cases, suitable references are systematically provided. The first part pertains on the representation, analysis and ...
Robust H∞ control for discrete-time polytopic uncertain systems with linear fractional vertices
Institute of Scientific and Technical Information of China (English)
Shaosheng ZHOU; James LAM; Shengyuan XU
2004-01-01
The robust H∞ control problem for discrete-time uncertain systems is investigated in this paper. The uncertain systems are modelled as a polytopic type with linear fractional uncertainty in the vertices. A new linear matrix inequality (LMI) characterization of the H∞ performance for discrete systems is given by introducing a matrix slack variable which decouples the matrix of a Lyapunov function candidate and the parametric matrices of the system. This feature enables one to derive sufficient conditions for discrete uncertain systems by using parameter-dependent Lyapunov functions with less conservativeness. Based on the result, H∞ performance analysis and controller design are carried out. A numerical example is included to demonstrate the effectiveness of the proposed results.
Robust H∞ control of uncertain systems with two additive time-varying delays
Syed, Ali M.; Saravanakumar, R.
2015-09-01
This paper is concerned with the problem of delay-dependent robust H∞ control for a class of uncertain systems with two additive time-varying delays. A new suitable Lyapunov-Krasovskii functional (LKF) with triple integral terms is constructed and a tighter upper bound of the derivative of the LKF is derived. By applying a convex optimization technique, new delay-dependent robust H∞ stability criteria are derived in terms of linear matrix inequalities (LMI). Based on the stability criteria, a state feedback controller is designed such that the closed-loop system is asymptotically stable. Finally, numerical examples are given to illustrate the effectiveness of the proposed method. Comparison results show that our results are less conservative than the existing methods. Project supported by the Fund from the Department of Science and Technology of India (Grant No. SR/FTP/MS-039/2011).
Institute of Scientific and Technical Information of China (English)
Wei GUAN; Guanghong YANG
2009-01-01
This paper studies the problem of designing adaptive fault-tolerant controllers for linear time-invariant systems with actuator saturation.New methods for designing indirect adaptive fault-tolerant controllers via state feedback are presented for actuator fault compensations.Based on the on-line estimation of eventual faults,the adaptive fault-tolerant controller parameters are updating automatically to compensate the fault effects on systems.The designs are developed in the framework of linear matrix inequality (LMI) approach,which can enlarge the domain of attraction of closed-loop systems in the cases of actuator saturation and actuator failures.Two examples are given to illustrate the effectiveness of the design method.
Directory of Open Access Journals (Sweden)
Jinxing Lin
2010-01-01
Full Text Available This paper is concerned with the problems of exponential admissibility and dynamic output feedback (DOF control for a class of continuous-time switched singular systems with interval time-varying delay. A full-order, dynamic, synchronously switched DOF controller is considered. First, by using the average dwell time approach, a delay-range-dependent exponential admissibility criterion for the unforced switched singular time-delay system is established in terms of linear matrix inequalities (LMIs. Then, based on this criterion, a sufficient condition on the existence of a desired DOF controller, which guarantees that the closed-loop system is regular, impulse free and exponentially stable, is proposed by employing the LMI technique. Finally, some illustrative examples are given to show the effectiveness of the proposed approach.
Implementation of PLC Based Elevator Control System
Directory of Open Access Journals (Sweden)
Sandar Htay
2014-03-01
Full Text Available This paper describes programmable logic controller based elevator control system. An elevator is one of the important aspects in electronics control module in automotive application. Nowadays, Myanmar is a developing country and there is enormous increase in high-rise building in Myanmar. This paper mainly focuses on using programmable logic controller to control the circuit and building the elevator model. Hall Effect sensor is used for the elevator position. DC Motor is used to control the up and down movement of the elevator car. Push buttons are used to call the elevator car. The elevator position is described by using the display unit. In this paper, Auto Station Software ladder logic program is used for four floors control system
Vector Control Based on SVPWM for ACIM
Directory of Open Access Journals (Sweden)
Zhu Jun
2013-05-01
Full Text Available To solve the large torque ripple and current harmonics, low DC bus voltage problems, a new control strategy is proposed for AC induction motor by using space vector pulse width modulation, so that the static and dynamic performance are improved. The system simulation experiment mode was established based on SVPWM to verify the effectiveness of the system control mode. It is showed that it can reduce the current ripple and torque ripple, improve the utilization of DC bus voltage. It means that the control strategy based SVPWM can improve dynamic and static performance effectively for the ACIM servo system.
Model based control charts in stage 1 quality control
A.J. Koning (Alex)
1999-01-01
textabstractIn this paper a general method of constructing control charts for preliminary analysis of individual observations is presented, which is based on recursive score residuals. A simulation study shows that certain implementations of these charts are highly effective in detecting assignable
Version Control in Project-Based Learning
Milentijevic, Ivan; Ciric, Vladimir; Vojinovic, Oliver
2008-01-01
This paper deals with the development of a generalized model for version control systems application as a support in a range of project-based learning methods. The model is given as UML sequence diagram and described in detail. The proposed model encompasses a wide range of different project-based learning approaches by assigning a supervisory…
Passivity-Based Control of Electric Machines
Energy Technology Data Exchange (ETDEWEB)
Nicklasson, P.J.
1996-12-31
This doctoral thesis presents new results on the design and analysis of controllers for a class of electric machines. Nonlinear controllers are derived from a Lagrangian model representation using passivity techniques, and previous results on induction motors are improved and extended to Blondel-Park transformable machines. The relation to conventional techniques is discussed, and it is shown that the formalism introduced in this work facilitates analysis of conventional methods, so that open questions concerning these methods may be resolved. In addition, the thesis contains the following improvements of previously published results on the control of induction motors: (1) Improvement of a passivity-based speed/position controller, (2) Extension of passivity-based (observer-less and observer-based) controllers from regulation to tracking of rotor flux norm, (3) An extension of the classical indirect FOC (Field-Oriented Control) scheme to also include global rotor flux norm tracking, instead of only torque tracking and rotor flux norm regulation. The design is illustrated experimentally by applying the proposed control schemes to a squirrel-cage induction motor. The results show that the proposed methods have advantages over previous designs with respect to controller tuning, performance and robustness. 145 refs., 21 figs.
Fault-tolerant Control of Spacecraft Dynamic System Based on Control Network%基于网络控制的航空器动力系统的容错控制
Institute of Scientific and Technical Information of China (English)
罗小元; 尚美杰; 陈彩莲; 关新平
2011-01-01
研究了基于网络控制的航空器时变时滞横向动力学系统的容错控制问题.利用Lyapunov稳定性方法和LMI技术,综合网络的特点采用鲁棒完整性方法设计了针时执行器失效的容错控制器.首先给出了航空器横向动力学系统的时滞线性化一般模型,考虑到网络控制系统的运行特点以及网络中的诱导时延和数据包丢失现象,采用一种分段常值的控制器,设计了使系统对执行器失效故障具有容错性能的控制器.进行了仿真研究,仿真结果说明容错控制器作用下当出现执行器故障时系统仍可保持较好的性能,验证了提出的设计方法的有效性.%The fault-tolerant contrpl problem of the spacecraft lateral dynamics with time-varying delay states based on networked control os studied.Combining with the characteristics of the networked control system(NCS),a controller to stabilize the system with actuator failure is proposed based on robust intefrity method by using Lyapunov stabilization theory together with the LMI technique.The soacecraft dynamic system is modeled as a linearized plant with time-varying state delay.Then considering the characteristics of the NCS induced delay and the data dropout,a piecewise constant controller is adopted to design the controller against the actuator failure.The simulation resullts show that the system performance can be guaranteed well under the proposed fault tolerant controller when the acruator failure appears.
Development of Arduino based wireless control system
Sun, Zhuoxiong; Dyke, Shirley J.; Pena, Francisco; Wilbee, Alana
2015-03-01
Over the past few decades, considerable attention has been given to structural control systems to mitigate structural vibration under natural hazards such as earthquakes and extreme weather conditions. Traditional wired structural control systems often employ a large amount of cables for communication among sensors, controllers and actuators. In such systems, implementation of wired sensors is usually quite complicated and expensive, especially on large scale structures such as bridges and buildings. To reduce the laborious installation and maintenance cost, wireless control systems (WCSs) are considered as a novel approach for structural vibration control. In this work, a WCS is developed based on the open source Arduino platform. Low cost, low power wireless sensing and communication components are built on the Arduino platform. Structural control algorithms are embedded within the wireless sensor board for feedback control. The developed WCS is first validated through a series of tests. Next, numerical simulations are performed simulating wireless control of a 3-story shear structure equipped with a semi-active control device (MR damper). Finally, experimental studies are carried out implementing the WCS on the 3-story shear structure in the Intelligent Infrastructure Systems Lab (IISL). A hydraulic shake table is used to generate seismic ground motions. The control performance is evaluated with the impact of modeling uncertainties, measurement noises as well as time delay and data loss induced by the wireless network. The developed WCS is shown to be effective in controlling structural vibrations under several historical earthquake ground motions.
Azizi, Sajad
2017-05-01
The robust stability of a class of feedback linearizable minimum-phase nonlinear system, having parametric uncertainties, is investigated in this study. The system in new coordinates is represented to an equivalent formulation after the attempt of feedback linearization. Due to the parametric uncertainties the approximately linearized system entails a norm bounded input nonlinearity such that the equilibrium point condition in error dynamics can not be satisfied. Accordingly, to guarantee the regional asymptotic stability a control synthesis problem is proposed by means of sufficient Linear Matrix Inequalities (LMIs) together with an amended nonlinear control term, derived from the Lyapunov redesign method, which tackles zero steady-state error condition. The numerical examples of a general aviation aircraft's longitudinal dynamics and inverted pendulum are simulated to show the proficiency of the proposed control technique. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
FIPA agent based network distributed control system
Gyurjyan, V; Heyes, G; Jastrzembski, E; Timmer, C; Wolin, E
2003-01-01
A control system with the capabilities to combine heteregeneous control systems or processes into a uniform homogeneous environment is discussed. This dynamically extensible system is an example of the software system at the agent level of abstraction. This level of abstraction considers agents as atomic entities that communicate to implement the functionality of the control system. Agents engineering aspects are addressed by adopting the domain independent software standard, formulated by FIPA. Jade core Java classes are used as a FIPA specification implementation. A special, lightweight, XML RDFS based, control oriented, ontology markup language is developed to standardize the description of the arbitrary control system data processor. Control processes, described in this language, are integrated into the global system at runtime, without actual programming. Fault tolerance and recovery issues are also addressed.
FIPA agent based network distributed control system
Energy Technology Data Exchange (ETDEWEB)
D. Abbott; V. Gyurjyan; G. Heyes; E. Jastrzembski; C. Timmer; E. Wolin
2003-03-01
A control system with the capabilities to combine heterogeneous control systems or processes into a uniform homogeneous environment is discussed. This dynamically extensible system is an example of the software system at the agent level of abstraction. This level of abstraction considers agents as atomic entities that communicate to implement the functionality of the control system. Agents' engineering aspects are addressed by adopting the domain independent software standard, formulated by FIPA. Jade core Java classes are used as a FIPA specification implementation. A special, lightweight, XML RDFS based, control oriented, ontology markup language is developed to standardize the description of the arbitrary control system data processor. Control processes, described in this language, are integrated into the global system at runtime, without actual programming. Fault tolerance and recovery issues are also addressed.
Cluster-based control of nonlinear dynamics
Kaiser, Eurika; Spohn, Andreas; Cattafesta, Louis N; Morzynski, Marek
2016-01-01
The ability to manipulate and control fluid flows is of great importance in many scientific and engineering applications. Here, a cluster-based control framework is proposed to determine optimal control laws with respect to a cost function for unsteady flows. The proposed methodology frames high-dimensional, nonlinear dynamics into low-dimensional, probabilistic, linear dynamics which considerably simplifies the optimal control problem while preserving nonlinear actuation mechanisms. The data-driven approach builds upon a state space discretization using a clustering algorithm which groups kinematically similar flow states into a low number of clusters. The temporal evolution of the probability distribution on this set of clusters is then described by a Markov model. The Markov model can be used as predictor for the ergodic probability distribution for a particular control law. This probability distribution approximates the long-term behavior of the original system on which basis the optimal control law is de...
Institute of Scientific and Technical Information of China (English)
王世刚; 武俊峰
2011-01-01
为一类不确定时滞采样系统提出了基于观测器的非脆弱H∞控制问题.针对不确定性均存在于被控对象、控制器和观测器的情形,运用Lyapunov稳定性理论和线性矩阵不等式方法,得到了非脆弱H∞控制器和观测器存在的充分条件与设计方法.最后,数值仿真结果表明了所提算法的有效性.%The problem of non-fragile H∞ control for a class of uncertain sampled-data systems with time-delay is considered via observer-based state feedback control. According to the case that there exist uncertainties not only in the plant but also in controller gains and observer gains, and the Lyapunov function theory and linear matrix inequality (LMI) approach are applied. A sufficient condition on the existence and designing method of non-fragile observer and H∞ controller are derived. Finally, a numerical example is illustrated to show the effectiveness of the proposed results.
Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems
Directory of Open Access Journals (Sweden)
Tain-Sou Tsay
2014-01-01
Full Text Available A model based adaptive piecewise linear control scheme for industry processes with specifications on peak overshoots and rise times is proposed. It is a gain stabilized control technique. Large gain is used for large tracking error to get fast response. Small gain is used between large and small tracking error for good performance. Large gain is used again for small tracking error to cope with large disturbance. Parameters of the three-segment piecewise linear controller are found by an automatic regulating time series which is function of output characteristics of the plant and reference model. The time series will be converged to steady values after the time response of the considered system matching that of the reference model. The proposed control scheme is applied to four numerical examples which have been compensated by PID controllers. Parameters of PID controllers are found by optimization method. It gives an almost command independent response and gives significant improvements for response time and performance.
Flocculation control study based on fractal theory
Institute of Scientific and Technical Information of China (English)
无
2005-01-01
A study on flocculation control based on fractal theory was carried out. Optimization test of chemical coagulant dosage confirmed that the fractal dimension could reflect the flocculation degree and settling characteristics of aggregates and the good correlation with the turbidity of settled effluent. So that the fractal dimension can be used as the major parameter for flocculation system control and achieve self-acting adjustment of chemical coagulant dosage. The fractal dimension flocculation control system was used for further study carried out on the effects of various flocculation parameters, among which are the dependency relationship among aggregates fractal dimension, chemical coagulant dosage, and turbidity of settled effluent under the conditions of variable water quality and quantity. And basic experimental data were obtained for establishing the chemical coagulant dosage control model mainly based on aggregates fractal dimension.
Optimization-based controller design for rotorcraft
Tsing, N.-K.; Fan, M. K. H.; Barlow, J.; Tits, A. L.; Tischler, M. B.
1993-01-01
An optimization-based methodology for linear control system design is outlined by considering the design of a controller for a UH-60 rotorcraft in hover. A wide range of design specifications is taken into account: internal stability, decoupling between longitudinal and lateral motions, handling qualities, and rejection of windgusts. These specifications are investigated while taking into account physical limitations in the swashplate displacements and rates of displacement. The methodology crucially relies on user-machine interaction for tradeoff exploration.
Polarization control based interference microwave photonic filters
Madziar, Krzysztof; Galwas, Bogdan
2016-12-01
In this paper we present a concept of multi-line Microwave Photonic Filter (MPF) based on polarization beam splitting and polarization control in each line. Coefficients of investigated filter are determined by attenuation of its lines and that on the other hand can be manipulated by change of the polarization in the fiber. Presented results involve scattering parameters (S21) measurements of optical path over polarization control unit rotation, scattering parameters (S21) characteristics of investigated filter and transmission optimization capabilities.
Developing stereo image based robot control system
Suprijadi, Pambudi, I. R.; Woran, M.; Naa, C. F.; Srigutomo, W.
2015-04-01
Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.
Institute of Scientific and Technical Information of China (English)
Hongsheng QI; Daizhan CHENG
2008-01-01
This paper gives a matrix expression of logic. Under the matrix expression, a general description of the logical operators is proposed. Using the semi-tensor product of matrices, the proofs of logical equivalences, implications, etc., can be simplified a lot. Certain general properties are revealed. Then, based on matrix expression, the logical operators are extended to multi-valued logic, which provides a foundation for fuzzy logical inference. Finally, we propose a new type of logic, called mix-valued logic, and a new design technique, called logic-based fuzzy control. They provide a numerically computable framework for the application of fuzzy logic for the control of fuzzy systems.
Developing stereo image based robot control system
Energy Technology Data Exchange (ETDEWEB)
Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)
2015-04-16
Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.
Model Based Control of Reefer Container Systems
DEFF Research Database (Denmark)
Sørensen, Kresten Kjær
This thesis is concerned with the development of model based control for the Star Cool refrigerated container (reefer) with the objective of reducing energy consumption. This project has been carried out under the Danish Industrial PhD programme and has been financed by Lodam together with the Da......This thesis is concerned with the development of model based control for the Star Cool refrigerated container (reefer) with the objective of reducing energy consumption. This project has been carried out under the Danish Industrial PhD programme and has been financed by Lodam together...
Microcontroller-based Feedback Control Laboratory Experiments
Directory of Open Access Journals (Sweden)
Chiu Choi
2014-06-01
Full Text Available this paper is a result of the implementation of the recommendations on enhancing hands-on experience of control engineering education using single chip, small scale computers such as microcontrollers. A set of microcontroller-based feedback control experiments was developed for the Electrical Engineering curriculum at the University of North Florida. These experiments provided hands-on techniques that students can utilize in the development of complete solutions for a number of servo control problems. Significant effort was devoted to software development of feedback controllers and the associated signal conditioning circuits interfacing between the microcontroller and the physical plant. These experiments have stimulated the interest of our students in control engineering.
Problems in event based engine control
DEFF Research Database (Denmark)
Hendricks, Elbert; Jensen, Michael; Chevalier, Alain Marie Roger
1994-01-01
Physically a four cycle spark ignition engine operates on the basis of four engine processes or events: intake, compression, ignition (or expansion) and exhaust. These events each occupy approximately 180° of crank angle. In conventional engine controllers, it is an accepted practice to sample...... the engine variables synchronously with these events (or submultiples of them). Such engine controllers are often called event-based systems. Unfortunately the main system noise (or disturbance) is also synchronous with the engine events: the engine pumping fluctuations. Since many electronic engine...... problems on accurate air/fuel ratio control of a spark ignition (SI) engine....
Lorentz Force Based Satellite Attitude Control
Giri, Dipak Kumar; Sinha, Manoranjan
2016-07-01
Since the inception of attitude control of a satellite, various active and passive control strategies have been developed. These include using thrusters, momentum wheels, control moment gyros and magnetic torquers. In this present work, a new technique named Lorentz force based Coulombic actuators for the active control is proposed. This method uses electrostatic charged shells, which interact with the time varying earth's magnetic field to establish a full three axes control of the satellite. It is shown that the proposed actuation mechanism is similar to a satellite actuated by magnetic coils except that the resultant magnetic moment vanishes under two different conditions. The equation for the required charges on the the Coulomb shells attached to the satellite body axes is derived, which is in turn used to find the available control torque for actuating the satellite along the orbit. Stability of the proposed system for very high initial angular velocity and exponential stability about the origin are proved for a proportional-differential control input. Simulations are carried out to show the efficacy of the proposed system for the attitude control of the earth-pointing satellite.
Model based control of refrigeration systems
Energy Technology Data Exchange (ETDEWEB)
Sloth Larsen, L.F.
2005-11-15
The subject for this Ph.D. thesis is model based control of refrigeration systems. Model based control covers a variety of different types of controls, that incorporates mathematical models. In this thesis the main subject therefore has been restricted to deal with system optimizing control. The optimizing control is divided into two layers, where the system oriented top layers deals with set-point optimizing control and the lower layer deals with dynamical optimizing control in the subsystems. The thesis has two main contributions, i.e. a novel approach for set-point optimization and a novel approach for desynchronization based on dynamical optimization. The focus in the development of the proposed set-point optimizing control has been on deriving a simple and general method, that with ease can be applied on various compositions of the same class of systems, such as refrigeration systems. The method is based on a set of parameter depended static equations describing the considered process. By adapting the parameters to the given process, predict the steady state and computing a steady state gradient of the cost function, the process can be driven continuously towards zero gradient, i.e. the optimum (if the cost function is convex). The method furthermore deals with system constrains by introducing barrier functions, hereby the best possible performance taking the given constrains in to account can be obtained, e.g. under extreme operational conditions. The proposed method has been applied on a test refrigeration system, placed at Aalborg University, for minimization of the energy consumption. Here it was proved that by using general static parameter depended system equations it was possible drive the set-points close to the optimum and thus reduce the power consumption with up to 20%. In the dynamical optimizing layer the idea is to optimize the operation of the subsystem or the groupings of subsystems, that limits the obtainable system performance. In systems
Net analyte signal based statistical quality control
Skibsted, E.T.S.; Boelens, H.F.M.; Westerhuis, J.A.; Smilde, A.K.; Broad, N.W.; Rees, D.R.; Witte, D.T.
2005-01-01
Net analyte signal statistical quality control (NAS-SQC) is a new methodology to perform multivariate product quality monitoring based on the net analyte signal approach. The main advantage of NAS-SQC is that the systematic variation in the product due to the analyte (or property) of interest is sep
Role-based access control in retrospect
Franqueira, Virginia N.L.; Wieringa, Roel
2012-01-01
Role-Based Access Control (RBAC) has been a success in terms of the amount of research that went into it, its uptake in international standards, and its adoption by major software vendors. Yet, RBAC remains complex to implement in user organizations. In this paper we review the state of the art of R
Atom-Role-Based Access Control Model
Cai, Weihong; Huang, Richeng; Hou, Xiaoli; Wei, Gang; Xiao, Shui; Chen, Yindong
Role-based access control (RBAC) model has been widely recognized as an efficient access control model and becomes a hot research topic of information security at present. However, in the large-scale enterprise application environments, the traditional RBAC model based on the role hierarchy has the following deficiencies: Firstly, it is unable to reflect the role relationships in complicated cases effectively, which does not accord with practical applications. Secondly, the senior role unconditionally inherits all permissions of the junior role, thus if a user is under the supervisor role, he may accumulate all permissions, and this easily causes the abuse of permission and violates the least privilege principle, which is one of the main security principles. To deal with these problems, we, after analyzing permission types and role relationships, proposed the concept of atom role and built an atom-role-based access control model, called ATRBAC, by dividing the permission set of each regular role based on inheritance path relationships. Through the application-specific analysis, this model can well meet the access control requirements.
Soliño, Lucía; Widgy, Saha; Pautonnier, Anthony; Turquet, Jean; Loeffler, Christopher R; Flores Quintana, Harold A; Diogène, Jorge
2015-08-01
Lionfish (Pterois spp.) are invasive species that have recently spread throughout the Caribbean. Lionfish are available for purchase in local markets for human consumption in several islands of the region. We examined the prevalence of ciguatoxins (CTXs) in lionfish from the French Antilles, a ciguatera-endemic region. The neuroblastoma-2a (N2a) cell assay was used to assess composite cytotoxicity in 120 fish samples collected from the surrounding waters of Guadeloupe (n = 60), Saint Barthélemy Islands (n = 55) and Saint Martin (n = 5). Twenty-seven of these samples exhibited CTX-like activity by the N2a assay. Ciguatoxin (CTX) was confirmed by liquid chromatography-tandem mass spectrometry (LC-MS/MS) in multiple samples that presented highest composite toxicity levels by N2a. Those fish found to contain CTXs were all from Saint Barthélemy. Lionfish from Guadeloupe and Saint Martin did not exhibit toxin activity, although the sample size from Saint Martin was insufficient to draw any conclusions as to the incidence of CTXs. In this study, we provide information about the potential hazard of ciguatera associated with the consumption of lionfish from known endemic areas. We also demonstrate the utility of the cell-based assay combined with LC-MS/MS to assess activity and to provide structural confirmation of CTXs respectively.
Network-based production quality control
Kwon, Yongjin; Tseng, Bill; Chiou, Richard
2007-09-01
This study investigates the feasibility of remote quality control using a host of advanced automation equipment with Internet accessibility. Recent emphasis on product quality and reduction of waste stems from the dynamic, globalized and customer-driven market, which brings opportunities and threats to companies, depending on the response speed and production strategies. The current trends in industry also include a wide spread of distributed manufacturing systems, where design, production, and management facilities are geographically dispersed. This situation mandates not only the accessibility to remotely located production equipment for monitoring and control, but efficient means of responding to changing environment to counter process variations and diverse customer demands. To compete under such an environment, companies are striving to achieve 100%, sensor-based, automated inspection for zero-defect manufacturing. In this study, the Internet-based quality control scheme is referred to as "E-Quality for Manufacturing" or "EQM" for short. By its definition, EQM refers to a holistic approach to design and to embed efficient quality control functions in the context of network integrated manufacturing systems. Such system let designers located far away from the production facility to monitor, control and adjust the quality inspection processes as production design evolves.
CATS-based Air Traffic Controller Agents
Callantine, Todd J.
2002-01-01
This report describes intelligent agents that function as air traffic controllers. Each agent controls traffic in a single sector in real time; agents controlling traffic in adjoining sectors can coordinate to manage an arrival flow across a given meter fix. The purpose of this research is threefold. First, it seeks to study the design of agents for controlling complex systems. In particular, it investigates agent planning and reactive control functionality in a dynamic environment in which a variety perceptual and decision making skills play a central role. It examines how heuristic rules can be applied to model planning and decision making skills, rather than attempting to apply optimization methods. Thus, the research attempts to develop intelligent agents that provide an approximation of human air traffic controller behavior that, while not based on an explicit cognitive model, does produce task performance consistent with the way human air traffic controllers operate. Second, this research sought to extend previous research on using the Crew Activity Tracking System (CATS) as the basis for intelligent agents. The agents use a high-level model of air traffic controller activities to structure the control task. To execute an activity in the CATS model, according to the current task context, the agents reference a 'skill library' and 'control rules' that in turn execute the pattern recognition, planning, and decision-making required to perform the activity. Applying the skills enables the agents to modify their representation of the current control situation (i.e., the 'flick' or 'picture'). The updated representation supports the next activity in a cycle of action that, taken as a whole, simulates air traffic controller behavior. A third, practical motivation for this research is to use intelligent agents to support evaluation of new air traffic control (ATC) methods to support new Air Traffic Management (ATM) concepts. Current approaches that use large, human
FGMOS Based Voltage-Controlled Grounded Resistor
Directory of Open Access Journals (Sweden)
R. Pandey
2010-09-01
Full Text Available This paper proposes a new floating gate MOSFET (FGMOS based voltage-controlled grounded resistor. In the proposed circuit FGMOS operating in the ohmic region is linearized by another conventional MOSFET operating in the saturation region. The major advantages of FGMOS based voltage-controlled grounded resistor (FGVCGR are simplicity, low total harmonic distortion (THD, and low power consumption. A simple application of this FGVCGR as a tunable high-pass filter is also suggested. The proposed circuits operate at the supply voltages of +/-0.75 V. The circuits are designed and simulated using SPICE in 0.25-µm CMOS technology. The simulation results of FGVCGR demonstrate a THD of 0.28% for the input signal 0.32 Vpp at 45 kHz, and a maximum power consumption of 254 µW.
Toda, Masayoshi
2016-01-01
This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...
Memory-based parallel data output controller
Stattel, R. J.; Niswander, J. K. (Inventor)
1984-01-01
A memory-based parallel data output controller employs associative memories and memory mapping to decommutate multiple channels of telemetry data. The output controller contains a random access memory (RAM) which has at least as many address locations as there are channels. A word counter addresses the RAM which provides as it outputs an encoded peripheral device number and a MSB/LSB-first flag. The encoded device number and a bit counter address a second RAM which contains START and STOP flags to pick out the required bits from the specified word number. The LSB/MSB, START and STOP flags, along with the serial input digital data go to a control block which selectively fills a shift register used to drive the parallel data output bus.
FPGA based Smart Wireless MIMO Control System
Usman Ali, Syed M.; Hussain, Sajid; Akber Siddiqui, Ali; Arshad, Jawad Ali; Darakhshan, Anjum
2013-12-01
In our present work, we have successfully designed, and developed an FPGA based smart wireless MIMO (Multiple Input & Multiple Output) system capable of controlling multiple industrial process parameters such as temperature, pressure, stress and vibration etc. To achieve this task we have used Xilin x Spartan 3E FPGA (Field Programmable Gate Array) instead of conventional microcontrollers. By employing FPGA kit to PC via RF transceivers which has a working range of about 100 meters. The developed smart system is capable of performing the control task assigned to it successfully. We have also provided a provision to our proposed system that can be accessed for monitoring and control through the web and GSM as well. Our proposed system can be equally applied to all the hazardous and rugged industrial environments where a conventional system cannot work effectively.
Robust Controller Synthesis Based on Circle Criterion
Fuwa, Katsuhiko; Kato, Hiroyuki; Kando, Hisashi
It is well-known that stability margins (gain and phase margins) are important quantitative indicators for evaluating stability in feedback control system synthesis. However, when we use conventional techniques based on such stability margins, it may be difficult to suppress the vibration from high-order modes of mechanical system. This paper proposes the robust controller synthesis which achieves both the conventional stability margins and the second phase margin which is a quantitative indicator for suppressing the vibration. The basic idea is to synthesize controller such that the Nyquist locus of open-loop transfer function encircles the immediate outer side of the circle which is specified by the conventional stability margins and the second phase margin. This is formulated as modified H∞ mixed sensitivity problem with the weighting constants which are decided by the center and radius of the circle.
Model Based Control of Refrigeration Systems
DEFF Research Database (Denmark)
Larsen, Lars Finn Sloth
of the supermarket refrigeration systems therefore greatly relies on a human operator to detect and accommodate failures, and to optimize system performance under varying operational condition. Today these functions are maintained by monitoring centres located all over the world. Initiated by the growing need...... for automation of these procedures, that is to incorporate some "intelligence" in the control system, this project was started up. The main emphasis of this work has been on model based methods for system optimizing control in supermarket refrigeration systems. The idea of implementing a system optimizing.......e. by degrading the performance. The method has been successfully applied on a test frigeration system for minimization of the power consumption; the hereby gained experimental results will be presented. The present control structure in a supermarket refrigeration system is distributed, which means...
Sensor-based demand controlled ventilation
Energy Technology Data Exchange (ETDEWEB)
De Almeida, A.T. [Universidade de Coimbra (Portugal). Dep. Eng. Electrotecnica; Fisk, W.J. [Lawrence Berkeley National Lab., CA (United States)
1997-07-01
In most buildings, occupancy and indoor pollutant emission rates vary with time. With sensor-based demand-controlled ventilation (SBDCV), the rate of ventilation (i.e., rate of outside air supply) also varies with time to compensate for the changes in pollutant generation. In other words, SBDCV involves the application of sensing, feedback and control to modulate ventilation. Compared to ventilation without feedback, SBDCV offers two potential advantages: (1) better control of indoor pollutant concentrations; and (2) lower energy use and peak energy demand. SBDCV has the potential to improve indoor air quality by increasing the rate of ventilation when indoor pollutant generation rates are high and occupants are present. SBDCV can also save energy by decreasing the rate of ventilation when indoor pollutant generation rates are low or occupants are absent. After providing background information on indoor air quality and ventilation, this report provides a relatively comprehensive discussion of SBDCV. Topics covered in the report include basic principles of SBDCV, sensor technologies, technologies for controlling air flow rates, case studies of SBDCV, application of SBDCV to laboratory buildings, and research needs. SBDCV appears to be an increasingly attractive technology option. Based on the review of literature and theoretical considerations, the application of SBDCV has the potential to be cost-effective in applications with the following characteristics: (a) a single or small number of dominant pollutants, so that ventilation sufficient to control the concentration of the dominant pollutants provides effective control of all other pollutants; (b) large buildings or rooms with unpredictable temporally variable occupancy or pollutant emission; and (c) climates with high heating or cooling loads or locations with expensive energy.
Access Control Based on Trail Inference
Directory of Open Access Journals (Sweden)
ALBARELO, P. C.
2015-06-01
Full Text Available Professionals are constantly seeking qualification and consequently increasing their knowledge in their area of expertise. Thus, it is interesting to develop a computer system that knows its users and their work history. Using this information, even in the case of professional role change, the system could allow the renewed authorization for activities, based on previously authorized use. This article proposes a model for user access control that is embedded in a context-aware environment. The model applies the concept of trails to manage access control, recording activities usage in contexts and applying this history as a criterion to grant new accesses. Despite the fact that previous related research works consider contexts, none of them uses the concept of trails. Hence, the main contribution of this work is the use of a new access control criterion, namely, the history of previous accesses (trails. A prototype was implemented and applied in an evaluation based on scenarios. The results demonstrate the feasibility of the proposal, allowing for access control systems to use an alternative way to support access rights.
Passivity Control for Uncertain T-S Fuzzy Descriptor Systems%不确定T-S模糊广义系统的无源控制
Institute of Scientific and Technical Information of China (English)
朱宝彦; 张庆灵; 佟绍成
2006-01-01
By means of matrix decomposition method a criterion is presented for the admissibility of T-S fuzzy descriptor system. Then, the problem of passivity control is studied for a kind of T-S fuzzy descriptor system with uncertain parameters, and sufficient conditions which make the closedloop system admissible and strictly passive are obtained based on linear matrix inequality (LMI).The nonstrict LMIs restricted conditions which characterize the descriptor system are transformed nnto strict ones, so testing admissibility and passivity of the system can be finished simultaneously.The design scheme of state feedback controller is also obtained. Finally, a numerical example is given to show the validity and feasibility of the proposed approach.
Access control mechanism of wireless gateway based on open flow
Peng, Rong; Ding, Lei
2017-08-01
In order to realize the access control of wireless gateway and improve the access control of wireless gateway devices, an access control mechanism of SDN architecture which is based on Open vSwitch is proposed. The mechanism utilizes the features of the controller--centralized control and programmable. Controller send access control flow table based on the business logic. Open vSwitch helps achieve a specific access control strategy based on the flow table.
Institute of Scientific and Technical Information of China (English)
无
2010-01-01
For an advanced aircraft, the amount of its effectors is much more than that for a traditional one, the functions of effectors are more complex and the coupling between each other is more severe. Based on the current control allocation research, this paper puts forward the concept and framework of the control allocation and management system for aircrafts with redundancy con-trol effectors. A new optimal control allocation method, bases sequenced optimal (BSO) method, is then presented. By analyz-ing the physical meaning of the allocation process of BSO method, four types of management strategies are adopted by the system, which act on the control allocation process under different flight conditions, mission requirements and effectors work-ing conditions. Simulation results show that functions of the control allocation system are extended and the system adaptability to flight status, mission requirements and effector failure conditions is improved.
PI controller based model reference adaptive control for nonlinear ...
African Journals Online (AJOL)
user
which can deal effectively for real-time online computer control. The NN of the ..... applications such as machine tools, industrial robot control, position control, and other engineering practices. .... Transactions on Mechatronics, vol.1, no.2, pp.
Agents-based distributed processes control systems
Directory of Open Access Journals (Sweden)
Adrian Gligor
2011-12-01
Full Text Available Large industrial distributed systems have revealed a remarkable development in recent years. We may note an increase of their structural and functional complexity, at the same time with those on requirements side. These are some reasons why there are involvednumerous researches, energy and resources to solve problems related to these types of systems. The paper addresses the issue of industrial distributed systems with special attention being given to the distributed industrial processes control systems. A solution for a distributed process control system based on mobile intelligent agents is presented.The main objective of the proposed system is to provide an optimal solution in terms of costs, maintenance, reliability and flexibility. The paper focuses on requirements, architecture, functionality and advantages brought by the proposed solution.
Indoor biology pollution control based on system-based humidity priority control strategy
Institute of Scientific and Technical Information of China (English)
刘亚昱; 谢慧; 石博强
2009-01-01
Indoor biological contamination and HVAC system secondary contamination problems caused wide public concerns. Biological contamination control will be the next step to achieve better IAQ. The most efficient and safe way to control biological contamination was to limit relative humidity in HVAC system and conditioned environment in the range that is more unsuitable for microorganism to survive. In this paper,by referring to bio-clean project experiences,a system-based humidity priority control manner came into being by lowering outdoor air humidity ratio to eliminate all indoor latent load and using self recirculation units to bear indoor sensible load. Based on the whole-course residue humidity contaminant control concept,dynamic step models for coil and conditioned zone were developed to describe mass and energy conservation and transformation processes. Then,HVAC system and conditioned zone dynamic models were established on LabVIEW+Matlab platform to investigate optimized regulation types,input signatures and control logics. Decoupling between cooling and dehumidification processes can be achieved and a more simplified and stable control system can be acquired by the system-based humidity priority control strategy. Therefore,it was a promising way for controlling biological pollution in buildings in order to achieve better IAQ.
Damage detection technique by measuring laser-based mechanical impedance
Energy Technology Data Exchange (ETDEWEB)
Lee, Hyeonseok; Sohn, Hoon [Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology (Daehak-ro 291, Yuseong-gu, Daejeon 305-701) (Korea, Republic of)
2014-02-18
This study proposes a method for measurement of mechanical impedance using noncontact laser ultrasound. The measurement of mechanical impedance has been of great interest in nondestructive testing (NDT) or structural health monitoring (SHM) since mechanical impedance is sensitive even to small-sized structural defects. Conventional impedance measurements, however, have been based on electromechanical impedance (EMI) using contact-type piezoelectric transducers, which show deteriorated performances induced by the effects of a) Curie temperature limitations, b) electromagnetic interference (EMI), c) bonding layers and etc. This study aims to tackle the limitations of conventional EMI measurement by utilizing laser-based mechanical impedance (LMI) measurement. The LMI response, which is equivalent to a steady-state ultrasound response, is generated by shooting the pulse laser beam to the target structure, and is acquired by measuring the out-of-plane velocity using a laser vibrometer. The formation of the LMI response is observed through the thermo-mechanical finite element analysis. The feasibility of applying the LMI technique for damage detection is experimentally verified using a pipe specimen under high temperature environment.
Robust H∞ Control for a Class of Uncertain Switched Fuzzy Time-Delay Systems Based on T-S Models
Directory of Open Access Journals (Sweden)
Yang Cui
2013-01-01
Full Text Available The problem of robust H∞ control for a class of uncertain switched fuzzy time-delay systems is discussed for system described by T-S fuzzy model with Lyapunov stable theory and linear matrix inequality approach. A sufficient condition in terms of the LMI is derived such that the stability of the closed-loop systems is guaranteed. The continuous state feedback controller is built to ensure the asymptotically stable closed-loop system for all allowable uncertainties, with the switching law designed to implement the global asymptotic stability of uncertain switched fuzzy time-delay systems. In this model, each and every subsystem of the switched systems is an uncertain fuzzy one to which the parallel distributed compensation (PDC controller of each sub fuzzy system system is proposed with its main condition given in a more solvable form of convex combinations. Such a switched control system is highly robust to varying parameters. A simulation shows the feasibility and effectiveness of the design method.
Kinematics and Dynamics of Motion Control Based on Acceleration Control
Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro
The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.
PIC BASED SOLAR CHARGING CONTROLLER FOR BATTERY
Directory of Open Access Journals (Sweden)
Mrs Jaya N. Ingole
2012-02-01
Full Text Available Solar resource is unlimited the government is trying to implement the use of Solar panels as an energy source in rural and sub urban areas for lighting the street lights, but the battery used to store the power gets affected due to overcharge & discharges. This paper presents the use of PIC16F72 based solar charger controller for controlling the overcharging and discharging of a solar cell. It works by continuously optimizing the interface between the solar array and battery. First, the variable supply is fixed at 12.8V dc—the voltage of a fully charged battery— and linked to the battery point of the circuit. Cut Off of battery from load voltage is 10.8 volt. A PIC16F72 for small size and inbuilt analog inputs is used to determine voltage level of battery and solar panel..It also describes how the disadvantages of analog circuit are overcome by this controller. The flow chart is also provided.
Directory of Open Access Journals (Sweden)
Li Qiu
2013-01-01
Full Text Available This paper is concerned with the problem of modeling and output feedback controller design for a class of discrete-time networked control systems (NCSs with time delays and packet dropouts. A Markovian jumping method is proposed to deal with random time delays and packet dropouts. Different from the previous studies on the issue, the characteristics of networked communication delays and packet dropouts can be truly reflected by the unified model; namely, both sensor-to-controller (S-C and controller-to-actuator (C-A time delays, and packet dropouts are modeled and their history behavior is described by multiple Markov chains. The resulting closed-loop system is described by a new Markovian jump linear system (MJLS with Markov delays model. Based on Lyapunov stability theory and linear matrix inequality (LMI method, sufficient conditions of the stochastic stability and output feedback controller design method for NCSs with random time delays and packet dropouts are presented. A numerical example is given to illustrate the effectiveness of the proposed method.
Digital Signal Controller Based Digital Control of Brushless DC Motor
Directory of Open Access Journals (Sweden)
Anjana Elizabeth Thomas
2013-07-01
Full Text Available This paper presents the digital control of a brushless dc (BLDC motor using TMS320F2812 DSP controller and an EPROM. The real-time control of electrical motors is an application area that is not usually the domain of Digital Signal Processors. The TMS320F2812 has got dedicated modules for digital motor control. Control algorithms used for the control has been in TMS320F2812 DSP controller. The output of the driver is 6 independent PWM pulses that have to be given to the corresponding gates of the six MOSFETs power switches used in the three-phase bridge driving circuit whose output is given to the stator of the Brushless DC Motor. The commutation technique used in this work is the trapezoidal commutation owing to its excellent speed and current control and it has been implemented using an EPROM
Stability analysis of generalized predictive control based on Kleinman's controllers
Institute of Scientific and Technical Information of China (English)
DING Baocang; XI Yugeng
2004-01-01
With Kleinman's controller, its extended form and Riccati iteration as analyzing tools, the stability of GPC under various parameter cases is discussed. The overall closed-loop stability conclusions of GPC in equivalence with Kleinman's controller are obtained, which cover some existing results and provide the theoretical foundation for stable design of predictive control.
Simulation-based Testing of Control Software
Energy Technology Data Exchange (ETDEWEB)
Ozmen, Ozgur [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Nutaro, James J. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Sanyal, Jibonananda [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Olama, Mohammed M. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
2017-02-10
It is impossible to adequately test complex software by examining its operation in a physical prototype of the system monitored. Adequate test coverage can require millions of test cases, and the cost of equipment prototypes combined with the real-time constraints of testing with them makes it infeasible to sample more than a small number of these tests. Model based testing seeks to avoid this problem by allowing for large numbers of relatively inexpensive virtual prototypes that operate in simulation time at a speed limited only by the available computing resources. In this report, we describe how a computer system emulator can be used as part of a model based testing environment; specifically, we show that a complete software stack including operating system and application software - can be deployed within a simulated environment, and that these simulations can proceed as fast as possible. To illustrate this approach to model based testing, we describe how it is being used to test several building control systems that act to coordinate air conditioning loads for the purpose of reducing peak demand. These tests involve the use of ADEVS (A Discrete Event System Simulator) and QEMU (Quick Emulator) to host the operational software within the simulation, and a building model developed with the MODELICA programming language using Buildings Library and packaged as an FMU (Functional Mock-up Unit) that serves as the virtual test environment.
Observer-based Satellite Attitude Control and Simulation Researches
Institute of Scientific and Technical Information of China (English)
王子才; 马克茂
2002-01-01
Observer design method is applied to the realization of satellite attitude control law baaed on simplified control model. Exact mathematical model of the satellite attitude control system is also constructed, together with the observer-based control law, to conduct simulation research. The simulation results justify the effectiveness andfeasibility of the observer-based control method.
Modeling and Model Predictive Power and Rate Control of Wireless Communication Networks
Directory of Open Access Journals (Sweden)
Cunwu Han
2014-01-01
Full Text Available A novel power and rate control system model for wireless communication networks is presented, which includes uncertainties, input constraints, and time-varying delays in both state and control input. A robust delay-dependent model predictive power and rate control method is proposed, and the state feedback control law is obtained by solving an optimization problem that is derived by using linear matrix inequality (LMI techniques. Simulation results are given to illustrate the effectiveness of the proposed method.
Optimal Control of Switched Systems based on Bezier Control Points
Directory of Open Access Journals (Sweden)
FatemeGhomanjani
2012-06-01
Full Text Available This paper presents a new approach for solving optimal control problems for switched systems. We focus on problems in which a pre-specified sequence of active subsystems is given. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. A Bezier control points method is applied for solving an optimal control problem which is supervised by a switched dynamic system. Two steps of approximation exist here. First, the time interval is divided into k sub-intervals. Second, the trajectory and control functions are approximatedby Bezier curves in each subinterval. Bezier curves have been considered as piecewise polynomials of degree n, then they will be determined by n+1 control points on any subinterval. The optimal control problem is there by converted into a nonlinear programming problem (NLP, which can be solved by known algorithms. However in this paper the MATLAB optimization routine FMINCON is used for solving resulting NLP.
HYBRID CONTROL OF HYDRAULIC PRESS MACHINE BASED ON ROBUST CONTROL
Institute of Scientific and Technical Information of China (English)
FANG Yu; YANG Jian; CHAI Xiaodong
2008-01-01
A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.
Optimal Control of Switched Systems based on Bezier Control Points
FatemeGhomanjani; Mohammad HadiFarahi
2012-01-01
This paper presents a new approach for solving optimal control problems for switched systems. We focus on problems in which a pre-specified sequence of active subsystems is given. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. A Bezier control points method is applied for solving an optimal control problem which is supervised by a switched dynamic system. Two steps of approximation exist here. First, the time interval is divided into ...
FEATURE EXTRACTION FOR EMG BASED PROSTHESES CONTROL
Directory of Open Access Journals (Sweden)
R. Aishwarya
2013-01-01
Full Text Available The control of prosthetic limb would be more effective if it is based on Surface Electromyogram (SEMG signals from remnant muscles. The analysis of SEMG signals depend on a number of factors, such as amplitude as well as time- and frequency-domain properties. Time series analysis using Auto Regressive (AR model and Mean frequency which is tolerant to white Gaussian noise are used as feature extraction techniques. EMG Histogram is used as another feature vector that was seen to give more distinct classification. The work was done with SEMG dataset obtained from the NINAPRO DATABASE, a resource for bio robotics community. Eight classes of hand movements hand open, hand close, Wrist extension, Wrist flexion, Pointing index, Ulnar deviation, Thumbs up, Thumb opposite to little finger are taken into consideration and feature vectors are extracted. The feature vectors can be given to an artificial neural network for further classification in controlling the prosthetic arm which is not dealt in this paper.
Indian Academy of Sciences (India)
Vahid Azimi; Mohammad Bagher Menhaj; Ahmad Fakharian
2015-04-01
In this paper, a robust H2/H∞ control with regional Pole-Placement is considered for tool position control of a nonlinear uncertain flexible robot manipulator. The uncertain nonlinear system is first approximated by Takagi and Sugeno's (T-S) fuzzy model. To achieve a better tracking, an extra state (error of tracking) is then augmented to the T-S model. Based on each local linear subsystem with augmented state, a regional pole-placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compensation (PDC) is also used to establish the whole controller for the overall system and the total linear system is obtained by using the weighted sum of the local linear systems. A fuzzy weighted online computation (FWOC) component is employed to update fuzzy weights in real time for different operating points of the system. Simula-tion results are presented to validate the effectiveness of the proposed controller like robustness and good load disturbance attenuation and accurate tracking, even in the presence of parameter variations and also load disturbances on the motor and the tool. The superiority of the proposed control scheme is finally highlighted in comparison with the Quantitative feedback theory (QFT) controller, the QFT controller of order 13, a polynomial controller and the so-called linear sliding-mode controller methods.
Switching Control System Based on Robust Model Reference Adaptive Control
Institute of Scientific and Technical Information of China (English)
HU Qiong; FEI Qing; MA Hongbin; WU Qinghe; GENG Qingbo
2016-01-01
For conventional adaptive control,time-varying parametric uncertainty and unmodeled dynamics are ticklish problems,which will lead to undesirable performance or even instability and nonrobust behavior,respectively.In this study,a class of discrete-time switched systems with unmodeled dynamics is taken into consideration.Moreover,nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper,and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance.For robustness against unmodeled dynamics and uncertainty,robust model reference aclaptive control (RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems.Meanwhile,two different switching laws are presented for switched systems and nonlinear systems,respectively.Thereby,the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems.Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes.Furthermore,as to the proposed scheme for nonlinear systems,its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.
Gesture Based Control and EMG Decomposition
Wheeler, Kevin R.; Chang, Mindy H.; Knuth, Kevin H.
2005-01-01
This paper presents two probabilistic developments for use with Electromyograms (EMG). First described is a new-electric interface for virtual device control based on gesture recognition. The second development is a Bayesian method for decomposing EMG into individual motor unit action potentials. This more complex technique will then allow for higher resolution in separating muscle groups for gesture recognition. All examples presented rely upon sampling EMG data from a subject's forearm. The gesture based recognition uses pattern recognition software that has been trained to identify gestures from among a given set of gestures. The pattern recognition software consists of hidden Markov models which are used to recognize the gestures as they are being performed in real-time from moving averages of EMG. Two experiments were conducted to examine the feasibility of this interface technology. The first replicated a virtual joystick interface, and the second replicated a keyboard. Moving averages of EMG do not provide easy distinction between fine muscle groups. To better distinguish between different fine motor skill muscle groups we present a Bayesian algorithm to separate surface EMG into representative motor unit action potentials. The algorithm is based upon differential Variable Component Analysis (dVCA) [l], [2] which was originally developed for Electroencephalograms. The algorithm uses a simple forward model representing a mixture of motor unit action potentials as seen across multiple channels. The parameters of this model are iteratively optimized for each component. Results are presented on both synthetic and experimental EMG data. The synthetic case has additive white noise and is compared with known components. The experimental EMG data was obtained using a custom linear electrode array designed for this study.
H{sup {infinity}} State Feedback Control for Generalized Continuous/Discrete Time Delay System
Energy Technology Data Exchange (ETDEWEB)
Kim, J.H.; Lee, S.K.; Park, H.B. [Kyungpook National University, Taegu (Korea, Republic of); Jeung, E.T. [Changwon National University, Changwon (Korea, Republic of)
1998-04-01
In this paper, we consider the problem of designing H{sup {infinity}} state feedback controller for the generalized time delay systems with delayed states and control inputs in continuous and discrete time cases, respectively. The generalized time delay system problems are solved on the basis of LMI(linear matrix inequality) technique considering time delays. The sufficient condition for the existence of controller and H{sup {infinity}} state feedback controller design methods are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be rewritten as a LMI form in terms of transformed variables. The proposed controller design method can be extended into the problem of robust H{sup {infinity}} state feedback controller design method easily. (author). 15 refs.
Towards automatic model based controller design for reconfigurable plants
DEFF Research Database (Denmark)
Michelsen, Axel Gottlieb; Stoustrup, Jakob; Izadi-Zamanabadi, Roozbeh
2008-01-01
This paper introduces model-based Plug and Play Process Control, a novel concept for process control, which allows a model-based control system to be reconfigured when a sensor or an actuator is plugged into a controlled process. The work reported in this paper focuses on composing a monolithic m...
Campus Access Control System RFID Based
Directory of Open Access Journals (Sweden)
Mr. SANTHOSH S
2012-06-01
Full Text Available Radio frequency identification (RFID technology has helped many organizations to reduce cost. Nevertheless, there are challenges and issues associated with RFID adoption. The most common internal challenge for many organizations is justifying the investment and modification of processes. The focus of this project is to show the business value of RFID technology and its applications. The important issue is the security level of the whole campus because it needs to be carefully differentiated. Dormitories and special research laboratories should benefit from higher levels of security than any other campuses. The key to the problem is represented by the new Radio Frequency Identification (RFID which can support contactless cards with memory. The most important feature of the proposed system is the updating of access permission level at any time for the user based on the availability of that user. The data transfer from the reader to the database was done using wireless communication (RF communication. To achieve this here RF transmitter and the RF receiver is used. The data which is read by the reader is sent to the microcontroller. Then from the controller we can transfer the data to the database by using the UART module (serial communication which is inbuilt in the microcontroller through RF transmitter. RF receiver of the same frequency at the receiver end receives and then stores the data in the database. RF transmitter and Receiver – frequency for transmitting and receiving the data depends on the user as per the requirement for the application and it is based on the range of distance. For the data encoding and decoding process HCS-101 protocol is used.
Cao, YY; Lam, J.
2001-01-01
This paper is concerned with simultaneous linear-quadratic (LQ) optimal control design for a set of LTI systems via piecewise constant output feedback. First, the discrete-time simultaneous LQ optimal control design problem is reduced to solving a set of coupled matrix inequalities and an iterative LMI algorithm is presented to compute the feedback gain. Then, simultaneous stabilization and simultaneous LQ optimal control design of a set of LTI continuous-time systems are considered via perio...
Directory of Open Access Journals (Sweden)
İsmail AVCI
2014-03-01
Full Text Available Crete Island is one of the most significant place by virtue of Turkish cultural history and often remembered by the authors and poets who lived in this island during the Ottoman period. The subject of this paper Hasan İlmi is amongst such authors commemorated as of the Crete. Hasan İlmi of the Crete worked as a government officer in various places in the Ottoman Empire and wrote several works of which only three works are available today. The first of these works is an unpublished Ottoman dictionary titled Osmanlı Dili. The second work of the author is titled Yemen Salnamesi with co-writer Hüseyin Hüsnü written during the period when the author served in Yemen. The last work of Hasan İlmi is a divanche (collection of his poems titled Me'alimü'l-garam. This work is composed of 2 praises dedicated to the Prophet Muhammad, 24 odes, 1 poem, and 3 ballads. In this paper, information about Hasan İlmi of the Crete and works will be provided and then his work Me'alimü'l-garam will be presented in more detail. Girit Adası, Osmanlı Dönemi'nde yetiştirdiği yazar ve şairlerle adından çokça söz edilen, Türk kültür tarihi bakımından dikkate değer yerlerden biridir. Bu yazıya konu olan Hasan İlmî de "Giridî" olarak anılan müelliflerdendir. Hayatını imparatorluğun farklı yerlerinde çeşitli devlet görevlerinde bulunarak geçiren Giritli Hasan İlmî'nin elde üç eseri bulunmaktadır. Bunlardan ilki Osmanlı Dili adlı basılamamış bir sözlük çalışmasıdır. İkinci eser müellifin Yemen'de bulunduğu dönemde Hüseyin Hüsnü ile birlikte hazırladığı Yemen Salnâmesi'dir. Hasan İlmî'nin üçüncü eseri ise şiirlerini bir araya getirdiği Me'âlimü'l-garâm adlı divançesidir. Eserde 2 naat, 24 gazel, 1 manzume ve 3 şarkı bulunmaktadır. Bu yazıda önce Giritli Hasan İlmî ve eserleri hakkında bilgi verilecek, ardından Me'âlimü'l-garâm üzerinde durulacak ve eserin metni verilecektir.
Password Based Hand Gesture Controlled Robot
Directory of Open Access Journals (Sweden)
Shanmukha Rao
2016-04-01
Full Text Available Gesture is a most natural way of communication between human and computer in real system. Hand gesture is one of the important methods of non-verbal communications for humans. A simulation tool, MATLAB based colour image processing is used to recognize hand gesture. With the help of wireless communication, it is easier to interact with the robot. The objective of this project is to build a password protected wireless gesture control robot using Arduino, RF transmitter and receiver module. The continuous images are processed and the command signal is sent to the Arduino Uno microcontroller and according to the number of fingers, it sends the commands to the RF transmitter which is received by the transmitter and is processed at the receiver end which drives the motor to a particular direction. The robot moves forward, backward, right and left when we show one, two, three, four fingers (fingers with some red color band or tape respectively. As soon as the hand is moved off from the frame immediately it will stop. This can be used for physically disabled people who can’t use their hands to move the wheel chair. And it can also be used in various military applications where radioactive substances which can’t be touched by the human hand.
UAV Robust Strategy Control Based on MAS
Directory of Open Access Journals (Sweden)
Jian Han
2014-01-01
Full Text Available A novel multiagent system (MAS has been proposed to integrate individual UAV (unmanned aerial vehicle to form a UAV team which can accomplish complex missions with better efficiency and effect. The MAS based UAV team control is more able to conquer dynamic situations and enhance the performance of any single UAV. In this paper, the MAS proposed and established combines the reacting and thinking abilities to be an initiative and autonomous hybrid system which can solve missions involving coordinated flight and cooperative operation. The MAS uses BDI model to support its logical perception and to classify the different missions; then the missions will be allocated by utilizing auction mechanism after analyzing dynamic parameters. Prim potential algorithm, particle swarm algorithm, and reallocation mechanism are proposed to realize the rational decomposing and optimal allocation in order to reach the maximum profit. After simulation, the MAS has been proved to be able to promote the success ratio and raise the robustness, while realizing feasibility of coordinated flight and optimality of cooperative mission.
Control-based operating system design
Leva, Alberto; Papadopoulos, AV; Terraneo, F
2013-01-01
This book argues that computer operating system components should be conceived from the outset as controllers, synthesised and assessed in the system-theoretical world of dynamic models, and then realised as control algorithms.
Flexible Tube-Based Network Control Project
National Aeronautics and Space Administration — The Innovation Laboratory, Inc. builds a control system which controls the topology of an air traffic flow network and the network flow properties which enables Air...
DC-based magnetic field controller
Energy Technology Data Exchange (ETDEWEB)
Kotter, Dale K. (Shelley, ID); Rankin, Richard A. (Ammon, ID); Morgan, John P,. (Idaho Falls, ID)
1994-01-01
A magnetic field controller for laboratory devices and in particular to dc operated magnetic field controllers for mass spectrometers, comprising a dc power supply in combination with improvements to a hall probe subsystem, display subsystem, preamplifier, field control subsystem, and an output stage.
DC-based magnetic field controller
Energy Technology Data Exchange (ETDEWEB)
Kotter, D.K.; Rankin, R.A.; Morgan, J.P.
1994-05-31
A magnetic field controller is described for laboratory devices and in particular to dc operated magnetic field controllers for mass spectrometers, comprising a dc power supply in combination with improvements to a Hall probe subsystem, display subsystem, preamplifier, field control subsystem, and an output stage. 1 fig.
Directory of Open Access Journals (Sweden)
Jian-ming Wei
2015-01-01
Full Text Available This paper presents an adaptive iterative learning control scheme for the output tracking of a class of nonlinear systems with unknown time-varying delays and input saturation nonlinearity. An observer is presented to estimate the states and linear matrix inequality (LMI method is employed for observer design. The assumption of identical initial condition for ILC is relaxed by introducing boundary layer function. The possible singularity problem is avoided by introducing hyperbolic tangent function. The uncertainties with time-varying delays are compensated for by the combination of appropriate Lyapunov-Krasovskii functional and Young’s inequality. Both time-varying and time-invariant radial basis function neural networks are employed to deal with system uncertainties. On the basis of a property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function in two cases, while keeping all the closed-loop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.
Disturbance Observer Based Control of Small Unmanned Aerial Rotorcraft
Directory of Open Access Journals (Sweden)
Xusheng Lei
2013-01-01
Full Text Available As a complex system, the control performance of small unmanned aerial rotorcraft is easily affected by the dynamic model errors, measurement errors, and environment disturbances. This paper proposes a disturbance observer based control method to improve performance. The disturbance observer based control is constructed by the feedback control and a series of integral filters. The system stability can be guaranteed by the feedback control method. Furthermore, the disturbances can be estimated and eliminated quickly by the integral filters. Therefore, the control performance can be improved effectively. The control performance of the disturbance observer based control has been validated by a series of flight tests. Compared with feedback control, the disturbance observer based control yields a better tracking performance in the presence of disturbances.
SECONDARY VOLTAGE CONTROL BASED ON ADAPTIVE NEURAL PI CONTROLLERS
Directory of Open Access Journals (Sweden)
RUBEN TAPIA
2010-01-01
Full Text Available Este trabajo tiene como objetivo presentar el desempeño de un controlador basado en redes neuronales Bspline que regula el aporte de potencia reactiva de las máquinas síncronas. Debido a que los sistemas de potencia operan con parámetros no estacionarios y configuración cambiante, es preferible utilizar esquemas de control adaptativos. La tecnología de control debe asegurar su desempeño en términos de condiciones operativas prácticas de los sistemas de potencia, que considere la diversidad de cargas conectadas a la red y maximice la disponibilidad de recursos. La red neuronal Bspline es una herramienta conveniente para implementar el control adaptativo de voltaje, con la posibilidad de llevar a cabo ésta tarea enlínea considerando las no linealidades del sistema. El despacho de potencia reactiva se basa en la premisa de que cada máquina debe aportar en proporción a su capacidad nominal de operación. La aplicabilidad de la propuesta se demuestra mediante simulación en un sistema de potencia multimáquinas.
Wang, Gang; Chen, Changzheng; Yu, Shenbo
2016-09-01
In this paper, the static output-feedback control problem of active suspension systems with information structure constraints is investigated. In order to simultaneously improve the ride comfort and stability, a half car model is used. Other constraints such as suspension deflection, actuator saturation, and controller constrained information are also considered. A novel static output-feedback design method based on the variable substitution is employed in the controller design. A single-step linear matrix inequality (LMI) optimization problem is solved to derive the initial feasible solution with a sparsity constraint. The initial infeasibility issue of the static output-feedback is resolved by using state-feedback information. Specifically, an optimization algorithm is proposed to search for less conservative results based on the feasible controller gain matrix. Finally, the validity of the designed controller for different road profiles is illustrated through numerical examples. The simulation results indicate that the optimized static output-feedback controller can achieve better suspension performances when compared with the feasible static output-feedback controller.
H2 control of a one-quarter semi-active ground vehicle suspension
Directory of Open Access Journals (Sweden)
L.C. Félix-Herrán
2016-06-01
Full Text Available Magneto-rheological (MR dampers are effective solutions in improving vehicle stability and passenger comfort. However, handling these dampers implies a strong effort in modeling and control. This research proposes an H2 controller, based on a Takagi–Sugeno (T–S fuzzy model, for a two-degrees-of-freedom (2-DOF one-quarter vehicle semi-active suspension with an MR damper; a system with important applications in automotive industry. Regarding performance criteria (in frequency domain handled herein, the developed controller considerably improves the passive suspension's efficiency. Moreover, nonlinear actuator dynamics usually avoided in reported work, is included in controller's synthesis; improving the relevance of research outcomes because the controller is synthesized from a closer-to-reality suspension model. Going further, outcomes of this research are compared (based on frequency domain performance criteria and a common time domain test with reported work to highlight the outstanding results. H2 controller is given in terms of quadratic Lyapunov stability theory and carried out by means of Linear Matrix Inequalities (LMI, and the command signal is applied via the Parallel Distributed Compensation (PDC approach. A case of study, with real data, is developed and simulation work supports the results. The methodology applied herein can be extended to include other vehicle suspension's dynamics towards a general chassis control.
Fault diagnosis based on controller modification
DEFF Research Database (Denmark)
Niemann, Hans Henrik
2015-01-01
Detection and isolation of parametric faults in closed-loop systems will be considered in this paper. A major problem is that a feedback controller will in general reduce the effects from variations in the systems including parametric faults on the controlled output from the system. Parametric...... time. A negative effect of increasing the amplitude of the auxiliary input is that the disturbances in the external output will be increased and consequently reduce the closed-loop performance. This problem can be handled by using a modification of the feedback controller. Applying the YJBK......-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the closed-loop performance in the fault-free case and at the same time optimize the detection and isolation in a faulty case. Controller modification in connection...
Optimization-Based Robust Nonlinear Control
2006-08-01
IEEE Transactions on Automatic Control , vol. 51, no. 4, pp. 661...systems with two time scales", A.R. Teel, L. Moreau and D. Nesic, IEEE Transactions on Automatic Control , vol. 48, no. 9, pp. 1526-1544, September 2003...Turner, L. Zaccarian, IEEE Transactions on Automatic Control , vol. 48, no. 9, pp. 1509- 1525, September 2003. 5. "Nonlinear Scheduled anti-windup
Reliable gain-scheduled control of discrete-time systems and its application to CSTR model
Sakthivel, R.; Selvi, S.; Mathiyalagan, K.; Shi, Y.
2016-10-01
This paper is focused on reliable gain-scheduled controller design for a class of discrete-time systems with randomly occurring nonlinearities and actuator fault. Further, the nonlinearity in the system model is assumed to occur randomly according to a Bernoulli distribution with measurable time-varying probability in real time. The main purpose of this paper is to design a gain-scheduled controller by implementing a probability-dependent Lyapunov function and linear matrix inequality (LMI) approach such that the closed-loop discrete-time system is stochastically stable for all admissible randomly occurring nonlinearities. The existence conditions for the reliable controller is formulated in terms of LMI constraints. Finally, the proposed reliable gain-scheduled control scheme is applied on continuously stirred tank reactor model to demonstrate the effectiveness and applicability of the proposed design technique.
Feature Based Control of Compact Disc Players
DEFF Research Database (Denmark)
Odgaard, Peter Fogh
Two servo control loops are used to keep the Optical Pick-up Unit focused and radially on the information track of the Compact Disc. These control servos have problems handling surface faults on the Compact Disc. In this Ph.D thesis a method is proposed to improve the handling of these surface...
Gaze-Based Controlling a Vehicle
DEFF Research Database (Denmark)
Mardanbeigi, Diako; Witzner Hansen, Dan
Research and applications of gaze interaction has mainly been conducted on a 2 dimensional surface (usually screens) for controlling a computer or controlling the movements of a robot. Emerging wearable and mobile technologies, such as google glasses may shift how gaze is used as an interactive...
A set of decentralized PID controllers for an – link robot manipulator
Indian Academy of Sciences (India)
G Leena; G Ray
2012-06-01
A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design technique is based on the gain-phase margin tester and Kharitonov’s theorem that synthesizes a set of PID controllers for the linear model while nonlinear interaction terms involve in system dynamics are treated as zero. The stability analysis of the composite system with the designed set of decentralized PID controllers is investigated by incorporating bounding parameters of interconnection terms in LMI formulation. From the range of controller gains obtained by the proposed method, a genetic algorithm is adopted to get an optimal controller gains so that the tracking error is minimum. Simulation results are shown to demonstrate the applicability of the proposed control scheme for solution of ﬁxed as well as time-varying trajectory tracking control problems.
An Industrial Model Based Disturbance Feedback Control Scheme
DEFF Research Database (Denmark)
Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper
2014-01-01
This paper presents a model based disturbance feedback control scheme. Industrial process systems have been traditionally controlled by using relay and PID controller. However these controllers are affected by disturbances and model errors and these effects degrade control performance. The authors...... propose a new control method that can decrease the negative impact of disturbance and model errors. The control method is motivated by industrial practice by Fuji Electric. Simulation tests are examined with a conventional PID controller and the disturbance feedback control. The simulation results...
Integrating Attributes into Role-Based Access Control
DEFF Research Database (Denmark)
Mahmood Rajpoot, Qasim; Jensen, Christian D.; Krishnan, Ram
2015-01-01
Role-based access control (RBAC) and attribute-based access control (ABAC) are currently the most prominent access control models. However, they both suffer from limitations and have features complimentary to each other. Due to this fact, integration of RBAC and ABAC has become a hot area...
Bumpless Transfer between Observer-based Gain Scheduled Controllers
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Stoustrup, Jakob; Trangbæk, Klaus
2005-01-01
This paper deals with bumpless transfer between a number of observer-based controllers in a gain scheduling architecture. Linear observer-based controllers are designed for a number of linear approximations of a nonlinear system in a set of operating points, and gain scheduling control can...
Map-based control method for vehicle stability enhancement
Institute of Scientific and Technical Information of China (English)
Moon-Young Yoon; Seung-Hwan Baek; Kwang-Suk Boo; Heung-Seob Kim
2015-01-01
This work proposes a map-based control method to improve a vehicle’s lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment;in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka’s tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region, so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.
Controller design approach based on linear programming.
Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa
2013-11-01
This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor.
CAN-based Synchronized Motion Control for Induction Motors
Institute of Scientific and Technical Information of China (English)
Jun Ren; Chun-Wen Li; De-Zong Zhao
2009-01-01
A control area network (CAN) based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed.The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results,the multi-motor synchronized motion control system,via the CAN bus,has been successfully implemented.With the employment of the advanced synchronized motion control strategy,the synchronization performance can be significantly improved.
PASSIVE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY SYSTEMS
Institute of Scientific and Technical Information of China (English)
李志虎; 邵惠鹤
2001-01-01
This paper focuses on the passive control for a class of linear time-delay system with norm-bounded time-varying parameter uncertainties by using a linear matrix inequality (LMI) approach. A sufficient condition under which the uncertain time-delay system is quadratically stable and strictly passive for all admissible uncertainties was derived. It is shown that the solvability of problem of the robust passive controller design is implied by the feasibility of a linear matrix inequality.
Robust H-infinity reliable control for a class of nonlinear uncertain neutral delay systems
Institute of Scientific and Technical Information of China (English)
Ximing SUN; Jun ZHAO; Bing CHEN
2004-01-01
This paper focuses on the robust H-infinity reliable control for a class of nonlinear neutral delay systems with uncertainties and actuator failures.We design a state feedback controller in terms of linear matrix inequality(LMI)such that the plant satisfies robust H-infinity performance for all admissible uncertainties,and actuator failures among a prespecified subset of actuators.An example is also given to illustrate the effectiveness of the proposed approach.
2013-06-01
STABILITY BY COMPUTING A SINGLE QUADRATIC LYAPUNOV FUNCTION Mehrdad Pakmehr∗ PhD Candidate Decision and Control Laboratory (DCL) School of Aerospace...linearization and linear matrix inequality (LMI) techniques. Using convex optimization tools, a single quadratic Lyapunov function is computed for multiple...Scheduling Control of Gas Turbine Engines: Stability by Computing a Single Quadratic Lyapunov Function 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c
Predictive Control Based upon State Space Models
Directory of Open Access Journals (Sweden)
Jens G. Balchen
1989-04-01
Full Text Available Repetitive online computation of the control vector by solving the optimal control problem of a non-linear multivariable process with arbitrary performance indices is investigated. Two different methods are considered in the search for an optimal, parameterized control vector: Pontryagin's Maximum Principle and optimization by using the performance index and its gradient directly. Unfortunately, solving this optimization problem has turned out to be a rather time-consuming task which has resulted in a time delay that cannot be accepted when the actual process is exposed to rapidly-varying disturbances. However, an instantaneous feedback strategy operating in parallel with the original control aogorithm was found to be able to cope with this problem.
Simple Signal Source based Micro Controller
Institute of Scientific and Technical Information of China (English)
无
2003-01-01
Using micro controller, DAC and Multi-periods syn-thesis, we can buildup a very simple signal source with precisefrequency, amplitude and waveform. Wave parameters can beprogrammed in advance. The circuit can satisfy some special re-quirements.
Attendance Control System based on RFID technology
Nurbek Saparkhojayev; Selim Guvercin
2012-01-01
In Kazakhstan, checking students' attendance is one of the important issues for universities, because many universities evaluate students attendance and while giving the final grade, professors consider their total number of appearances on classes during the whole semester. This brings to the idea of having some tool to control students attendance. Some universities prefer to use paper sheet for controlling attendance, whereas some universities prefer to use paper sheet for checking students'...
Fpga-based control of piezoelectric actuators
Directory of Open Access Journals (Sweden)
Juhász László
2011-01-01
Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.
Design of Industrial Robotic Controller Based on DSP
Institute of Scientific and Technical Information of China (English)
谈世哲; 杨汝清
2003-01-01
This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.
A model–based approach to fault–tolerant control
DEFF Research Database (Denmark)
Niemann, Hans Henrik
2012-01-01
reconfiguration part. The theoretical basis for the architecture is given followed by an investigation of the single parts in the architecture. It is shown that the general controller parameterization is central in connection with both fault diagnosis as well as controller reconfiguration. Especially in relation......A model-based controller architecture for Fault-Tolerant Control (FTC) is presented in this paper. The controller architecture is based on a general controller parameterization. The FTC architecture consists of two main parts, a Fault Detection and Isolation (FDI) part and a controller...... to the controller reconfiguration part, the application of controller parameterization results in a systematic technique for switching between different controllers. This also allows controller switching using different sets of actuators and sensors....
Knowledge based support for multiagent control and automation
DEFF Research Database (Denmark)
Saleem, Arshad; Lind, Morten
2011-01-01
This paper presents a mechanism for developing knowledge based support in multiagent based control and diagnosis. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model for reasoning about control situations. The proposed mechanism have been used in ...
Hamdy, M; Hamdan, I
2015-07-01
In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study.
Cobacabana (control of balance by card-based navigation) : A card-based system for job shop control
Land, M.J.
2009-01-01
Existing card-based production control systems such as Kanban are mostly dedicated to repetitive production environments. Cards-based systems for job shop control are lacking, while particularly this industry segment shows a need for simple control systems. This paper aims at filling the gap by pres
Cobacabana (control of balance by card-based navigation) : A card-based system for job shop control
Land, M.J.
Existing card-based production control systems such as Kanban are mostly dedicated to repetitive production environments. Cards-based systems for job shop control are lacking, while particularly this industry segment shows a need for simple control systems. This paper aims at filling the gap by
Robot Control System based on Web Application and RFID Technology
Directory of Open Access Journals (Sweden)
Barenji Ali Vatankhah
2015-01-01
Full Text Available This paper discusses an integration driven framework for enabling the RFID based identification of parts to perform robotic distributor operations in the random mix based parts control based on web application. The RFID technology senses newly arriving parts to be distribution robot, the robot is able to recognize them and perform cooperative distributing via web-based application. The developed web application control system is implemented in the educational robotic arm. RFID system sends real time information from parts to the web application and web based application makes a decision for control of the robot arm, controller of robot controls the robot as based on the decision from web application. The proposed control system has increases the reconfiguration and scalability of robot system.
Similarity based mixed transaction concurrency control protocol
Institute of Scientific and Technical Information of China (English)
PAN Yi; LU Yan-sheng
2005-01-01
Due to the various performance requirements and data access restrictions of different types of real-time transactions, concurrency control protocols which had been designed for the systems with single type of transactions are not sufficient for mixed real-time database systems (MRTDBS), where different types of real-time transactions coexist in the systems concurrently. In this paper, a new concurrency control protocol MRTT_CC for mixed real-time transactions is proposed. The new strategy integrates with different concurrency control protocols to meet the deadline requirements of different types of real-time transactions. The data similarity concept is also explored in the new protocol to reduce the blocking time of soft real-time transactions, which increases their chances to meet the deadlines. Simulation experiments show that the new protocol has gained good performance.
Estimator Based Controller for High Speed Flywheel Magnetic Bearing System
Dever, Timothy P.; Brown, Gerald V.; Jansen, Ralph H.
2002-01-01
A flywheel system and its operator interface are described. Measurements of magnetic bearing negative stiffness are performed. Two digital magnetic bearing control algorithms (PD and estimator based) are defined and their implementations are described. Tuning of each controller is discussed. Comparison of the two controllers' stability, damping noise, and operating current are described. Results describing the superiority of the estimator-based controller are presented and discussed.
DeviceNet-based device-level control in SSRF
Leng Yong Bin; Lu Cheng Meng; Miao Hai Feng; Liu Song Qiang; Shen Guo Bao
2002-01-01
The control system of Shanghai Synchrotron Radiation Facility is an EPICS-based distributed system. One of the key techniques to construct the system is the device-level control. The author describes the design and implementation of the DeviceNet-based device controller. A prototype of the device controller was tested in the experiments of magnet power supply and the result showed a precision of 3 x 10 sup - sup 5
Observer-based Controller For Microrobot in Pulsatile Blood Flow
Sadelli, Lounis; Fruchard, Matthieu; Ferreira, Antoine
2014-01-01
International audience; We propose an observer-based controller for a magnetic microrobot immersed in the human vasculature. The drag force depends on the pulsatile blood velocity and specially acts on the microrobot dynamics. In the design of advanced control laws, the blood velocity is usually assumed to be known or set to a constant mean value to achieve the control objectives, whereas the sole robot position is measured. We prove the stability of the proposed observer-based controller com...
Model based control of dynamic atomic force microscope
Energy Technology Data Exchange (ETDEWEB)
Lee, Chibum [Department of Mechanical System Design Engineering, Seoul National University of Science and Technology, Seoul 139-743 (Korea, Republic of); Salapaka, Srinivasa M., E-mail: salapaka@illinois.edu [Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801 (United States)
2015-04-15
A model-based robust control approach is proposed that significantly improves imaging bandwidth for the dynamic mode atomic force microscopy. A model for cantilever oscillation amplitude and phase dynamics is derived and used for the control design. In particular, the control design is based on a linearized model and robust H{sub ∞} control theory. This design yields a significant improvement when compared to the conventional proportional-integral designs and verified by experiments.
Model based control of dynamic atomic force microscope.
Lee, Chibum; Salapaka, Srinivasa M
2015-04-01
A model-based robust control approach is proposed that significantly improves imaging bandwidth for the dynamic mode atomic force microscopy. A model for cantilever oscillation amplitude and phase dynamics is derived and used for the control design. In particular, the control design is based on a linearized model and robust H(∞) control theory. This design yields a significant improvement when compared to the conventional proportional-integral designs and verified by experiments.
Directory of Open Access Journals (Sweden)
Ming-Kun Chang
2014-01-01
Full Text Available It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems. The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs in order to determine controller gains based on the Lyapunov direct method. Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine. Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.
Power system stabilizers based on modern control techniques
Energy Technology Data Exchange (ETDEWEB)
Malik, O.P.; Chen, G.P.; Zhang, Y.; El-Metwally, K. [Calgary Univ., AB (Canada). Dept. of Electrical and Computer Engineering
1994-12-31
Developments in digital technology have made it feasible to develop and implement improved controllers based on sophisticated control techniques. Power system stabilizers based on adaptive control, fuzzy logic and artificial networks are being developed. Each of these control techniques possesses unique features and strengths. In this paper, the relative performance of power systems stabilizers based on adaptive control, fuzzy logic and neural network, both in simulation studies and real time tests on a physical model of a power system, is presented and compared to that of a fixed parameter conventional power system stabilizer. (author) 16 refs., 45 figs., 3 tabs.
Design of energy-based terrain following flight control system
Wang, Wei; Li, Aijun; Xie, Yanwu; Tan, Jian
2006-11-01
Historically, aircraft longitudinal control has been realized by means of two loops: flight path (the control variable is elevator displacement) and speed control (the control variable is propulsive thrust or engine power). Both the elevator and throttle control cause coupled altitude and speed response, which exerts negative effects on longitudinal flight performance of aircraft, especially for Terrain Following(TF) flight. Energy-based method can resolve coupled problem between flight speed and path by controlling total energy rate and energy distribution rate between elevator and throttle. In this paper, energy-based control method is applied to design a TF flight control system for controlling flight altitude directly. An error control method of airspeed and altitude is adopted to eliminate the stable error of the total energy control system when decoupling control. Pitch loop and pitch rate feedback loop are designed for the system to damp the oscillatory response produced by TF system. The TF flight control system structure diagram and an aircraft point-mass energy motion model including basic control loops are given and used to simulate decoupling performance of the TF fight control system. Simulation results show that the energy-based TF flight control system can decouple flight velocity and flight path angle, exactly follow planned flight path, and greatly reduce altitude error, which is between +10m and -8m.
Design of Threshold Controller Based Chaotic Circuits
DEFF Research Database (Denmark)
Mohamed, I. Raja; Murali, K.; Sinha, Sudeshna
2010-01-01
We propose a very simple implementation of a second-order nonautonomous chaotic oscillator, using a threshold controller as the only source of nonlinearity. We demonstrate the efficacy and simplicity of our design through numerical and experimental results. Further, we show that this approach of ...
Power-based control of physical systems
Garcia-Canseco, Eloisa; Jeltsema, Dimitri; Ortega, Romeo; Scherpen, Jacquelien M. A.
2010-01-01
It is well known that energy-balancing control is stymied by the presence of pervasive dissipation. To overcome this problem in electrical circuits, the alternative paradigm of power shaping was introduced in Ortega, Jeltsema, and Scherpen (2003)-where, as suggested by its name, stabilization is ach
Model-based control of hopper dredgers
Braaksma, J.
2008-01-01
The modern trailing suction hopper dredgers are advanced ships that are equipped with many automation systems that can be controlled with integrated computer systems from the bridge. From the operators it is expected that they generate the right set-points for all these systems. The latest ships are
Plant-based strategies for mosquito control
Mosquitoes transmit some of the most devastating emerging infectious diseases of humans, domestic animals, and wildlife. Although vector control by use of chemical insecticides has played an important role in prevention and management of these diseases, their sustained use remains questionable due t...
Application analysis of servo-control system based on PMAC with feed-forward control
Lin, Rongkun; Yao, Bin; Chen, Minghui; Li, Fei; Peng, Liwen
2011-12-01
On the basis of traditional PID algorithm, the paper analyzes the improvements of control algorithm of PMAC (Programmable Multiple-Axis Controller) with feedforward control, and presents the computational model of the control algorithm. The debugging results of motors are analyzed in combination with PMAC as the controller. The problems and the final graphics data that appear throughout debugging process are analyzed in detail, which proves that there are better steady characteristics and dynamic performance for the servo-control system based on PMAC with feedforward control. The control system is rebuilded by parameter-adaptive PID+feedforward control for higher machining accuracy.
Velocity and Motion Control of a Self-balancing Vehicle based on a Cascade Control Strategy
Directory of Open Access Journals (Sweden)
Miguel Velazquez
2016-06-01
Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.
Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy
Directory of Open Access Journals (Sweden)
Miguel Velazquez
2016-06-01
Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.
Guidance on Design of Internet-based Process Control Systems
Institute of Scientific and Technical Information of China (English)
S.H.YANG; L.YANG
2005-01-01
Internet-based process control is becoming new generations of control systems, in which the Internet is used as a platform for global remote monitoring and control. The obvious benefit is to enable global collaboration between operators from geographically dispersed locations, data sharing and data provision for remote monitoring and control. However, connection to an open network and the use of universal technology present new problems that did not exist with the conventional design and construction of control systems, such as time delay and data loss in Internet transmission and security. This paper reviews the latest research results and presents design guidance of Internet based monitoring and control systems.
Wang, Jun-Wei; Wu, Huai-Ning; Li, Han-Xiong
2012-06-01
In this paper, a distributed fuzzy control design based on Proportional-spatial Derivative (P-sD) is proposed for the exponential stabilization of a class of nonlinear spatially distributed systems described by parabolic partial differential equations (PDEs). Initially, a Takagi-Sugeno (T-S) fuzzy parabolic PDE model is proposed to accurately represent the nonlinear parabolic PDE system. Then, based on the T-S fuzzy PDE model, a novel distributed fuzzy P-sD state feedback controller is developed by combining the PDE theory and the Lyapunov technique, such that the closed-loop PDE system is exponentially stable with a given decay rate. The sufficient condition on the existence of an exponentially stabilizing fuzzy controller is given in terms of a set of spatial differential linear matrix inequalities (SDLMIs). A recursive algorithm based on the finite-difference approximation and the linear matrix inequality (LMI) techniques is also provided to solve these SDLMIs. Finally, the developed design methodology is successfully applied to the feedback control of the Fitz-Hugh-Nagumo equation.
Model-based analysis of control performance in sewer systems
DEFF Research Database (Denmark)
Mollerup, Ane Høyer; Mauricio Iglesias, Miguel; Johansen, N.B.;
2012-01-01
Design and assessment of control in wastewater systems has to be tackled at all levels, including supervisory and regulatory level. We present here an integrated approach to assessment of control in sewer systems based on modelling and the use of process control tools to assess the controllability...... of the process. A case study of a subcatchment area in Copenhagen (Denmark) is used to illustrate the combined approach in modelling of the system and control assessment....
Reinforcement learning based backstepping control of power system oscillations
Energy Technology Data Exchange (ETDEWEB)
Karimi, Ali; Eftekharnejad, Sara; Feliachi, Ali [Advanced Power and Electric Research Center (APERC), West Virginia University, Morgantown, WV 26506-6109 (United States)
2009-11-15
This paper proposes a reinforcement learning based backstepping control technique for damping oscillations in electric power systems using the generators excitation systems. Decentralized controllers are first designed using the backstepping technique. Then, reinforcement learning is used to tune the gains of these controllers to adapt to various operating conditions. Simulation results for a two area power system show that the proposed control technique provides better damping than (i) conventional power system stabilizers and (ii) backstepping fixed gain controllers. (author)
Radio Frequency Based Water Level Monitor and Controller for ...
African Journals Online (AJOL)
Radio Frequency Based Water Level Monitor and Controller for Residential Applications. ... Nigerian Journal of Technology ... This paper elucidates a radio frequency (RF) based transmission and reception system used to remotely monitor ...
Flatness-based fault tolerant control
Directory of Open Access Journals (Sweden)
César Martínez-Torres
2014-01-01
Full Text Available Este artículo presenta un método de control tolerante a fallas para sistemas no lineales planos. Las propiedades intrínsecas d e los sistemas planos generan redundancia analítica y permiten calcular todos los estados y las entradas de control del sistema. Los residuo s son calculados comparando las medidas reales provenientes de los se nsores y las señales obtenidas gracias al conjunto de ecuacione s del sistema plano. Fallas multiplicativas y aditivas se pueden man ejar de manera indistinta. Las señales redundantes obtenidas co n las ecuaciones del sistema plano son usadas para reconfigurar el si stema con falla. La factibilidad del método propuesto es verifi cada para fallas aditivas en un sistema de tres tanques.
PLC based Smart Street Lighting Control
Directory of Open Access Journals (Sweden)
D.V.Pushpa Latha
2013-12-01
Full Text Available Conventional street lighting systems in most of the areas are Online at regular intervals of time irrespective of the seasonal variations. The street lights are simply switched on at afternoon and turned off in the morning. The consequence is that a large amount of Power is wasted meaninglessly. As energy consumption is an issue of increasing interest, possible energy savings in public street lighting systems are recently discussed from different viewpoints. The purpose of this work is to describe the Smart Street Lighting system, an approach to accomplish the demand for ﬂexible public lighting systems using a Programmable Logic controller (PLC. The main difference from other computers is that PLCs are armoured for severe conditions such as dust, moisture, heat, cold etc., and have the facility for extensive input/output (I/O arrangements. In the proposed paper, street lights are controlled using millennium 3 PLC taking the seasonal variations into consideration.
CICERO: Control Information system Concepts based\
2002-01-01
RD38 : Modern High Energy Physics experiments and accelerators require sophisticated control systems to ensure their safe operation and to optimise their performance. Due to their complexity and to the large number of sensors needed for these purposes, they turn out to be difficult and costly to maintain with the present technology. The situation will seriously worsen with the LHC era. Various R\\&D departments of industrial companies are directly concerned with similar difficulties in power plants and complex automated systems. We propose to combine our efforts to study the various aspects of this problem. We intend to outline the main building blocks of generic control information system. As a result of this study we aim to provide technical solutions which could later be the major components of a basic turnkey system for medium to large scale HEP experiments and accelerators.
Internal Model Based Active Disturbance Rejection Control
Pan, Jinwen; Wang, Yong
2016-01-01
The basic active disturbance rejection control (BADRC) algorithm with only one order higher extended state observer (ESO) proves to be robust to both internal and external disturbances. An advantage of BADRC is that in many applications it can achieve high disturbance attenuation level without requiring a detailed model of the plant or disturbance. However, this can be regarded as a disadvantage when the disturbance characteristic is known since the BADRC algorithm cannot exploit such informa...
Wake Identification Based Wake Impact Alleviation Control
Ehlers, Jana; Fischenberg, Dietrich; Niedermeier, Dominik
2014-01-01
During a wake vortex encounter an aircraft is exposed to strong unsteady disturbance velocities which can lead to significant changes in the aircraft attitude and flight path. This can represent a severe safety risk and can result in injuries to the passengers and crew as well as damages to the aircraft. The application of a wake impact alleviation control system can considerably decrease the aircraft’s response during the wake encounter, and hence diminish the pilot workload while reducing t...
Organic Based Solar Cells with Morphology Control
Andersen, Thomas Rieks; Bundgaard, Eva; Jørgensen, Mikkel
2013-01-01
The field of organic solar cells has in the last years gone through an impressive development with efficiencies reported up to 12 %. For organic solar cells to take the leap from primarily being a laboratory scale technology to being utilized as renewable energy source, several issues need to be addressed. Among these are a more direct transfer of new materials tested on a laboratory scale to large scale production than offered by spincoating, a method offering direct control of the morpholog...
Quality control based on electrical resistivity measurements
Ferreira, Rui Miguel; Jalali, Said
2006-01-01
The electrical resistivity of concrete is one of the main parameters controlling the initiation and propagation of reinforcement corrosion. It is common knowledge that concrete electrical resistivity is mainly dependent on the w/c ratio (pore connectivity), volume and type of cement, temperature and the moisture. This research work studies the effect of specimen shape and temperature of measurement on electrical resistivity measurements of concrete using the four-point Werner electrode. In ad...
Toward Inverse Control of Physics-Based Sound Synthesis
Pfalz, A.; Berdahl, E.
2017-05-01
Long Short-Term Memory networks (LSTMs) can be trained to realize inverse control of physics-based sound synthesizers. Physics-based sound synthesizers simulate the laws of physics to produce output sound according to input gesture signals. When a user's gestures are measured in real time, she or he can use them to control physics-based sound synthesizers, thereby creating simulated virtual instruments. An intriguing question is how to program a computer to learn to play such physics-based models. This work demonstrates that LSTMs can be trained to accomplish this inverse control task with four physics-based sound synthesizers.
Torque Ripple Reduction in Direct Torque Control Based Induction Motor using Intelligent Controllers
Sudhakar, Ambarapu; Vijaya Kumar, M.
2015-09-01
This paper presents intelligent control scheme together with conventional control scheme to overcome the problems with uncertainties in the structure encountered with classical model based design of induction motor drive based on direct torque control (DTC). It allows high dynamic performance to be obtained with very simple hysteresis control scheme. Direct control of the torque and flux is achieved by proper selection of inverter voltage space vector through a lookup table. This paper also presents the application of intelligent controllers like neural network and fuzzy logic controllers to control induction machines with DTC. Intelligent controllers are used to emulate the state selector of the DTC. With implementation of intelligent controllers the system is also verified and proved to be operated stably with reduced torque ripple. The proposed method validity and effectiveness has been verified by computer simulations using Matlab/Simulink®. These results are compared with the ones obtained with a classical DTC using proportional integral speed controller.
Sun, L.G.; De Visser, C.C.; Chu, Q.P.; Falkena, W.
2013-01-01
Recently, an incremental type sensor based backstepping (SBB) control approach, based on singular perturbation theory and Tikhonov’s theorem, has been proposed. This Lyapunov function based method uses measurements of control variables and less model knowledge, and it is not susceptible to the model
Sun, L.G.; De Visser, C.C.; Chu, Q.P.; Falkena, W.
2013-01-01
Recently, an incremental type sensor based backstepping (SBB) control approach, based on singular perturbation theory and Tikhonov’s theorem, has been proposed. This Lyapunov function based method uses measurements of control variables and less model knowledge, and it is not susceptible to the model
Mechanics and model-based control of advanced engineering systems
Irschik, Hans; Krommer, Michael
2014-01-01
Mechanics and Model-Based Control of Advanced Engineering Systems collects 32 contributions presented at the International Workshop on Advanced Dynamics and Model Based Control of Structures and Machines, which took place in St. Petersburg, Russia in July 2012. The workshop continued a series of international workshops, which started with a Japan-Austria Joint Workshop on Mechanics and Model Based Control of Smart Materials and Structures and a Russia-Austria Joint Workshop on Advanced Dynamics and Model Based Control of Structures and Machines. In the present volume, 10 full-length papers based on presentations from Russia, 9 from Austria, 8 from Japan, 3 from Italy, one from Germany and one from Taiwan are included, which represent the state of the art in the field of mechanics and model based control, with particular emphasis on the application of advanced structures and machines.
Z Number Based Fuzzy Inference System for Dynamic Plant Control
Directory of Open Access Journals (Sweden)
Rahib H. Abiyev
2016-01-01
Full Text Available Frequently the reliabilities of the linguistic values of the variables in the rule base are becoming important in the modeling of fuzzy systems. Taking into consideration the reliability degree of the fuzzy values of variables of the rules the design of inference mechanism acquires importance. For this purpose, Z number based fuzzy rules that include constraint and reliability degrees of information are constructed. Fuzzy rule interpolation is presented for designing of an inference engine of fuzzy rule-based system. The mathematical background of the fuzzy inference system based on interpolative mechanism is developed. Based on interpolative inference process Z number based fuzzy controller for control of dynamic plant has been designed. The transient response characteristic of designed controller is compared with the transient response characteristic of the conventional fuzzy controller. The obtained comparative results demonstrate the suitability of designed system in control of dynamic plants.
Stabilization of model-based networked control systems
Miranda, Francisco; Abreu, Carlos; Mendes, Paulo M.
2016-06-01
A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtain an optimal feedback control is also presented.
Machine function based control code algebras
Bergstra, J.A.
2008-01-01
Machine functions have been introduced by Earley and Sturgis in [6] in order to provide a mathematical foundation of the use of the T-diagrams proposed by Bratman in [5]. Machine functions describe the operation of a machine at a very abstract level. A theory of hardware and software based on machin
Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle
Institute of Scientific and Technical Information of China (English)
Liu Zhi; Wang Yong
2014-01-01
Motivated by the autopilot of an unmanned aerial vehicle (UAV) with a wide flight enve-lope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller (FATC) is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality (LMI), and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded (UUB) predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.
Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle
Directory of Open Access Journals (Sweden)
Liu Zhi
2014-10-01
Full Text Available Motivated by the autopilot of an unmanned aerial vehicle (UAV with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller (FATC is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality (LMI, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded (UUB predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.
Comparative Analysis for NN-Based Adaptive Back-stepping Controller and Back-stepping Controller
Margarita Gjonaj; BetimÇiço; ArnisaMyrtellari
2016-01-01
This work primarily addresses the design and implementation of a neural network based controller for the trajectory tracking of a differential drive mobile robot. The proposed control algorithm is an NN-based adaptive controller which tunes the gains of the back-stepping controller online according to the robot reference trajectory and its initial posture. In this method, a neural network is needed to learn the characteristics of the plant dynamics and make use of it to determine the future i...
H∞ Based Control for Load Mitigation in Wind Turbines
Directory of Open Access Journals (Sweden)
Aron Pujana-Arrese
2012-04-01
Full Text Available This article demonstrates a strategy to design multivariable and multi-objective controllers based on the H∞ norm reduction applied to a wind turbine. The wind turbine model has been developed in the GH Bladed software and it is based on a 5 MW wind turbine defined in the Upwind European project. The designed control strategy works in the above rated power production zone and performs generator speed control and load reduction on the drive train and tower. In order to do this, two robust H∞ MISO (Multi-Input Single-Output controllers have been developed. These controllers generate collective pitch angle and generator torque set-point values to achieve the imposed control objectives. Linear models obtained in GH Bladed 4.0 are used, but the control design methodology can be used with linear models obtained from any other modelling package. Controllers are designed by setting out a mixed sensitivity problem, where some notch filters are also included in the controller dynamics. The obtained H∞ controllers have been validated in GH Bladed and an exhaustive analysis has been carried out to calculate fatigue load reduction on wind turbine components, as well as to analyze load mitigation in some extreme cases. The analysis compares the proposed control strategy based on H∞ controllers to a baseline control strategy designed using the classical control methods implemented on the present wind turbines.
A New Approach for Controlling Chaos Based on Direct Optimizing Predictive Control
Institute of Scientific and Technical Information of China (English)
无
2006-01-01
We introduce the predictive control theory into the study of chaos control and propose a direct optimizing predictive control algorithm based on a neural network model. The proposed control system stabilizes the chaotic motion in an unknown chaotic system onto the desired target trajectory. Compared with the existing similar algorithms, the proposed control system has faster response, so it requires much shorter time for the stabilization of the chaotic systems.The proposed approach can control hyperchaos and the algorithm is simple. The convergence of the control algorithm and the stability of the control system can be guaranteed. The theoretic analysis and simulations demonstrate the effectiveness of the algorithm.
Implementation of neural network based non-linear predictive control
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1999-01-01
of non-linear systems. GPC is model based and in this paper we propose the use of a neural network for the modeling of the system. Based on the neural network model, a controller with extended control horizon is developed and the implementation issues are discussed, with particular emphasis...
Dextran-based microspheres as controlled delivery systems for proteins
Vlugt-Wensink, K.D.F.
2007-01-01
Dextran-based microspheres as controlled delivery systems for proteins Dextran based microspheres are investigated as controlled delivery system for proteins. Microspheres were prepared by polymerization of dex-HEMA in an aqueous two-phase system of dex-HEMA and PEG. Protein loaded microspheres are
Vision-based control of the Manus using SIFT
Liefhebber, F.; Sijs, J.
2007-01-01
The rehabilitation robot Manus is an assistive device for severely motor handicapped users. The executing of all day living tasks with the Manus, can be very complex and a vision-based controller can simplify this. The lack of existing vision-based controlled systems, is the poor reliability of the
Control charts for location based on different sampling schemes
Mehmood, R.; Riaz, M.; Does, R.J.M.M.
2013-01-01
Control charts are the most important statistical process control tool for monitoring variations in a process. A number of articles are available in the literature for the X̄ control chart based on simple random sampling, ranked set sampling, median-ranked set sampling (MRSS), extreme-ranked set
Fault tolerant control based on active fault diagnosis
DEFF Research Database (Denmark)
Niemann, Hans Henrik
2005-01-01
An active fault diagnosis (AFD) method will be considered in this paper in connection with a Fault Tolerant Control (FTC) architecture based on the YJBK parameterization of all stabilizing controllers. The architecture consists of a fault diagnosis (FD) part and a controller reconfiguration (CR...
Data-Based Predictive Control with Multirate Prediction Step
Barlow, Jonathan S.
2010-01-01
Data-based predictive control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. One challenge of MPC is computational requirements increasing with prediction horizon length. This paper develops a closed-loop dynamic output feedback controller that minimizes a multi-step-ahead receding-horizon cost function with multirate prediction step. One result is a reduced influence of prediction horizon and the number of system outputs on the computational requirements of the controller. Another result is an emphasis on portions of the prediction window that are sampled more frequently. A third result is the ability to include more outputs in the feedback path than in the cost function.
Genetic Algorithm based PID controller for Frequency Regulation Ancillary services
Directory of Open Access Journals (Sweden)
Sandeep Bhongade
2010-12-01
Full Text Available In this paper, the parameters of Proportional, Integral and Derivative (PID controller for Automatic Generation Control (AGC suitable in restructured power system is tuned according to Generic Algorithms (GAs based performance indices. The key idea of the proposed method is to use the fitness function based on Area Control Error (ACE. The functioning of the proposed Genetic Algorithm based PID (GAPID controller has been demonstrated on a 75-bus Indian power system network and the results have been compared with those obtained by using Least Square Minimization method.
Quality guaranteed aggregation based model predictive control and stability analysis
Institute of Scientific and Technical Information of China (English)
LI DeWei; XI YuGeng
2009-01-01
The input aggregation strategy can reduce the online computational burden of the model predictive controller. But generally aggregation based MPC controller may lead to poor control quality. Therefore, a new concept, equivalent aggregation, is proposed to guarantee the control quality of aggregation based MPC. From the general framework of input linear aggregation, the design methods of equivalent aggregation are developed for unconstrained and terminal zero constrained MPC, which guarantee the actual control inputs exactly to be equal to that of the original MPC. For constrained MPC, quasi-equivalent aggregation strategies are also discussed, aiming to make the difference between the control inputs of aggregation based MPC and original MPC as small as possible. The stability conditions are given for the quasi-equivalent aggregation based MPC as well.
A Novel Secondary Control for Microgrid Based on Synergetic Control of Multi-Agent System
Directory of Open Access Journals (Sweden)
Zhiwen Yu
2016-03-01
Full Text Available In power systems, the secondary control is a very useful way to restore the system frequency and voltage to the rated value. This paper tries to propose a secondary frequency and voltage control of islanded microgrids based on the distributed synergetic control of multi-agent systems. In the proposed control, since each distributed generation only requires its own information and that of the neighbors, the secondary control is fully distributed. The system is more reliable because the central controller and complex communication network are reduced in the distributed structure. Based on multi-agent systems, the dynamic model is established, and distributed synergetic control algorithms are given to design the secondary control of the islanded microgrid. Meanwhile, the system has globally asymptotic stability under the proposed control, which is proved by the direct Lyapunov method. Simulation results about a test microgrid are given to verify the effectiveness of the proposed control.
PC-Based Applications Programming on the SRS Control System.
Martlew, Brian; Owen, Hywel; Pugh, Martin; Rawlinson, Bill; Smith, Susan
1997-05-01
The CERN PC-based ISOLDE control system has been installed at the SRS electron storage ring at Daresbury Laboratory. The use of Windows NT for the control consoles together with PC and VME front-end computers running under several operating systems has resulted in a flexible and reliable system for accelerator control. The implementation and philosophy of control application programs, based around a suite of Microsoft Visual Basic and Excel programs, is described. In particular, the use of Excel to provide adaptable programs online allows rapid generation of new control functions; orbit correction and servoing at the application level are described as examples of this.
Attitude Optimal Backstepping Controller Based Quaternion for a UAV
Directory of Open Access Journals (Sweden)
Kaddouri Djamel
2016-01-01
Full Text Available A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL aerial robot prototype known as the quadrotor aircraft.
An experiment-based comparative study of fuzzy logic control
Berenji, Hamid R.; Chen, Yung-Yaw; Lee, Chuen-Chein; Murugesan, S.; Jang, Jyh-Shing
1989-01-01
An approach is presented to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE, and the authors have successfully built a prototype hardware system to solve the cartpole balancing problem in real-time. The approach provides a complementary alternative to the conventional analytical control methodology and is of substantial use when a precise mathematical model of the process being controlled is not available. A set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes is furnished.
Model-Based Development of Control Systems for Forestry Cranes
Directory of Open Access Journals (Sweden)
Pedro La Hera
2015-01-01
Full Text Available Model-based methods are used in industry for prototyping concepts based on mathematical models. With our forest industry partners, we have established a model-based workflow for rapid development of motion control systems for forestry cranes. Applying this working method, we can verify control algorithms, both theoretically and practically. This paper is an example of this workflow and presents four topics related to the application of nonlinear control theory. The first topic presents the system of differential equations describing the motion dynamics. The second topic presents nonlinear control laws formulated according to sliding mode control theory. The third topic presents a procedure for model calibration and control tuning that are a prerequisite to realize experimental tests. The fourth topic presents the results of tests performed on an experimental crane specifically equipped for these tasks. Results of these studies show the advantages and disadvantages of these control algorithms, and they highlight their performance in terms of robustness and smoothness.
Behavior-Based Formation Control of Swarm Robots
Directory of Open Access Journals (Sweden)
Dongdong Xu
2014-01-01
Full Text Available Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.
Directory of Open Access Journals (Sweden)
REZAZADEH, A.
2010-05-01
Full Text Available Nonlinear characteristics of wind turbines and electric generators necessitate complicated and nonlinear control of grid connected Wind Energy Conversion Systems (WECS. This paper proposes a modified self-tuning PID control strategy, using reinforcement learning for WECS control. The controller employs Actor-Critic learning in order to tune PID parameters adaptively. These Actor-Critic learning is a special kind of reinforcement learning that uses a single wavelet neural network to approximate the policy function of the Actor and the value function of the Critic simultaneously. These controllers are used to control a typical WECS in noiseless and noisy condition and results are compared with an adaptive Radial Basis Function (RBF PID control based on reinforcement learning and conventional PID control. Practical emulated results prove the capability and the robustness of the suggested controller versus the other PID controllers to control of the WECS. The ability of presented controller is tested by experimental setup.
Organic Based Solar Cells with Morphology Control
DEFF Research Database (Denmark)
Andersen, Thomas Rieks
The field of organic solar cells has in the last years gone through an impressive development with efficiencies reported up to 12 %. For organic solar cells to take the leap from primarily being a laboratory scale technology to being utilized as renewable energy source, several issues need...... to be addressed. Among these are a more direct transfer of new materials tested on a laboratory scale to large scale production than offered by spincoating, a method offering direct control of the morphology in the active layer, and a more environmental friendly processing, where the vast use of organic solvents...... offers a great challenge. In this thesis the development of inks with a pre-arranged morphology was attempted by two methods. First by grafting of silicon nanoparticles with an organic phenylene vinylene oligomer, the resulting particles were analyzed by 1H-NMR, absorption spectroscopy, Atomic Force...
PQ Control Based Grid Connected DG Systems
Directory of Open Access Journals (Sweden)
P Siva Srinivas1 ,
2015-10-01
Full Text Available Distributed generation (DG generally refer to small scale electric power generators produce electricity that is bound to an electric distribution system. Distributed generation systems such as photovoltaic (PV or wind energy systems are parts of the future smart grids. By applying intelligent techniques these future grids change as smarter grids. During the past few years electrical energy consumption to the investment is increased when compared to cost on transmission and distribution resulting in compromised reliability and high energy costs. So there is need to change from conventional grid to smart grid. Micro grids consist of small power sources called distributed generation system. Many distributed generation systems such as photovoltaic systems are grid interfaced through power electronic voltage source inverters. In this paper a boost inverter technique is explained and distributed generation sources such as PV and fuel cell are connected in series with the help of PQ controller technique the above system is evaluated.
An expert system based intelligent control scheme for space bioreactors
San, Ka-Yiu
1988-01-01
An expert system based intelligent control scheme is being developed for the effective control and full automation of bioreactor systems in space. The scheme developed will have the capability to capture information from various resources including heuristic information from process researchers and operators. The knowledge base of the expert system should contain enough expertise to perform on-line system identification and thus be able to adapt the controllers accordingly with minimal human supervision.
The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller
Institute of Scientific and Technical Information of China (English)
Liu Yu(刘宇); Sun Lining; Du Zhijiang
2004-01-01
A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant arm's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits.
New Robust Nonlinear Controller Design Based on Predictive Control for Industrial Processes
Directory of Open Access Journals (Sweden)
Hossein Esfroghy
2007-12-01
Full Text Available In this paper a new sliding mode controller based on predictive control is used for the first order system, which is a good model for the industrial process. In this method a developed predictive control is used to optimize the sliding mode control including sliding surface and switching function coefficient at every moment. A new smooth function is used to reduce the chattering problems. Simulation results show the high effectiveness of the proposed controller.
A complex control system based on the fuzzy PID control and state predictor feedback control
Institute of Scientific and Technical Information of China (English)
Zhengxi Li; Jie Liu; Dehui Sun; Rentao Zhao
2004-01-01
A multi-mode adaptive controller was proposed. The controller features in the combination of Bang-bang and Fuzzy PID controls with state predictor. When large error exists, the controller operates in Bang-bang mode, otherwise it works as a fuzzy PID controller. For only few parameters to be adjusted, the real time controlled system achieveed good stability and fast response. Furthermore, the introduction of state observer was also discussed to extend the capability of the proposed controller to the plant with time-delay factors. The classical PID controller and the multi-mode controller were applied to the same second-order system successively. By comparison of the simulation results, the effectiveness of the controller were shown. At last, on electric-wire production line, this approach was practiced to control electric-wire diameter with an additive random disturbance signal. The test result further proved the effectiveness of the multi-mode controller.
PMSM Control System Based on Digital Signal Processor
Directory of Open Access Journals (Sweden)
Zhu Jun
2013-04-01
Full Text Available For the high power density of PMSM, designed the corresponding drive controller to improve the servo efficiency of PMSM servo system. According to the theory of math model of PMSM under the dq coordinate system, applied id = 0 vector control method as a PMSM control strategy, established PMSM controller model based on vector control. Taking DSP TMS320F2812 as controller core, built a power-driven circuit, control circuit and the main detection protection circuit. The algorithm of control program was completed on the hardware platform to present its software processes. The simulation results show that: the control system response is fast, can track the given speed and position quickly and accurately. The speed fluctuation, overshoot and steady state error are very small. The designed controller is reasonable, which has better dynamic and static characteristics, and be benefit to improve the efficiency of PMSM servo system.
Control design for an autonomous wind based hydrogen production system
Energy Technology Data Exchange (ETDEWEB)
Valenciaga, F.; Evangelista, C.A. [CONICET, Laboratorio de Electronica Industrial Control e Instrumentacion (LEICI), Facultad de Ingenieria, Universidad Nacional de La Plata, CC.91, C.P. 1900, La Plata (Argentina)
2010-06-15
This paper presents a complete control scheme to efficiently manage the operation of an autonomous wind based hydrogen production system. This system comprises a wind energy generation module based on a multipolar permanent magnet synchronous generator, a lead-acid battery bank as short term energy storage and an alkaline von Hoerner electrolyzer. The control is developed in two hierarchical levels. The higher control level or supervisor control determines the general operation strategy for the whole system according to the wind conditions and the state of charge of the battery bank. On the other hand, the lower control level includes the individual controllers that regulate the respective module operation assuming the set-points determined by the supervisor control. These last controllers are approached using second-order super-twisting sliding mode techniques. The performance of the closed-loop system is assessed through representative computer simulations. (author)
A Control Scheme Based on Online Delay Evaluation for a Class of Networked Control Systems
Institute of Scientific and Technical Information of China (English)
马向华; 谢剑英; 魏震
2004-01-01
A control scheme that integrates control technology with communication technology to solve the delay problem is introduced for a class of networked control systems: Networked Half-Link Systems (NHLS). Concretely, we use the master-slave clock synchronization technology to evaluate the delays online, and then the LQ optimal control based on delays is adopted to stabilize the controlled plant. During the clock synchronization process, the error of evaluated delays is inevitably induced from the clock synchronization error, which will deteriorate the system performances, and even make system unstable in certain cases. Hence, the discussions about the clock error, and the related control analysis and design are also developed. Specifically, we present the sufficient conditions of controller parameters that guarantee the system stability, and a controller design method based on the error of delays is addressed thereafter. The experiments based on a CANbus platform are fulfilled, and the experimental results verify the previous analytic results finally.
Fault-tolerant control of linear uncertain systems using H∞ robust predictive control
Institute of Scientific and Technical Information of China (English)
Chen Xueqin; Geng Yunhai; Zhang Yingchun; Wang Feng
2008-01-01
The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller (RMPC) by the method of linear matrix inequality (LMI). This approach has the advantages of both H∞ control and MPC: the robustness and ability to handle constraints explicitly. The robust closed-loop stability of the linear uncertain system with input and output constraints is proven under an actuator and sensor faults condition. Finally, satisfactory results of simulation experiments verify the validity of this algorithm.
Flight Control System Design by Quadratic Stabilization with Partial Pole Placement
Satoh, Atsushi; Sugimoto, Kenji
The most fundamental requirements for flight control system are ensuring robust stability and improving flying quality. Quadratic stabilization is a powerful technique ensuring robust stability against parameter change of aircraft due to flight condition. Furthermore, flying quality requirements are regarded as eigenstructure assignment specifications. This paper proposes a new design method of feedback gain which simultaneously achieves quadratic stabilization and partial pole placement. This design method is reduced to a numerical optimization problem including linear matrix inequality (LMI) constraints.
Vision-based formation control of mobile robots
Institute of Scientific and Technical Information of China (English)
Shicai LIU; Dalong TAN; Guangjun LIU
2005-01-01
In this paper,a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system,without the need for global sensing and communication between robots.This is achieved by employing the velocity variation,instead of actual velocities,as the control inputs.Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
CONTROL SCHEMES FOR CMAC NEURAL NETWORK-BASED VISUAL SERVOING
Institute of Scientific and Technical Information of China (English)
Wang Huaming; Xi Wenming; Zhu Jianying
2003-01-01
In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.
CONSTRUCTION COST INTEGRATED CONTROL BASED ON COMPUTER SIMULATION
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
Construction cost control is a complex system engineering. Thetraditional controlling method cannot dynamically control in advance the construction cost because of its hysteresis. This paper proposes a computer simulation based construction cost integrated control method, which combines the cost with PERT systematically, so that the construction cost can be predicted and optimized systematically and effectively. The new method overcomes the hysteresis of the traditional systems, and is a distinct improvement over them in effect and practicality.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Perti Net-Based Workflow Access Control Model
Institute of Scientific and Technical Information of China (English)
陈卓; 骆婷; 石磊; 洪帆
2004-01-01
Access control is an important protection mechanism for information systems. This paper shows how to make access control in workflow system. We give a workflow access control model (WACM) based on several current access control models. The model supports roles assignment and dynamic authorization. The paper defines the workflow using Petri net. It firstly gives the definition and description of the workflow, and then analyzes the architecture of the workflow access control model (WACM). Finally, an example of an e-commerce workflow access control model is discussed in detail.
Engine control system having speed-based timing
Willi, Martin L [Dunlap, IL; Fiveland, Scott B [Metamora, IL; Montgomery, David T [Edelstein, IL; Gong, Weidong [Dunlap, IL
2012-02-14
A control system for an engine having a cylinder is disclosed having an engine valve movable to regulate a fluid flow of the cylinder and an actuator associated with the engine valve. The control system also has a controller in communication with the actuator. The controller is configured to receive a signal indicative of engine speed and compare the engine speed signal with a desired engine speed. The controller is also configured to selectively regulate the actuator to adjust a timing of the engine valve to control an amount of air/fuel mixture delivered to the cylinder based on the comparison.
Model-based Control of a Bottom Fired Marine Boiler
DEFF Research Database (Denmark)
Solberg, Brian; Karstensen, Claus M. S.; Andersen, Palle;
This paper focuses on applying model based MIMO control to minimize variations in water level for a specific boiler type. A first principles model is put up. The model is linearized and an LQG controller is designed. Furthermore the benefit of using a steam °ow measurement is compared to a strategy...... relying on estimates of the disturbance. Preliminary tests at the boiler system show that the designed controller is able to control the boiler process. Furthermore it can be concluded that relying on estimates of the steam flow in the control strategy does not decrease the controller performance...
Model-based Control of a Bottom Fired Marine Boiler
DEFF Research Database (Denmark)
Solberg, Brian; Karstensen, Claus M. S.; Andersen, Palle;
2005-01-01
This paper focuses on applying model based MIMO control to minimize variations in water level for a specific boiler type. A first principles model is put up. The model is linearized and an LQG controller is designed. Furthermore the benefit of using a steam °ow measurement is compared to a strategy...... relying on estimates of the disturbance. Preliminary tests at the boiler system show that the designed controller is able to control the boiler process. Furthermore it can be concluded that relying on estimates of the steam flow in the control strategy does not decrease the controller performance...
Power active filter control based on a resonant disturbance observer
Ramos Fuentes, German A.; Cortés Romero, John Alexander; Zou, Zhixiang; Costa Castelló, Ramon; Zhou, Keliang
2015-01-01
Active filters are power electronics devices used to eliminate harmonics from the distribution network. This article presents an active disturbance rejection control scheme for active filters. The controller is based on a linear disturbance observer combined with a disturbance rejection scheme. The parameter tuning is based on a combined pole placement and an optimal estimation based on Kalman-Bucy filter. Proposed scheme is validated through simulation and experimental work in an active filter.
Research on fault-tolerant control of networked control systems based on information scheduling
Institute of Scientific and Technical Information of China (English)
Huo Zhihong; Zhang Zhixue; Fang Huajing
2008-01-01
A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design.Augmented state matrix analysis method is introduced,and robust fault-tolerant control problem of networked control systems with noise disturbance under actuator failures is studied.The parametric expression of the controller under actuator failures is given.Furthermore,the result is analyzed by simulation tests,which not only satisfies the networked control systems stability,but also decreases the data information number in network channel and makes full use of the network resources.
Gao, Qiang; Zheng, Liang; Chen, Jilin; Wang, Li; Hou, Yuanlong
2014-01-01
Motion control of gun barrels is an ongoing topic for the development of gun control equipment (GCE) with excellent performances. In this paper, a novel disturbance observer (DOB) based fractional order PD (FOPD) control strategy is proposed for the GCE. By adopting the DOB, the control system behaves as if it were the nominal closed-loop system in the absence of disturbances and uncertainties. The optimal control parameters of the FOPD are determined from the loop-shaping perspective, and the Q-filter of the DOB is deliberately designed with consideration of system robustness. The linear frame of the proposed control system will enable the analysis process more convenient. The disturbance rejection properties and the tracking performances of the control system are investigated by both numerical and experimental tests, the results demonstrate that the proposed DOB based FOPD control system is of more robustness, and it is much more suitable for the gun control system with strong nonlinearity and disturbance.
Directory of Open Access Journals (Sweden)
Chengqiang Yin
2014-01-01
Full Text Available A two-degree-of-freedom control structure is proposed for a class of unstable processes with time delay based on modified Smith predictor control; the superior performance of disturbance rejection and good robust stability are gained for the system. The set-point tracking controller is designed using the direct synthesis method; the IMC-PID controller for disturbance rejection is designed based on the internal mode control design principle. The controller for set-point response and the controller for disturbance rejection can be adjusted and optimized independently. Meanwhile, the two controllers are designed in the form of PID, which is convenient for engineering application. Finally, simulation examples demonstrate the validity of the proposed control scheme.
Shao, Xinxin; Naghdy, Fazel; Du, Haiping
2017-03-01
A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.
Institute of Scientific and Technical Information of China (English)
丁衍; 魏晨; 鲍树语
2014-01-01
为实现存在时变通信时延与自时延情况下多无人机的编队控制，利用分散化控制策略与分层控制结构并结合一种带时变参考值的leader-following一致性算法设计状态估计器估计加速度信息和编队控制器使编队保持给定的队形。通过构造Lyapunov函数，获得了无人机编队系统实际位置与期望位置误差收敛到0的充分条件。利用线性矩阵不等式( LMI)给出了时延的上界。最后通过仿真实例实现了无人机编队飞行与保持，表明了方法的正确性与有效性。%In order to achieve the formation control of Unmanned Aerial vehicle ( UAVs) with time-varying communication and self delay, by using the decentralization strategy and a level control structure, a leader-following consensus protocol with time-varying communication and self delay was proposed. By employing Lyapunov method, it can be proven that the deviation of UAV's actual position and desired position can converge to 0 asymptotically and the Linear Matrix Inequality ( LMI ) is obtained to determine the maximal allowable upper bounds of delays. The consensus protocol with time-varying reference values was applied as an estimator to estimate the acceleration and a controller to keep the desired formation. Simulation results are given to demonstrate the effectiveness of the proposed method.
Sliding mode H∞ control for a class of uncertain nonlinear state-delayed systems
Institute of Scientific and Technical Information of China (English)
Wu Ligang; Wang Changhong; Gao Huijun; Zhang Lixian
2006-01-01
A new proportional-integral (PI) sliding surface is designed for a class of uncertain nonlinear state-delayed systems. Based on this, an adaptive sliding mode controller (ASMC) is synthesized, which guarantees the occurrence of sliding mode even when the system is undergoing parameter uncertainties and external disturbance. The resulting sliding mode has the same order as the original system, so that it becomes easy to solve the H∞ control problem by designing a memoryless H∞ state feedback controller. A delay-dependent sufficient condition is proposed in terms of linear matrix inequalities (LMIs), which guarantees the sliding mode robust asymptotically stable and has a noise attenuation level γ in an H∞ sense. The admissible state feedback controller can be found by solving a sequential minimization problem subject to LMI constraints by applying the cone complementary linearization method. This design scheme combines the strong robustness of the sliding mode control with the H∞ norm performance. A numerical example is given to illustrate the effectiveness of the proposed scheme.
Performance evaluation of sensor allocation algorithm based on covariance control
Institute of Scientific and Technical Information of China (English)
无
2005-01-01
The covariance control capability of sensor allocation algorithms based on covariance control strategy is an important index to evaluate the performance of these algorithms. Owing to lack of standard performance metric indices to evaluate covariance control capability, sensor allocation ratio, etc, there are no guides to follow in the design procedure of sensor allocation algorithm in practical applications. To meet these demands, three quantified performance metric indices are presented, which are average covariance misadjustment quantity (ACMQ), average sensor allocation ratio (ASAR) and matrix metric influence factor (MMIF), where ACMQ, ASAR and MMIF quantify the covariance control capability, the usage of sensor resources and the robustness of sensor allocation algorithm, respectively. Meanwhile, a covariance adaptive sensor allocation algorithm based on a new objective function is proposed to improve the covariance control capability of the algorithm based on information gain. The experiment results show that the proposed algorithm have the advantage over the preceding sensor allocation algorithm in covariance control capability and robustness.
Component-based Control Software Design for Flexible Manufacturing System
Institute of Scientific and Technical Information of China (English)
周炳海; 奚立峰; 曹永上
2003-01-01
A new method that designs and implements the component-based distributed & hierarchical flexible manufacturing control software is described with a component concept in this paper. The proposed method takes aim at improving the flexibility and reliability of the control system. On the basis of describing the concepts of component-based software and the distributed object technology, the architecture of the component-based software of the control system is suggested with the Common Object Request Broker Architecture (CORBA). And then, we propose a design method for component-based distributed & hierarchical flexible manufacturing control system. Finally, to verify the software design method, a prototype flexible manufacturing control system software has been implemented in Orbix 2. 3c, VC++6.0 and has been tested in connection with the physical flexible ranufacturing shop at the WuXi Professional Institute.
Telescope Array Control System Based on Wireless Touch Screen Platform
Fu, X. N.; Huang, L.; Wei, J. Y.
2016-07-01
GWAC (Ground-based Wide Angle Cameras) are the ground-based observational instruments of the Sino-French cooperation SVOM (Space Variable Objects Monitor) astronomical satellite, and Mini-GWAC is a pathfinder and supplement of GWAC. In the context of the Mini-GWAC telescope array, this paper introduces the design and implementation of a kind of telescope array control system, which is based on wireless serial interface module to communicate. We describe the development and implementation of the system in detail in terms of control system principle, system hardware structure, software design, experiment, and test. The system uses the touch-control PC which is based on the Windows CE system as the upper-computer, the wireless transceiver module and PLC (Programmable Logic Controller) as the core. It has the advantages of low cost, reliable data transmission, and simple operation. So far, the control system has been applied to Mini-GWAC successfully.
Transaction-Based Building Controls Framework, Volume 1: Reference Guide
Energy Technology Data Exchange (ETDEWEB)
Somasundaram, Sriram [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Pratt, Robert G. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Akyol, Bora A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Fernandez, Nicholas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Foster, Nikolas AF [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Katipamula, Srinivas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Mayhorn, Ebony T. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Somani, Abhishek [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Steckley, Andrew C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Taylor, Zachary T. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)
2014-12-01
This document proposes a framework concept to achieve the objectives of raising buildings’ efficiency and energy savings potential benefitting building owners and operators. We call it a transaction-based framework, wherein mutually-beneficial and cost-effective market-based transactions can be enabled between multiple players across different domains. Transaction-based building controls are one part of the transactional energy framework. While these controls realize benefits by enabling automatic, market-based intra-building efficiency optimizations, the transactional energy framework provides similar benefits using the same market -based structure, yet on a larger scale and beyond just buildings, to the society at large.
Transaction-Based Building Controls Framework, Volume 1: Reference Guide
Energy Technology Data Exchange (ETDEWEB)
Somasundaram, Sriram; Pratt, Robert G.; Akyol, Bora A.; Fernandez, Nicholas; Foster, Nikolas AF; Katipamula, Srinivas; Mayhorn, Ebony T.; Somani, Abhishek; Steckley, Andrew C.; Taylor, Zachary T.
2014-04-28
This document proposes a framework concept to achieve the objectives of raising buildings’ efficiency and energy savings potential benefitting building owners and operators. We call it a transaction-based framework, wherein mutually-beneficial and cost-effective market-based transactions can be enabled between multiple players across different domains. Transaction-based building controls are one part of the transactional energy framework. While these controls realize benefits by enabling automatic, market-based intra-building efficiency optimizations, the transactional energy framework provides similar benefits using the same market -based structure, yet on a larger scale and beyond just buildings, to the society at large.
Neural network based dynamic controllers for industrial robots.
Oh, S Y; Shin, W C; Kim, H G
1995-09-01
The industrial robot's dynamic performance is frequently measured by positioning accuracy at high speeds and a good dynamic controller is essential that can accurately compute robot dynamics at a servo rate high enough to ensure system stability. A real-time dynamic controller for an industrial robot is developed here using neural networks. First, an efficient time-selectable hidden layer architecture has been developed based on system dynamics localized in time, which lends itself to real-time learning and control along with enhanced mapping accuracy. Second, the neural network architecture has also been specially tuned to accommodate servo dynamics. This not only facilitates the system design through reduced sensing requirements for the controller but also enhances the control performance over the control architecture neglecting servo dynamics. Experimental results demonstrate the controller's excellent learning and control performances compared with a conventional controller and thus has good potential for practical use in industrial robots.
Synthetical Control of AGC/LPC System Based on Neural Networks Internal Model Control
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
One synthetical control method of AGC/LPC system based on intelligence control theory-neural networks internal model control method is presented. Genetic algorithm (GA) is applied to optimize the parameters of the neural networks. Simulation results prove that this method is effective.
Indirect Vector Control of an Induction Motor with Fuzzy-Logic based Speed Controller
Directory of Open Access Journals (Sweden)
BIROU, I.
2010-02-01
Full Text Available The aim of this paper is to present a new speed control structure for induction motors (IM by using fuzzy-logic based speed controllers. A fuzzy controller is designed to achieve fast dynamic response and robustness for low and high speeds. Different types of membership functions of the linguistic variables and output/input characteristics are analyzed. A simple but robust structure enables a wide range speed control of the driving system. The rotor flux field oriented control (FOC is realized by using a flux observer based on the IM model with nonlinear parameters. The control is extended to operate also in the field weakening region with an optimal rotor flux regulation. The control structure was implemented on a computer system, based on a fixed point digital signal processor (DSP. To verify the performances of the proposed driving system, simulated and experimental results are presented.
Developments in model-based optimization and control distributed control and industrial applications
Grancharova, Alexandra; Pereira, Fernando
2015-01-01
This book deals with optimization methods as tools for decision making and control in the presence of model uncertainty. It is oriented to the use of these tools in engineering, specifically in automatic control design with all its components: analysis of dynamical systems, identification problems, and feedback control design. Developments in Model-Based Optimization and Control takes advantage of optimization-based formulations for such classical feedback design objectives as stability, performance and feasibility, afforded by the established body of results and methodologies constituting optimal control theory. It makes particular use of the popular formulation known as predictive control or receding-horizon optimization. The individual contributions in this volume are wide-ranging in subject matter but coordinated within a five-part structure covering material on: · complexity and structure in model predictive control (MPC); · collaborative MPC; · distributed MPC; · optimization-based analysis and desi...
A Novel Control algorithm based DSTATCOM for Load Compensation
R, Sreejith; Pindoriya, Naran M.; Srinivasan, Babji
2015-11-01
Distribution Static Compensator (DSTATCOM) has been used as a custom power device for voltage regulation and load compensation in the distribution system. Controlling the switching angle has been the biggest challenge in DSTATCOM. Till date, Proportional Integral (PI) controller is widely used in practice for load compensation due to its simplicity and ability. However, PI Controller fails to perform satisfactorily under parameters variations, nonlinearities, etc. making it very challenging to arrive at best/optimal tuning values for different operating conditions. Fuzzy logic and neural network based controllers require extensive training and perform better under limited perturbations. Model predictive control (MPC) is a powerful control strategy, used in the petrochemical industry and its application has been spread to different fields. MPC can handle various constraints, incorporate system nonlinearities and utilizes the multivariate/univariate model information to provide an optimal control strategy. Though it finds its application extensively in chemical engineering, its utility in power systems is limited due to the high computational effort which is incompatible with the high sampling frequency in these systems. In this paper, we propose a DSTATCOM based on Finite Control Set Model Predictive Control (FCS-MPC) with Instantaneous Symmetrical Component Theory (ISCT) based reference current extraction is proposed for load compensation and Unity Power Factor (UPF) action in current control mode. The proposed controller performance is evaluated for a 3 phase, 3 wire, 415 V, 50 Hz distribution system in MATLAB Simulink which demonstrates its applicability in real life situations.
Intelligent control based on intelligent characteristic model and its application
Institute of Scientific and Technical Information of China (English)
吴宏鑫; 王迎春; 邢琰
2003-01-01
This paper presents a new intelligent control method based on intelligent characteristic model for a kind of complicated plant with nonlinearities and uncertainties, whose controlled output variables cannot be measured on line continuously. The basic idea of this method is to utilize intelligent techniques to form the characteristic model of the controlled plant according to the principle of combining the char-acteristics of the plant with the control requirements, and then to present a new design method of intelli-gent controller based on this characteristic model. First, the modeling principles and expression of the intelligent characteristic model are presented. Then based on description of the intelligent characteristic model, the design principles and methods of the intelligent controller composed of several open-loops and closed-loops sub controllers with qualitative and quantitative information are given. Finally, the ap-plication of this method in alumina concentration control in the real aluminum electrolytic process is in-troduced. It is proved in practice that the above methods not only are easy to implement in engineering design but also avoid the trial-and-error of general intelligent controllers. It has taken better effect in the following application: achieving long-term stable control of low alumina concentration and increasing the controlled ratio of anode effect greatly from 60% to 80%.
A Review of Router based Congestion Control Algorithms
Directory of Open Access Journals (Sweden)
Vandana Kushwaha
2013-11-01
Full Text Available This paper presents a study of Router based Congestion control approaches in wired network. As network is considered as a distributed system, any problem arises in such a system requires a distributed solution. Thus for good congestion control in the network we also need a solution distributed at source as well as router ends. The purpose of this study is to review the router based Congestion control research for wired network and characterize the different approaches to Congestion control design, by considering their advantages and limitations.
Engine control system having fuel-based adjustment
Willi, Martin L.; Fiveland, Scott B.; Montgomery, David T.; Gong, Weidong
2011-03-15
A control system for an engine having a cylinder is disclosed having an engine valve configured to affect a fluid flow of the cylinder, an actuator configured to move the engine valve, and an in-cylinder sensor configured to generate a signal indicative of a characteristic of fuel entering the cylinder. The control system also has a controller in communication with the actuator and the sensor. The controller is configured to determine the characteristic of the fuel based on the signal and selectively regulate the actuator to adjust a timing of the engine valve based on the characteristic of the fuel.
Cascaded process model based control: packed absorption column application.
Govindarajan, Anand; Jayaraman, Suresh Kumar; Sethuraman, Vijayalakshmi; Raul, Pramod R; Rhinehart, R Russell
2014-03-01
Nonlinear, adaptive, process-model based control is demonstrated in a cascaded single-input-single-output mode for pressure drop control in a pilot-scale packed absorption column. The process is shown to be nonlinear. Control is demonstrated in both servo and regulatory modes, for no wind-up in a constrained situation, and for bumpless transfer. Model adaptation is demonstrated and shown to provide process insight. The application procedure is revealed as a design guide to aid others in implementing process-model based control.
Context-Based E-Health System Access Control Mechanism
Al-Neyadi, Fahed; Abawajy, Jemal H.
E-Health systems logically demand a sufficiently fine-grained authorization policy for access control. The access to medical information should not be just role-based but should also include the contextual condition of the role to access data. In this paper, we present a mechanism to extend the standard role-based access control to incorporate contextual information for making access control decisions in e-health application. We present an architecture consisting of authorisation and context infrastructure that work cooperatively to grant access rights based on context-aware authorization policies and context information.
Automobile Transmission Shift Control Based on MMAS and BP Networks
Directory of Open Access Journals (Sweden)
Jianxue Chen
2013-08-01
Full Text Available The neural network control model of automobile automatic transmission has been developed, which make the optimum shift decision based on the vehicle velocity, the vehicle acceleration and the throttle opening. The MAX-MIN ant syste (MMAS is introduced to train the neural network weights and thresholds. The basic theory and steps of MMAS algorithm are given, and applied in the automatic transmission shift control. Experimental results show that the automatic transmission shift control system based on MMAS, comparing to the system based on ACO-BP, has better capability of gear recognition, and can make shift decision promptly and effectively.
Institute of Scientific and Technical Information of China (English)
Wo Songlin; Shi Guodong; Zou Yun
2007-01-01
The decentralized robust guaranteed cost control problem is studied for a class ofinterconnected singular large-scale systems with time-delay and norm-bounded time-invariant parameter uncertainty under a given quadratic cost performance function. The problem that is addressed in this study is to design a decentralized robust guaranteed cost state feedback controller such that the closed-loop system is not only regular, impulse-free and stable, but also guarantees an adequate level of performance for all admissible uncertainties. A sufficient condition for the existence of the decentralized robust guaranteed cost state feedback controllers is proposed in terms of a linear matrix inequality (LMI) via LMI approach. When this condition is feasible, the desired state feedback decentralized robust guaranteed cost controller gain matrices can be obtained. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed approach.
Direct Torque Control of IPMSM to Improve Torque ripple and Efficiency based on Fuzzy Controller
Directory of Open Access Journals (Sweden)
B. Mirzaeian Dehkordi
2012-09-01
Full Text Available In this paper, a stator-flux-reference frame control method is proposed in order to control the speed and torque of an Interior Permanent Magnet Synchronous Machine (IPMSM in different loads condition. Direct Torque Control method (DTC based on Space Vector Modulation (SVM is used for control of IPMSM. In the proposed control method, conventional PI controller is used for controlling the stator flux, and torque of the motor. Also, a fuzzy controller is considered to improve the dynamic performance of DTC technique for speed control. In comparison to the conventional reference flux controller methods, this method, in addition, improves the torque profile of the motor drive. Moreover, it reduces copper losses. Simulation results for a 240V, 120A, 2500rpm, IPMSM confirm the appropriate performances of the method.
Implementation of EPICS based Control System for Radioisotope Beam line
Energy Technology Data Exchange (ETDEWEB)
Kim, Jae-Ha; Ahn, Tae-Sung; Song, Young-Gi; Kwon, Hyeok-Jung; Cho, Yong-Sub [Korea Atomic Energy Research Institute, Gyeongju (Korea, Republic of)
2015-10-15
Korea Mult-purpose Accelerator Complex (KOMAC) has been operating 100 MeV proton linear accelerator . For operating 100 MeV linac, various control system has been implemented such as vacuum, power supply, RCCS and etc. KOMAC is operating two beam lines so that clients can use 100 MeV proton beam for their experiment. KOMAC sends beam to beam line and target room using two dipole magnets and several quadrupole magnets. As demand for experiments and Radius Isotope using beam is increased, another beam line is under construction and RI beam line control system is need. To synchronize with KOMAC control system, RI beam line control system is based on Experimental Physics and Industrial control System (EPICS) software. The beam is transported to RI beam line to control magnet power supply and vacuum. Implementation of RI beam line control system is presented and some preliminary results are reported. The base RI beam line control system is implemented. It can control beam direction and vacuum. Comparing archived data and current data, RI beam line and control system will be improved. In the future, scroll pump and gate control system will be implemented using programmable logic controller PLC. RI beam interlock sequence will be added to KOMAC interlock system to protect linac.
Internet Based Robot Control Using CORBA Based Communications
2009-12-01
the Minister of National Defence, 2009 © Sa Majesté la Reine (en droit du Canada), telle que représentée par le ministre de la Défense nationale...interact with a service. Its lack of tools to support implementation is the main critique against it. 3.6.2 WSDL-based Web Services This type of Web...The main critiques against it are its complexity and loss of functionality of the “back” button and bookmarking ability for web browsers, though the
Flow Control Strategy for the High Speed Network Based on Control Theory
Institute of Scientific and Technical Information of China (English)
无
2002-01-01
Design of an effective congestion control scheme is a hot topic in the development of computer network. The flow control scheme can adjust the packet sending rate in source host, thus effectively avoiding the network congestion. This paper proposes a new flow control scheme based on discrete control theory. The simulation results show that this method can adjust the sending rate and queue level in buffer rapidly and effectively. The method is easy to implement and applicable to high speed networks.
2013-01-01
Many researches on network control with a design principle of self-organization have been studied for large-scale networks. Since self-organized control is based on local interactions between system elements, it has high scalability, adaptability, and robustness; however, the management of the whole system is very difficult. In order to solve this problem, a controlled self-organization scheme has been proposed, which aims for desired system behavior by controlling a part of self-organized no...
Pressure Control in Distillation Columns: A Model-Based Analysis
DEFF Research Database (Denmark)
Mauricio Iglesias, Miguel; Bisgaard, Thomas; Kristensen, Henrik
2014-01-01
A comprehensive assessment of pressure control in distillation columns is presented, including the consequences for composition control and energy consumption. Two types of representative control structures are modeled, analyzed, and benchmarked. A detailed simulation test, based on a real...... industrial distillation column, is used to assess the differences between the two control structures and to demonstrate the benefits of pressure control in the operation. In the second part of the article, a thermodynamic analysis is carried out to establish the influence of pressure on relative volatility...
System-Awareness for Agent-based Power System Control
DEFF Research Database (Denmark)
Heussen, Kai; Saleem, Arshad; Lind, Morten
2010-01-01
Operational intelligence in electric power systems is focused in a small number of control rooms that coordinate their actions. A clear division of responsibility and a command hierarchy organize system operation. With multi-agent based control systems, this control paradigm may be shifted...... to a more decentralized openaccess collaboration control paradigm. This shift cannot happen at once, but must fit also with current operation principles. In order to establish a scalable and transparent system control architecture, organizing principles have to be identified that allow for a smooth...
Emotional Learning Based Intelligent Controllers for Rotor Flux Oriented Control of Induction Motor
Abdollahi, Rohollah; Farhangi, Reza; Yarahmadi, Ali
2014-08-01
This paper presents design and evaluation of a novel approach based on emotional learning to improve the speed control system of rotor flux oriented control of induction motor. The controller includes a neuro-fuzzy system with speed error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critics stress is reduced. The comparative simulation results show that the proposed controller is more robust and hence found to be a suitable replacement of the conventional PI controller for the high performance industrial drive applications.
Institute of Scientific and Technical Information of China (English)
程东升; 张建武; 叶晓峰; 黄维纲
2003-01-01
A sliding mode control approach based on the feedback linearization is proposed for the electrically controllable clutch of AMT vehicles. The nonlinear dynamic model for the hydraulic actuator associated with clutch is established. By means of the exact feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphic transformation for the AMT clutch system.Furthermore, a sliding mode control is introduced to improve robustness. The tracking tests are performed using the sliding mode control on a Santana LX passenger car, and the experimental results prove that this nonlinear controller is of fine robustness and high degree of tracking accuracy.
Function-Based Access Control (FBAC): From Access Control Matrix to Access Control Tensor
Desmedt, Yvo; Shaghaghi, Arash
2016-01-01
Security researchers have stated that the core concept behind current implementations of access control predates the Internet. These assertions are made to pinpoint that there is a foundational gap in this field, and one should consider revisiting the concepts from the ground up. Moreover, Insider threats, which are an increasing threat vector against organizations are also associated with the failure of access control. Access control models derived from access control matrix encompass three ...
SOFC temperature evaluation based on an adaptive fuzzy controller
Institute of Scientific and Technical Information of China (English)
Xiao-juan WU; Xin-jian ZHU; Guang-yi CAO; Heng-yong TU
2008-01-01
The operating temperature of a solid oxide fuel cell (SOFC) stack is a very important parameter to be controlled, which impacts the performance of the SOFC due to thermal cycling. In this paper, an adaptive fuzzy control method based on an affine nonlinear temperature model is developed to control the temperature of the SOFC within a specified range. Fuzzy logic systems are used to approximate nonlinear functions in the SOFC system and an adaptive technique is employed to construct the controller. Compared with the traditional fuzzy and proportion-integral-derivative (PID) control, the simulation results show that the designed adaptive fuzzy control method performed much better. So it is feasible to build an adaptive fuzzy controller for temperature control of the SOFC.
Generalized H2 Control Synthesis for Periodic Systems
DEFF Research Database (Denmark)
Wisniewski, Rafal; Stoustrup, Jakob
2001-01-01
A control synthesis of periodic processes is addressed in this paper. A class of linear discrete time periodic systems with performance specified by the generalized $H_2$ operator norm, is considered. The paper proposes an LMI solution to this problem, the sufficient and necessary conditions...... for solvability of $H_2$ suboptimal control are stated. An algorithm for state feedback control synthesis is provided. The findings are applied for the attitude control of a satellite equipped with electro-magnetic coils, which comprises a very attractive means of attitude corrections for small low...
Active control of smart structures with optimal actuator and sensor locations
Liu, Pengxiang; Rao, Vittal S.; Derriso, Mark M.
2002-07-01
Sensors and actuators used in active control of smart structures have to be located appropriately in order to ensure maximum control and measurement effectiveness. Many placement techniques are based on the structure itself and overlook the effects of the applied control law. The optimal locations determined from open-loop system can not guarantee the best performance of the closed-loop system because the performance is closely related with the design requirements and applied controller. In this paper, we presented a method of obtaining the optimal locations of actuators/sensors by combining the open-loop and closed-loop optimal criterions. First, for open-loop system, location indices of the controlled modes are calculated on the basis of modal controllability and observability. The controlled modes are weighted based on the controller design requirements. To reduce the spill-over effect of uncontrolled modes, the location index values of uncontrolled modes are added as penalty terms. Locations with high index values are chosen as candidate locations of actuator/sensor for the next determining step on the closed-loop system. Three control techniques, optimal H2, H(infinity ) norms and optimal pole-placement, are utilized for two different control objectives, disturbance rejection and damping property enhancement. Linear matrix inequality (LMI) techniques are utilized to formulate the control problems and synthesize the controllers. For each candidate location of actuator/sensor, a controller is designed and the obtained performance is taken as location index. By solving the location problem in two steps, we reduced the computational burden and ensured good control performance of the closed-loop system. The proposed method is tested on a clamped plate with piezoelectric actuators and sensors.
Design of a FPGA based ABWR feedwater controller
Energy Technology Data Exchange (ETDEWEB)
Huang, Hsuanhan; Chou, Hwaipwu; Lin, Chaung [Dept. of Institute of Nuclear Engineering and Science, National Tsing Hua University, Hsinchu (China)
2012-05-15
A feedwater controller targeted for an ABWR has been implemented using a modern field programmable gate array (FPGA), and verified using the full scope simulator at Taipower's Lungmen nuclear power station. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulation model of the simulator was employed for verification and validation of the controller design under various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy logic control algorithm is a flexible yet feasible approach for feedwater controller design in nuclear power plant applications.
Design of A FPGA Based ABWR Feedwater Controller
Energy Technology Data Exchange (ETDEWEB)
Huang, Hsuan Han; Chou, Hwai Pwu; Lin, Chaung [National Tsing Hua University, Hsinchu (China)
2011-08-15
A feedwater controller for the Taipower's Lungmen nuclear power station has been implemented using the modern field programmable gate array (FPGA) and verified using a full scope engineering simulator. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulator was employed for the verification and validation of the controller design with various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy control algorithm is a flexible yet feasible approach for controller design in nuclear power plant applications.
A reinforcement learning-based architecture for fuzzy logic control
Berenji, Hamid R.
1992-01-01
This paper introduces a new method for learning to refine a rule-based fuzzy logic controller. A reinforcement learning technique is used in conjunction with a multilayer neural network model of a fuzzy controller. The approximate reasoning based intelligent control (ARIC) architecture proposed here learns by updating its prediction of the physical system's behavior and fine tunes a control knowledge base. Its theory is related to Sutton's temporal difference (TD) method. Because ARIC has the advantage of using the control knowledge of an experienced operator and fine tuning it through the process of learning, it learns faster than systems that train networks from scratch. The approach is applied to a cart-pole balancing system.
Task Delegation Based Access Control Models for Workflow Systems
Gaaloul, Khaled; Charoy, François
e-Government organisations are facilitated and conducted using workflow management systems. Role-based access control (RBAC) is recognised as an efficient access control model for large organisations. The application of RBAC in workflow systems cannot, however, grant permissions to users dynamically while business processes are being executed. We currently observe a move away from predefined strict workflow modelling towards approaches supporting flexibility on the organisational level. One specific approach is that of task delegation. Task delegation is a mechanism that supports organisational flexibility, and ensures delegation of authority in access control systems. In this paper, we propose a Task-oriented Access Control (TAC) model based on RBAC to address these requirements. We aim to reason about task from organisational perspectives and resources perspectives to analyse and specify authorisation constraints. Moreover, we present a fine grained access control protocol to support delegation based on the TAC model.
Remote control of microcontroller-based infant stimulating system.
Burunkaya, M; Güler, I
2000-04-01
In this paper, a remote-controlled and microcontroller-based cradle is designed and constructed. This system is also called Remote Control of Microcontroller-Based Infant Stimulation System or the RECOMBIS System. Cradle is an infant stimulating system that provides relaxation and sleeping for the baby. RECOMBIS system is designed for healthy full-term newborns to provide safe infant care and provide relaxation and sleeping for the baby. A microcontroller-based electronic circuit was designed and implemented for RECOMBIS system. Electromagnets were controlled by 8-bit PIC16F84 microcontroller, which is programmed using MPASM package. The system works by entering preset values from the keyboard, or pulse code modulated radio frequency remote control system. The control of the system and the motion range were tested. The test results showed that the system provided a good performance.
Observer-based robust stabilization for uncertain systems with unknown time-varying delay
Institute of Scientific and Technical Information of China (English)
Peigang JIANG; Chunwen LI
2004-01-01
This paper focuses on the problem of robust stabiiization for a class of linear systems with uncertain parameters and time varying delays in states. The parameter uncertainty is continuous, time varying, and norm-bounded. The state delay is unknown and time varying. The states of the system are not all measurable and an observer is constructed to estimate the states. If a linear matrix inequality (LMI) is solvable, the gains of the controller and observer can be obtained from the solution of the LMI.The observer and controller are dependent on the size of time delay and on the size of delay derivative. Finally, an example is given to illustrate the effectiveness of the proposed control method.
Motion control simulation based on VR for humanoid robot
He, Huaiqing; Tang, Haoxuan
2004-03-01
This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.
Agent Based Control of Electric Power Systems with Distributed Generation
DEFF Research Database (Denmark)
Saleem, Arshad
. Situation in Denmark is even more interesting, with a current 20% penetration of wind energy it is moving towards an ambitious goal of 50% penetration by the year 2050. Realization of these concepts requires that power systems should be of distributed nature { consisting of autonomous components...... agents. It suggests a multiagent based exible control architecture (subgrid control) suitable for the implementation of the innovative control concepts. This subgrid control architecture is tested on a novel distributed software platform which has been developed to design, test and evaluate distributed...... control strategies. The results have been discussed from case studies of multiagent based distributed control scenarios in electric power systems. The main contribution of this work is a proposal for system design methodology for application of intelligent agent technology in power systems...
On feasibility of regional frequency-based emergency control plans
Energy Technology Data Exchange (ETDEWEB)
Bevrani, H. [Department of Electrical and Computer Engineering, University of Kurdistan, Sanandaj, P.O. Box 416 (Iran); Ledwich, G.; Ford, J.J. [School of Engineering Systems, Queensland University of Technology, Brisbane, Qld 4001 (Australia); Dong, Z.Y. [Department of Electrical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon (China)
2009-07-15
Decentralized and regional load-frequency control of power systems operating in normal and near-normal conditions has been well studied; and several analysis/synthesis approaches have been developed during the last few decades. However in contingency and off-normal conditions, the existing emergency control plans, such as under-frequency load shedding, are usually applied in a centralized structure using a different analysis model. This paper discusses the feasibility of using frequency-based emergency control schemes based on tie-line measurements and local information available within a control area. The conventional load-frequency control model is generalized by considering the dynamics of emergency control/protection schemes and an analytic approach to analyze the regional frequency response under normal and emergency conditions is presented. (author)
Response Based Emergency Control System for Power System Transient Stability
Directory of Open Access Journals (Sweden)
Huaiyuan Wang
2015-11-01
Full Text Available A transient stability control system for the electric power system composed of a prediction method and a control method is proposed based on trajectory information. This system, which is independent of system parameters and models, can detect the transient stability of the electric power system quickly and provide the control law when the system is unstable. Firstly, system instability is detected by the characteristic concave or convex shape of the trajectory. Secondly, the control method is proposed based on the analysis of the slope of the state plane trajectory when the power system is unstable. Two control objectives are provided according to the methods of acquiring the far end point: one is the minimal cost to restore the system to a stable state; the other one is the minimal cost to limit the maximum swing angle. The simulation indicates that the mentioned transient stability control system is efficient.
Institute of Scientific and Technical Information of China (English)
JIN Qibing; LIU Qie; WANG Qi; TIAN Yuqi; WANG Yuanfei
2013-01-01
The IMC (Internal Model Control) controller based on robust tuning can improve the robustness and dynamic performance of the system.In this paper,the robustness degree of the control system is investigated based on Maximum Sensitivity (Ms) in depth.And the analytical relationship is obtained between the robustness specification and controller parameters,which gives a clear design criterion to robust IMC controller.Moreover,a novel and simple IMC-PID (Proportional-Integral-Derivative) tuning method is proposed by converting the IMC controller to PID form in terms of the time domain rather than the frequency domain adopted in some conventional IMC-based methods.Hence,the presented IMC-PID gives a good performance with a specific robustness degree.The new IMC-PID method is compared with other classical IMC-PID rules,showing the flexibility and feasibility for a wide range of plants.
Optimal control based on adaptive model reduction approach to control transfer phenomena
Oulghelou, Mourad; Allery, Cyrille
2017-01-01
The purpose of optimal control is to act on a set of parameters characterizing a dynamical system to achieve a target dynamics. In order to reduce CPU time and memory storage needed to perform control on evolution systems, it is possible to use reduced order models (ROMs). The mostly used one is the Proper Orthogonal Decomposition (POD). However the bases constructed in this way are sensitive to the configuration of the dynamical system. Consequently, the need of full simulations to build a basis for each configuration is time consuming and makes that approach still relatively expensive. In this paper, to overcome this difficulty we suggest to use an adequate bases interpolation method. It consists in computing the associated bases to a distribution of control parameters. These bases are afterwards called in the control algorithm to build a reduced basis adapted to a given control parameter. This interpolation method involves results of the calculus of Geodesics on Grassmann manifold.
Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel
2015-11-01
In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system.
Fault diagnosis and fault-tolerant control based on adaptive control approach
Shen, Qikun; Shi, Peng
2017-01-01
This book provides recent theoretical developments in and practical applications of fault diagnosis and fault tolerant control for complex dynamical systems, including uncertain systems, linear and nonlinear systems. Combining adaptive control technique with other control methodologies, it investigates the problems of fault diagnosis and fault tolerant control for uncertain dynamic systems with or without time delay. As such, the book provides readers a solid understanding of fault diagnosis and fault tolerant control based on adaptive control technology. Given its depth and breadth, it is well suited for undergraduate and graduate courses on linear system theory, nonlinear system theory, fault diagnosis and fault tolerant control techniques. Further, it can be used as a reference source for academic research on fault diagnosis and fault tolerant control, and for postgraduates in the field of control theory and engineering. .
Switching Control of Wind Turbine Sub-Controllers Based on an Active Disturbance Rejection Technique
Directory of Open Access Journals (Sweden)
Yancai Xiao
2016-10-01
Full Text Available Wind power generation systems require complex control systems with multiple working conditions and multiple controllers. Under different operating conditions, switching without disturbancebetweenthesub-controllersplaysacriticalroleinensuringthestabilityofpowersystems. The sub-controllers of two typical cases in the permanent magnet direct drive (PMDD wind turbine running process are studied, one is the proportional integral (PI controller in the maximum power points tracking (MPPT stage, the other is the fuzzy pitch angle controller in the constant power stage. The switching strategy of the two sub-controllers is the emphasis in this research. Based on the active disturbance rejection control (ADRC, the switching mode of the sub-controllers is proposed, which can effectively restrain the sudden changes of the rotor current during the switching process, and improve the quality of power generation. The feasibility and effectiveness of the sub-controller switching strategy is veriﬁed by Matlab/Simulink simulation for a 2 MW PMDD wind turbine.
Speed Control System on Marine Diesel Engine Based on a Self-Tuning Fuzzy PID Controller
Directory of Open Access Journals (Sweden)
Naeim Farouk
2012-03-01
Full Text Available The degree of speed control of ship machinery effects on the economics and optimization of the machinery configuration and operation. All marine vessel ranging need some sort of speed control system to control and govern the speed of the marine diesel engines. This study presents a self-tuning fuzzy PID control system for speed control system of marine diesel engine. The system under consideration is a fourth-order plant with highly dynamic and uncertain environments. The current speed controllers for marine/traction diesel engines based on PID Controller cannot fully handle the uncertainties associated with such dynamic environments. A fuzzy logic control algorithm is used to estimate the PID coefficients in order to handle such uncertainties to produce a better control performance. Simulation tests were established using Simulink of MATLAB. The obtained results have demonstrated the feasibility and effectiveness of the proposed approach. Simulation results are represented in this study.
Predictive functional control based on fuzzy T-S model for HVAC systems temperature control
Institute of Scientific and Technical Information of China (English)
Hongli L(U); Lei JIA; Shulan KONG; Zhaosheng ZHANG
2007-01-01
In heating,ventilating and air-conditioning(HVAC)systems,there exist severe nonlinearity,time-varying nature,disturbances and uncertainties.A new predictive functional control based on Takagi-Sugeno(T-S)fuzzy model was proposed to control HVAC systems.The T-S fuzzy model of stabilized controlled process was obtained using the least squares method,then on the basis of global linear predictive model from T-S fuzzy model,the process was controlled by the predictive functional controller.Especially the feedback regulation part was developed to compensate uncertainties of fuzzy predictive model.Finally simulation test results in HVAC systems control applications showed that the proposed fuzzy model predictive functional control improves tracking effect and robustness.Compared with the conventional PID controller,this control strategy has the advantages of less overshoot and shorter setting time,etc.
Research on an Urban Traffic Control System Based on DGPS
Institute of Scientific and Technical Information of China (English)
张锦; 张姝慧; 曹继红
2002-01-01
The basic principles of GPS (Global Positioning System) and DGPS (Differential GPS) are described. The principle and structure of vehicle navigation systems, and its application to the urban traffic flow guidance are analyzed. Then, an area-coordinated adaptive control system based on DGPS and a traffic flow guidance information system based on DGPS are put forward, and their working principles and functions are researched. This is to provides a new way for the development of urban road traffic control systems.
The Integrated Control-Mechanism in ATM-Based Networks
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
Survivability is one of the important issues in ATM-based networks since even a single network element failure may cause a serious data loss. This paper introduces a new restoration mechanism based on multi-layer ATM survivable network management architecture. This mechanism integrates the general control and restoration control by establishing the Working VPs logical network, Backup VPs logical network and spare logical network in order to optimally utilize the network resources while maintaining the restoration requirements.
Design of Dynamic Controller for Neutral Differential Systems with Multiple Delays in Control Input
Institute of Scientific and Technical Information of China (English)
Zi-Xin Liu; Shu Lü; Shou-Ming Zhong
2009-01-01
The design problem of dynamic output feedback controller for a class of multi-delayed neutral systems has been considered. A criterion for the existence and asymptotic stability of such controller is derived via defining a new integral operator. The criterion is expressed in terms of the linear matrix inequalities (LMIs), which can be checked numerically using the effective LMI toolbox in MATLAB. One numerical example is given to illustrate the proposed design method. Numerical simulation shows that the new design method is valid.
Efficient Quantum Private Communication Based on Dynamic Control Code Sequence
Cao, Zheng-Wen; Feng, Xiao-Yi; Peng, Jin-Ye; Zeng, Gui-Hua; Qi, Jin
2016-12-01
Based on chaos and quantum properties, we propose a quantum private communication scheme with dynamic control code sequence. The initial sequence is obtained via chaotic systems, and the control code sequence is derived by grouping, XOR and extracting. A shift cycle algorithm is designed to enable the dynamic change of control code sequence. Analysis shows that transmission efficiency could reach 100 % with high dynamics and security.
Switch Reluctance Motor Control Based on Fuzzy Logic System
Directory of Open Access Journals (Sweden)
S. Aleksandrovsky
2012-01-01
Full Text Available Due to its intrinsic simplicity and reliability, the switched reluctance motor (SRM has now become a promising candidate for variable-speed drive applications as an alternative induction motor in various industrial application. However, the SRM has the disadvantage of nonlinear characteristic and control. It is suggested to use controller based on fuzzy logic system. Design of FLS controller and simulation model presented.
Efficient Quantum Private Communication Based on Dynamic Control Code Sequence
Cao, Zheng-Wen; Feng, Xiao-Yi; Peng, Jin-Ye; Zeng, Gui-Hua; Qi, Jin
2017-04-01
Based on chaos and quantum properties, we propose a quantum private communication scheme with dynamic control code sequence. The initial sequence is obtained via chaotic systems, and the control code sequence is derived by grouping, XOR and extracting. A shift cycle algorithm is designed to enable the dynamic change of control code sequence. Analysis shows that transmission efficiency could reach 100 % with high dynamics and security.
Decoupling Control Method Based on Neural Network for Missiles
Institute of Scientific and Technical Information of China (English)
ZHAN Li; LUO Xi-shuang; ZHANG Tian-qiao
2005-01-01
In order to make the static state feedback nonlinear decoupling control law for a kind of missile to be easy for implementation in practice, an improvement is discussed. The improvement method is to introduce a BP neural network to approximate the decoupling control laws which are designed for different aerodynamic characteristic points, so a new decoupling control law based on BP neural network is produced after the network training. The simulation results on an example illustrate the approach obtained feasible and effective.
Fuzzy control of power converters based on quasilinear modelling
Li, C. K.; Lee, W. L.; Chou, Y. W.
1995-03-01
Unlike feedback control by the fuzzy PID method, a new fuzzy control algorithm based on quasilinear modelling of the DC-DC converter is proposed. Investigation is carried out using a buck-boost converter. Simulation results demonstrated that the converter can be regulated with improved performance even when subjected to input disturbance and load variation.
FPGA based Control of a Production Cell System
Groothuis, Marcel A.; Zuijlen, van Jasper J.P.; Broenink, Jan F.
2008-01-01
Most motion control systems for mechatronic systems are implemented on digital computers. In this paper we present an FPGA based solution implemented on a low cost Xilinx Spartan III FPGA. A Production Cell setup with multiple parallel operating units is chosen as a test case. The embedded control s
Model Predictive Control based on Finite Impulse Response Models
DEFF Research Database (Denmark)
Prasath, Guru; Jørgensen, John Bagterp
2008-01-01
We develop a regularized l2 finite impulse response (FIR) predictive controller with input and input-rate constraints. Feedback is based on a simple constant output disturbance filter. The performance of the predictive controller in the face of plant-model mismatch is investigated by simulations...
The Abstract Machine Model for Transaction-based System Control
Energy Technology Data Exchange (ETDEWEB)
Chassin, David P.
2003-01-31
Recent work applying statistical mechanics to economic modeling has demonstrated the effectiveness of using thermodynamic theory to address the complexities of large scale economic systems. Transaction-based control systems depend on the conjecture that when control of thermodynamic systems is based on price-mediated strategies (e.g., auctions, markets), the optimal allocation of resources in a market-based control system results in an emergent optimal control of the thermodynamic system. This paper proposes an abstract machine model as the necessary precursor for demonstrating this conjecture and establishes the dynamic laws as the basis for a special theory of emergence applied to the global behavior and control of complex adaptive systems. The abstract machine in a large system amounts to the analog of a particle in thermodynamic theory. The permit the establishment of a theory dynamic control of complex system behavior based on statistical mechanics. Thus we may be better able to engineer a few simple control laws for a very small number of devices types, which when deployed in very large numbers and operated as a system of many interacting markets yields the stable and optimal control of the thermodynamic system.
MAS Based Event-Triggered Hybrid Control for Smart Microgrids
DEFF Research Database (Denmark)
Dou, Chunxia; Liu, Bin; Guerrero, Josep M.
2013-01-01
This paper is focused on an advanced control for autonomous microgrids. In order to improve the performance regarding security and stability, a hierarchical decentralized coordinated control scheme is proposed based on multi-agents structure. Moreover, corresponding to the multi-mode and the hybr...
Agent-Based Decentralized Control Method for Islanded Microgrids
DEFF Research Database (Denmark)
Li, Qiang; Chen, Feixiong; Chen, Minyou;
2016-01-01
In this paper, an agent-based decentralized control model for islanded microgrids is proposed, which consists of a two-layer control structure. The bottom layer is the electrical distribution microgrid, while the top layer is the communication network composed of agents. An agent is regarded as a...
Connected Dominating Set Based Topology Control in Wireless Sensor Networks
He, Jing
2012-01-01
Wireless Sensor Networks (WSNs) are now widely used for monitoring and controlling of systems where human intervention is not desirable or possible. Connected Dominating Sets (CDSs) based topology control in WSNs is one kind of hierarchical method to ensure sufficient coverage while reducing redundant connections in a relatively crowded network.…
Model-Based Traffic Control for Sustainable Mobility
Zegeye, S.K.
2011-01-01
Computationally efficient dynamic fuel consumption, emissions, and dispersion of emissions models are developed. Fast and practically feasible model-based controller is proposed. Using the developed models, the controller steers the traffic flow in such a way that a balanced trade-off between the t
Ruled-based control of off-grid electrolysis
DEFF Research Database (Denmark)
Serna, A.; Tadeo, F.; Normey-Rico, J. E.
2016-01-01
This work deals with a ruled-based control strategy to produce hydrogen from wind and wave energy in an offshore platform. These renewable energies feed a set of alkaline electrolyzers that produce H2. The proposed control system allows regulating the operation of the electrolyzers, taking into a...
Route-Based Control of Hybrid Electric Vehicles: Preprint
Energy Technology Data Exchange (ETDEWEB)
Gonder, J. D.
2008-01-01
Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.
Internet-Based Treatment for Insomnia: A Controlled Evaluation
Strom, Lars; Pettersson, Richard; Andersson, Gerhard
2004-01-01
This study investigated the effects of an Internet-based intervention for insomnia. Participants who met criteria for insomnia (N = 109) were randomly assigned to either a cognitive-behavioral self-help treatment or a waiting list control condition. The 5-week intervention mainly consisted of sleep restriction, stimulus control, and cognitive…
A Direct Feedback Control Based on Fuzzy Recurrent Neural Network
Institute of Scientific and Technical Information of China (English)
李明; 马小平
2002-01-01
A direct feedback control system based on fuzzy-recurrent neural network is proposed, and a method of training weights of fuzzy-recurrent neural network was designed by applying modified contract mapping genetic algorithm. Computer simul ation results indicate that fuzzy-recurrent neural network controller has perfect dynamic and static performances .
Adaptive Feature Based Control of Compact Disk Players
DEFF Research Database (Denmark)
Odgaard, Peter Fogh; Stoustrup, Jakob; Vidal, Enrique Sanchez
2005-01-01
of the Compact Disc. The problem is to design servo controllers which are well suited for handling surface faults which disturb the position measurement and still react sufficiently against normal disturbances like mechanical shocks. In previous work of the same authors a feature based control scheme for CD...
Connected Dominating Set Based Topology Control in Wireless Sensor Networks
He, Jing
2012-01-01
Wireless Sensor Networks (WSNs) are now widely used for monitoring and controlling of systems where human intervention is not desirable or possible. Connected Dominating Sets (CDSs) based topology control in WSNs is one kind of hierarchical method to ensure sufficient coverage while reducing redundant connections in a relatively crowded network.…
Prediction based chaos control via a new neural network
Energy Technology Data Exchange (ETDEWEB)
Shen Liqun [School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001 (China)], E-mail: liqunshen@gmail.com; Wang Mao [Space Control and Inertia Technology Research Center, Harbin Institute of Technology, Harbin 150001 (China); Liu Wanyu [School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001 (China); Sun Guanghui [Space Control and Inertia Technology Research Center, Harbin Institute of Technology, Harbin 150001 (China)
2008-11-17
In this Letter, a new chaos control scheme based on chaos prediction is proposed. To perform chaos prediction, a new neural network architecture for complex nonlinear approximation is proposed. And the difficulty in building and training the neural network is also reduced. Simulation results of Logistic map and Lorenz system show the effectiveness of the proposed chaos control scheme and the proposed neural network.
Robust observer-based adaptive fuzzy sliding mode controller
Oveisi, Atta; Nestorović, Tamara
2016-08-01
In this paper, a new observer-based adaptive fuzzy integral sliding mode controller is proposed based on the Lyapunov stability theorem. The plant is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. Based on the classical sliding mode controller, the equivalent control effort is obtained to satisfy the sufficient requirement of sliding mode controller and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. In order to relax the norm-bounded constrains on the control law and solve the chattering problem of sliding mode controller, a fuzzy logic inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, for evaluating the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.
A Fuzzy Logic Based Supervisory Hierarchical Control Scheme for Real Time Pressure Control
Institute of Scientific and Technical Information of China (English)
N.Kanagaraj; P.Sivashanmugam; S.Paramasivam
2009-01-01
This paper describes a supervisory hierarchical fuzzy controller (SHFC) for regulating pressure in a real-time pilot pressure control system.The input scaling factor tuning of a direct expert controller is made using the error and process input parameters in a closed loop system in order to obtain better controller performance for set-point change and load disturbances.This on-line tuning method reduces operator involvement and enhances the controller performance to a wide operating range.The hierarchical control scheme consists of an intelligent upper level supervisory fuzzy controller and a lower level direct fuzzy controller.The upper level controller provides a mechanism to the main goal of the system and the lower level controller delivers the solutions to a particular situation. The control algorithm for the proposed scheme has been developed and tested using an ARM7 microcontroller-based embedded target board for a nonlinear pressure process having dead time.To demonstrate the effectiveness,the results of the proposed hierarchical controller,fuzzy controller and conventional proportional-integral (PI) controller are analyzed.The results prove that the SHFC performance is better in terms of stability and robustness than the conventional control methods.
Development of a Simulink/RTW-Based Realtime Control System for an Induction Motor Vector Control
Energy Technology Data Exchange (ETDEWEB)
Kang, M. H. [Sunmoon University, Chonan (Korea)
2001-03-01
In this research a Simulink/RTW-based realtime control system was developed for an induction motor vector control. On the Simulink window, the control system is designed in the form of block diagrams, program codes are produced automatically with the RTW(Real Time Workshop), then an DSP c compiles the program codes. With this automatic program producing method rapid prototyping is realized with the least time-consuming manual programming procedures. To show effectiveness of the proposed system designing scheme a DSP-based induction motor vector controller was constructed and implemented. (author). 10 refs., 15 figs., 2 tabs.
Disturbance observer based hierarchical control of coaxial-rotor UAV.
Mokhtari, M Rida; Cherki, Brahim; Braham, Amal Choukchou
2017-03-01
This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the thrust force acting on the vehicle. The new disturbance observer with finite time convergence is intergated to online estimate the unknown uncertainties and disturbances and to actively compensate them in finite time.The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy.
Iterative learning control of SOFC based on ARX identification model
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
This paper presents an application of iterative learning control (ILC) technique to the voltage control of solid oxide fuel cell (SOFC) stack. To meet the demands of the control system design, an autoregressive model with exogenous input (ARX) is established. Firstly, by regulating the variation of the hydrogen flow rate proportional to that of the current, the fuel utilization of the SOFC is kept within its admissible range. Then, based on the ARX model, three kinds of ILC controllers, i.e. P-, PI- and PD-type are designed to keep the voltage at a desired level. Simulation results demonstrate the potential of the ARX model applied to the control of the SOFC, and prove the excellence of the ILC controllers for the voltage control of the SOFC.
Generalized ESO and Predictive Control Based Robust Autopilot Design
Directory of Open Access Journals (Sweden)
Bhavnesh Panchal
2016-01-01
Full Text Available A novel continuous time predictive control and generalized extended state observer (GESO based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation.
Transient stability improvement by nonlinear controllers based on tracking
Energy Technology Data Exchange (ETDEWEB)
Ramirez, Juan M. [Centro de Investigacion y Estudios Avanzados, Guadalajara, Mexico. Av. Cientifica 1145. Col. El Bajio. Zapopan, Jal. 45015 (Mexico); Arroyave, Felipe Valencia; Correa Gutierrez, Rosa Elvira [Universidad Nacional de Colombia, Sede Medellin. Facultad de Minas, Escuela de Mecatronica (Colombia)
2011-02-15
This paper deals with the control problem in multi-machine electric power systems, which represent complex great scale nonlinear systems. Thus, the controller design is a challenging problem. These systems are subjected to different perturbations, such as short circuits, connection and/or disconnection of loads, lines, or generators. Then, the utilization of controllers which guarantee good performance under those perturbations is required in order to provide electrical energy to the loads with admissible stability margins. The proposed controllers are based on a systematic strategy, which calculate nonlinear controllers for generating units in a power plant, both for voltage and velocity regulation. The formulation allows designing controllers in a multi-machine power system without intricate calculations. Results on a power system of the open research indicate the proposition's suitability. The problem is formulated as a tracking problem. The designed controllers may be implemented in any electric power system. (author)
Indian Academy of Sciences (India)
Qian Lin; Xiaofeng Wu; Yun Chen
2015-12-01
This paper studies the global synchronization of non-autonomous, time-delay, chaotic power systems via linear state-error feedback control. The frequency domain criterion and the LMI criterion are proposed and applied to design the coupling matrix. Some algebraic criteria via a single-variable linear coupling are derived and formulated in simple algebraic inequalities. The effectiveness of the new criteria is illustrated with numerical examples.
Information fusion based optimal control for large civil aircraft system.
Zhen, Ziyang; Jiang, Ju; Wang, Xinhua; Gao, Chen
2015-03-01
Wind disturbance has a great influence on landing security of Large Civil Aircraft. Through simulation research and engineering experience, it can be found that PID control is not good enough to solve the problem of restraining the wind disturbance. This paper focuses on anti-wind attitude control for Large Civil Aircraft in landing phase. In order to improve the riding comfort and the flight security, an information fusion based optimal control strategy is presented to restrain the wind in landing phase for maintaining attitudes and airspeed. Data of Boeing707 is used to establish a nonlinear mode with total variables of Large Civil Aircraft, and then two linear models are obtained which are divided into longitudinal and lateral equations. Based on engineering experience, the longitudinal channel adopts PID control and C inner control to keep longitudinal attitude constant, and applies autothrottle system for keeping airspeed constant, while an information fusion based optimal regulator in the lateral control channel is designed to achieve lateral attitude holding. According to information fusion estimation, by fusing hard constraint information of system dynamic equations and the soft constraint information of performance index function, optimal estimation of the control sequence is derived. Based on this, an information fusion state regulator is deduced for discrete time linear system with disturbance. The simulation results of nonlinear model of aircraft indicate that the information fusion optimal control is better than traditional PID control, LQR control and LQR control with integral action, in anti-wind disturbance performance in the landing phase. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Control of a Buoyancy-Based Pilot Underwater Lifting Body
Directory of Open Access Journals (Sweden)
Finn Haugen
2010-04-01
Full Text Available This paper is about position control of a specific small-scale pilot underwater lifting body where the lifting force stems from buoyancy adjusted with an air pocket in the lifting body. A mathematical model is developed to get a basis for a simulator which is used for testing and for designing the control system, including tuning controller parameters. A number of different position controller solutions were tried both on a simulator and on the physical system. Successful control on both the simulator and the physical system was obtained with cascade control based on feedback from measured position and height of the air pocket in the lifting body. The primary and the secondary controllers of the cascade control system were tuned using Skogestad's model-based PID tuning rules. Feedforward from estimated load force was implemented in combination with the cascade control system, giving a substantial improvement of the position control system, both with varying position reference and varying disturbance (load mass.
An Extended Role Based Access Control Method for XML Documents
Institute of Scientific and Technical Information of China (English)
MENG Xiao-feng; LUO Dao-feng; OU Jian-bo
2004-01-01
As XML has been increasingly important as the Data-change format of Internet and Intranet, access-control-on-XML-properties rises as a new issue.Role-based access control (RBAC) is an access control method that has been widely used in Internet, Operation System and Relation Data Base these 10 years.Though RBAC is already relatively mature in the above fields, new problems occur when it is used in XML properties.This paper proposes an integrated model to resolve these problems, after the fully analysis on the features of XML and RBAC.
Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review
Krishnan, N. Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei
2016-03-01
Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions.