Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis
Kürkçü, Burak; Kasnakoğlu, Coşku
2018-02-01
In this work robust temperature control of a thermoelectric cooler (TEC) via μ -synthesis is studied. An uncertain dynamical model for the TEC that is suitable for robust control methods is derived. The model captures variations in operating point due to current, load and temperature changes. A temperature controller is designed utilizing μ -synthesis, a powerful method guaranteeing robust stability and performance. For comparison two well-known control methods, namely proportional-integral-derivative (PID) and internal model control (IMC), are also realized to benchmark the proposed approach. It is observed that the stability and performance on the nominal model are satisfactory for all cases. On the other hand, under perturbations the responses of PID and IMC deteriorate and even become unstable. In contrast, the μ -synthesis controller succeeds in keeping system stability and achieving good performance under all perturbations within the operating range, while at the same time providing good disturbance rejection.
Robust control of speed and temperature in a power plant gas turbine.
Najimi, Ebrahim; Ramezani, Mohammad Hossein
2012-03-01
In this paper, an H(∞) robust controller has been designed for an identified model of MONTAZER GHAEM power plant gas turbine (GE9001E). In design phase, a linear model (ARX model) which is obtained using real data has been applied. Since the turbine has been used in a combined cycle power plant, its speed and also the exhaust gas temperature should be adjusted simultaneously by controlling fuel signals and compressor inlet guide vane (IGV) position. Considering the limitations on the system inputs, the aim of the control is to maintain the turbine speed and the exhaust gas temperature within desired interval under uncertainties and load demand disturbances. Simulation results of applying the proposed robust controller on the nonlinear model of the system (NARX model), fairly fulfilled the predefined aims. Simulations also show the improvement in the performance compared to MPC and PID controllers for the same conditions. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
A Robust Practical Generalized Predictive Control for BoilerSuper Heater Temperature Control
Zaki Maki Mohialdeen
2015-01-01
A practical method of robust generalized predictive controller (GPC) application is developed using a combination of Ziegler-Nichols type functions relating the GPC controller parameters to a first order with time delay process parameters and a model matching controller. The GPC controller and the model matching controller are used in a master/slave configuration, with the GPC as the master controller and the model matching controller as the slave controlle...
Wilson, Nicholas L.; Wereley, Norman M.; Choi, Young-Tai; Hiemenz, Gregory J.; Hu, Wei
2009-03-01
The harmonic steady-state responses of an MR seat isolator, designed and fabricated at the University of Maryland for the driver/commander seat of the Expeditionary Fighting Vehicle (EFV), are measured over a temperature range from 100°C to 1000°C, and the damper behavior is characterized using a variant of the nonlinear Bingham plastic model. The effect of damper self-heating on the model parameters is investigated and the trends with temperature variation are presented. Numerical simulations are carried out to investigate seat isolation performance across a broad frequency spectrum as temperature and payload vary. Conclusions are drawn about the performance robustness to temperature variations of the semi-active skyhook control algorithm typically utilized in vibration isolation problems.
Robust/optimal temperature profile control of a high-speed aerospace vehicle using neural networks.
Yadav, Vivek; Padhi, Radhakant; Balakrishnan, S N
2007-07-01
An approximate dynamic programming (ADP)-based suboptimal neurocontroller to obtain desired temperature for a high-speed aerospace vehicle is synthesized in this paper. A 1-D distributed parameter model of a fin is developed from basic thermal physics principles. "Snapshot" solutions of the dynamics are generated with a simple dynamic inversion-based feedback controller. Empirical basis functions are designed using the "proper orthogonal decomposition" (POD) technique and the snapshot solutions. A low-order nonlinear lumped parameter system to characterize the infinite dimensional system is obtained by carrying out a Galerkin projection. An ADP-based neurocontroller with a dual heuristic programming (DHP) formulation is obtained with a single-network-adaptive-critic (SNAC) controller for this approximate nonlinear model. Actual control in the original domain is calculated with the same POD basis functions through a reverse mapping. Further contribution of this paper includes development of an online robust neurocontroller to account for unmodeled dynamics and parametric uncertainties inherent in such a complex dynamic system. A neural network (NN) weight update rule that guarantees boundedness of the weights and relaxes the need for persistence of excitation (PE) condition is presented. Simulation studies show that in a fairly extensive but compact domain, any desired temperature profile can be achieved starting from any initial temperature profile. Therefore, the ADP and NN-based controllers appear to have the potential to become controller synthesis tools for nonlinear distributed parameter systems.
Study of robust thin film PT-1000 temperature sensors for cryogenic process control applications
Ramalingam, R.; Boguhn, D.; Fillinger, H.; Schlachter, S. I.; Süßer, M.
2014-01-01
In some cryogenic process measurement applications, for example, in hydrogen technology and in high temperature superconductor based generators, there is a need of robust temperature sensors. These sensors should be able to measure the large temperature range of 20 - 500 K with reasonable resolution and accuracy. Thin film PT 1000 sensors could be a choice to cover this large temperature range. Twenty one sensors selected from the same production batch were tested for their temperature sensitivity which was then compared with different batch sensors. Furthermore, the sensor's stability was studied by subjecting the sensors to repeated temperature cycles of 78-525 K. Deviations in the resistance were investigated using ice point calibration and water triple point calibration methods. Also the study of directional oriented intense static magnetic field effects up to 8 Oersted (Oe) were conducted to understand its magneto resistance behaviour in the cryogenic temperature range from 77 K - 15 K. This paper reports all investigation results in detail.
Robust Self Tuning Controllers
DEFF Research Database (Denmark)
Poulsen, Niels Kjølstad
1985-01-01
The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...... has several operation modes and a detector for controlling the mode. A special self tuning controller has been developed to regulate plant with changing time delay.......The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...
2013-01-01
This contributed volume collects research papers, presented at the CIRP Sponsored Conference Robust Manufacturing Control: Innovative and Interdisciplinary Approaches for Global Networks (RoMaC 2012, Jacobs University, Bremen, Germany, June 18th-20th 2012). These research papers present the latest developments and new ideas focusing on robust manufacturing control for global networks. Today, Global Production Networks (i.e. the nexus of interconnected material and information flows through which products and services are manufactured, assembled and distributed) are confronted with and expected to adapt to: sudden and unpredictable large-scale changes of important parameters which are occurring more and more frequently, event propagation in networks with high degree of interconnectivity which leads to unforeseen fluctuations, and non-equilibrium states which increasingly characterize daily business. These multi-scale changes deeply influence logistic target achievement and call for robust planning and control ...
Directory of Open Access Journals (Sweden)
Marek Hicar
2004-01-01
Full Text Available The article is about a control design for complete structure of the crane: crab, bridge and crane uplift.The most important unknown parameters for simulations are burden weight and length of hanging rope. We will use robustcontrol for crab and bridge control to ensure adaptivity for burden weight and rope length. Robust control will be designed for current control of the crab and bridge, necessary is to know the range of unknown parameters. Whole robust will be splitto subintervals and after correct identification of unknown parameters the most suitable robust controllers will be chosen.The most important condition at the crab and bridge motion is avoiding from burden swinging in the final position. Crab and bridge drive is designed by asynchronous motor fed from frequency converter. We will use crane uplift with burden weightobserver in combination for uplift, crab and bridge drive with cooperation of their parameters: burden weight, rope length and crab and bridge position. Controllers are designed by state control method. We will use preferably a disturbance observerwhich will identify burden weight as a disturbance. The system will be working in both modes at empty hook as well asat maximum load: burden uplifting and dropping down.
Advances in robust fractional control
Padula, Fabrizio
2015-01-01
This monograph presents design methodologies for (robust) fractional control systems. It shows the reader how to take advantage of the superior flexibility of fractional control systems compared with integer-order systems in achieving more challenging control requirements. There is a high degree of current interest in fractional systems and fractional control arising from both academia and industry and readers from both milieux are catered to in the text. Different design approaches having in common a trade-off between robustness and performance of the control system are considered explicitly. The text generalizes methodologies, techniques and theoretical results that have been successfully applied in classical (integer) control to the fractional case. The first part of Advances in Robust Fractional Control is the more industrially-oriented. It focuses on the design of fractional controllers for integer processes. In particular, it considers fractional-order proportional-integral-derivative controllers, becau...
Attractive ellipsoids in robust control
Poznyak, Alexander; Azhmyakov, Vadim
2014-01-01
This monograph introduces a newly developed robust-control design technique for a wide class of continuous-time dynamical systems called the “attractive ellipsoid method.” Along with a coherent introduction to the proposed control design and related topics, the monograph studies nonlinear affine control systems in the presence of uncertainty and presents a constructive and easily implementable control strategy that guarantees certain stability properties. The authors discuss linear-style feedback control synthesis in the context of the above-mentioned systems. The development and physical implementation of high-performance robust-feedback controllers that work in the absence of complete information is addressed, with numerous examples to illustrate how to apply the attractive ellipsoid method to mechanical and electromechanical systems. While theorems are proved systematically, the emphasis is on understanding and applying the theory to real-world situations. Attractive Ellipsoids in Robust Control will a...
1983-12-01
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Robust fitting of diurnal brightness temperature cycle
CSIR Research Space (South Africa)
Udahemuka, G
2007-11-01
Full Text Available for a pixel concerned. Robust fitting of observed Diurnal Temperature Cycle (DTC) taken over a day of a given pixel without cloud cover and other abnormally conditions such as fire can give a data based brightness temperature model for a given pixel...
Robust control design with MATLAB
Gu, Da-Wei; Konstantinov, Mihail M
2013-01-01
Robust Control Design with MATLAB® (second edition) helps the student to learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples from teaching-laboratory experiments, such as a two-wheeled, self-balancing robot, to complex systems like a flexible-link manipulator are given detailed presentation. All of these exercises are conducted using MATLAB® Robust Control Toolbox 3, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing readers quickly to move on with their own challenges. The hands-on tutorial style of this text rests on an abundance of examples and features for the second edition: · rewritten and simplified presentation of theoretical and meth...
Robust power system frequency control
Bevrani, Hassan
2014-01-01
This updated edition of the industry standard reference on power system frequency control provides practical, systematic and flexible algorithms for regulating load frequency, offering new solutions to the technical challenges introduced by the escalating role of distributed generation and renewable energy sources in smart electric grids. The author emphasizes the physical constraints and practical engineering issues related to frequency in a deregulated environment, while fostering a conceptual understanding of frequency regulation and robust control techniques. The resulting control strategi
Robust Decentralized Formation Flight Control
Directory of Open Access Journals (Sweden)
Zhao Weihua
2011-01-01
Full Text Available Motivated by the idea of multiplexed model predictive control (MMPC, this paper introduces a new framework for unmanned aerial vehicles (UAVs formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.
Robust lyapunov controller for uncertain systems
Laleg-Kirati, Taous-Meriem; Elmetennani, Shahrazed
2017-01-01
Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust
Robust control charts in statistical process control
Nazir, H.Z.
2014-01-01
The presence of outliers and contaminations in the output of the process highly affects the performance of the design structures of commonly used control charts and hence makes them of less practical use. One of the solutions to deal with this problem is to use control charts which are robust
Active vibration control by robust control techniques
International Nuclear Information System (INIS)
Lohar, F.A.
2001-01-01
This paper studies active vibration control of multi-degree-of-freedom system. The control techniques considered are LTR, H/sup 2/ and H/sup infinite/. The results show that LTR controls the vibration but its respective settling time is higher than that of the other techniques. The control performance of H/sup infinite/ control is similar to that of H/sup 2/ control in the case of it weighting functions. However, H/sup infinite/ control is superior to H/sup 2/ control with respect to robustness, steady state error and settling time. (author)
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....
Designing Robustness to Temperature in a Feedforward Loop Circuit
Sen, Shaunak; Kim, Jongmin; Murray, Richard M.
2013-01-01
Incoherent feedforward loops represent important biomolecular circuit elements capable of a rich set of dynamic behavior including adaptation and pulsed responses. Temperature can modulate some of these properties through its effect on the underlying reaction rate parameters. It is generally unclear how to design such a circuit where the properties are robust to variations in temperature. Here, we address this issue using a combination of tools from control and dynamical systems theory as wel...
Multimodel Robust Control for Hydraulic Turbine
Osuský, Jakub; Števo, Stanislav
2014-01-01
The paper deals with the multimodel and robust control system design and their combination based on M-Δ structure. Controller design will be done in the frequency domain with nominal performance specified by phase margin. Hydraulic turbine model is analyzed as system with unstructured uncertainty, and robust stability condition is included in controller design. Multimodel and robust control approaches are presented in detail on hydraulic turbine model. Control design approaches are compared a...
Robust high temperature oxygen sensor electrodes
DEFF Research Database (Denmark)
Lund, Anders
Platinum is the most widely used material in high temperature oxygen sensor electrodes. However, platinum is expensive and the platinum electrode may, under certain conditions, suffer from poisoning, which is detrimental for an oxygen sensor. The objective of this thesis is to evaluate electrode...... materials as candidates for robust oxygen sensor electrodes. The present work focuses on characterising the electrochemical properties of a few electrode materials to understand which oxygen electrode processes are limiting for the response time of the sensor electrode. Three types of porous platinum......-Dansensor. The electrochemical properties of the electrodes were characterised by electrochemical impedance spectroscopy (EIS), and the structures were characterised by x-ray diffraction and electron microscopy. At an oxygen partial pressures of 0.2 bar, the response time of the sensor electrode was determined by oxygen...
A robust standard deviation control chart
Schoonhoven, M.; Does, R.J.M.M.
2012-01-01
This article studies the robustness of Phase I estimators for the standard deviation control chart. A Phase I estimator should be efficient in the absence of contaminations and resistant to disturbances. Most of the robust estimators proposed in the literature are robust against either diffuse
Robust Control Charts for Time Series Data
Croux, C.; Gelper, S.; Mahieu, K.
2010-01-01
This article presents a control chart for time series data, based on the one-step- ahead forecast errors of the Holt-Winters forecasting method. We use robust techniques to prevent that outliers affect the estimation of the control limits of the chart. Moreover, robustness is important to maintain
Design Robust Controller for Rotary Kiln
Directory of Open Access Journals (Sweden)
Omar D. Hernández-Arboleda
2013-11-01
Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.
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...
Robustness analysis of chiller sequencing control
International Nuclear Information System (INIS)
Liao, Yundan; Sun, Yongjun; Huang, Gongsheng
2015-01-01
Highlights: • Uncertainties with chiller sequencing control were systematically quantified. • Robustness of chiller sequencing control was systematically analyzed. • Different sequencing control strategies were sensitive to different uncertainties. • A numerical method was developed for easy selection of chiller sequencing control. - Abstract: Multiple-chiller plant is commonly employed in the heating, ventilating and air-conditioning system to increase operational feasibility and energy-efficiency under part load condition. In a multiple-chiller plant, chiller sequencing control plays a key role in achieving overall energy efficiency while not sacrifices the cooling sufficiency for indoor thermal comfort. Various sequencing control strategies have been developed and implemented in practice. Based on the observation that (i) uncertainty, which cannot be avoided in chiller sequencing control, has a significant impact on the control performance and may cause the control fail to achieve the expected control and/or energy performance; and (ii) in current literature few studies have systematically addressed this issue, this paper therefore presents a study on robustness analysis of chiller sequencing control in order to understand the robustness of various chiller sequencing control strategies under different types of uncertainty. Based on the robustness analysis, a simple and applicable method is developed to select the most robust control strategy for a given chiller plant in the presence of uncertainties, which will be verified using case studies
Robust Fuzzy Controllers Using FPGAs
Monroe, Author Gene S., Jr.
2007-01-01
Electro-mechanical device controllers typically come in one of three forms, proportional (P), Proportional Derivative (PD), and Proportional Integral Derivative (PID). Two methods of control are discussed in this paper; they are (1) the classical technique that requires an in-depth mathematical use of poles and zeros, and (2) the fuzzy logic (FL) technique that is similar to the way humans think and make decisions. FL controllers are used in multiple industries; examples include control engineering, computer vision, pattern recognition, statistics, and data analysis. Presented is a study on the development of a PD motor controller written in very high speed hardware description language (VHDL), and implemented in FL. Four distinct abstractions compose the FL controller, they are the fuzzifier, the rule-base, the fuzzy inference system (FIS), and the defuzzifier. FL is similar to, but different from, Boolean logic; where the output value may be equal to 0 or 1, but it could also be equal to any decimal value between them. This controller is unique because of its VHDL implementation, which uses integer mathematics. To compensate for VHDL's inability to synthesis floating point numbers, a scale factor equal to 10(sup (N/4) is utilized; where N is equal to data word size. The scaling factor shifts the decimal digits to the left of the decimal point for increased precision. PD controllers are ideal for use with servo motors, where position control is effective. This paper discusses control methods for motion-base platforms where a constant velocity equivalent to a spectral resolution of 0.25 cm(exp -1) is required; however, the control capability of this controller extends to various other platforms.
Adaptive Critic Nonlinear Robust Control: A Survey.
Wang, Ding; He, Haibo; Liu, Derong
2017-10-01
Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.
Robust Tracking Control for a Piezoelectric Actuator
National Research Council Canada - National Science Library
Salah, M; McIntyre, M; Dawson, D; Wagner, J
2006-01-01
In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...
Robust control design verification using the modular modeling system
International Nuclear Information System (INIS)
Edwards, R.M.; Ben-Abdennour, A.; Lee, K.Y.
1991-01-01
The Modular Modeling System (B ampersand W MMS) is being used as a design tool to verify robust controller designs for improving power plant performance while also providing fault-accommodating capabilities. These controllers are designed based on optimal control theory and are thus model based controllers which are targeted for implementation in a computer based digital control environment. The MMS is being successfully used to verify that the controllers are tolerant of uncertainties between the plant model employed in the controller and the actual plant; i.e., that they are robust. The two areas in which the MMS is being used for this purpose is in the design of (1) a reactor power controller with improved reactor temperature response, and (2) the design of a multiple input multiple output (MIMO) robust fault-accommodating controller for a deaerator level and pressure control problem
Robust Rudder Roll Damping Control
DEFF Research Database (Denmark)
Yang, C.
The results of a systematic research to solve a specific ship motion control problem, simultaneous roll damping and course keeping using the rudder are presented in this thesis. The fundamental knowledge a priori is that rudder roll damping is highly sensitive to the model uncertainty, therefore H-infinity...... theory is used to deal with the problem. The necessary mathematical tools and the H-Infinity theory as the basis of controller design are presented in Chapter 2 and 3. The mu synthesis and the D-K iteration are introduced in Chapter 3. The ship dynamics and modeling technology are discussed in Chapter 4...
Robust control synthesis for uncertain dynamical systems
Byun, Kuk-Whan; Wie, Bong; Sunkel, John
1989-01-01
This paper presents robust control synthesis techniques for uncertain dynamical systems subject to structured parameter perturbation. Both QFT (quantitative feedback theory) and H-infinity control synthesis techniques are investigated. Although most H-infinity-related control techniques are not concerned with the structured parameter perturbation, a new way of incorporating the parameter uncertainty in the robust H-infinity control design is presented. A generic model of uncertain dynamical systems is used to illustrate the design methodologies investigated in this paper. It is shown that, for a certain noncolocated structural control problem, use of both techniques results in nonminimum phase compensation.
Robust lyapunov controller for uncertain systems
Laleg-Kirati, Taous-Meriem
2017-02-23
Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust Lyapunov controller includes an inner closed loop Lyapunov controller and an outer closed loop error stabilizer. In another example, a method includes monitoring a system output of a process plant; generating an estimated system control input based upon a defined output reference; generating a system control input using the estimated system control input and a compensation term; and adjusting the process plant based upon the system control input to force the system output to track the defined output reference. An inner closed loop Lyapunov controller can generate the estimated system control input and an outer closed loop error stabilizer can generate the system control input.
System Identification and Robust Control
DEFF Research Database (Denmark)
Tøffner-Clausen, S.
a thorough introduction to the m framework. A central results is that if performance is measured in terms of the inifity-norm and model uncertainty is bounded in the same manner, then, using m it is possible to pose one necessary and sufficient condition for block-structured norm-bounded perturbations which...... permitted by m is definitely much more flexible than those used in H inifity. Unfortunately m synthesis is a very difficult mathematical problem which is only well developed for purely complex perturbation sets. In order to develop our main result we will unfortunately need to synthesize m controllers....... The given examples thus represent a major part of the work behind this thesis. They consequently serve not just as illustrations but introduce many new ideas and should be interesting in their own right....
Muscle Synergy-Driven Robust Motion Control.
Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki
2018-04-01
Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy
Robust Parametric Control of Spacecraft Rendezvous
Directory of Open Access Journals (Sweden)
Dake Gu
2014-01-01
Full Text Available This paper proposes a method to design the robust parametric control for autonomous rendezvous of spacecrafts with the inertial information with uncertainty. We consider model uncertainty of traditional C-W equation to formulate the dynamic model of the relative motion. Based on eigenstructure assignment and model reference theory, a concise control law for spacecraft rendezvous is proposed which could be fixed through solving an optimization problem. The cost function considers the stabilization of the system and other performances. Simulation results illustrate the robustness and effectiveness of the proposed control.
Robust Geometric Control of a Distillation Column
DEFF Research Database (Denmark)
Kymmel, Mogens; Andersen, Henrik Weisberg
1987-01-01
A frequency domain method, which makes it possible to adjust multivariable controllers with respect to both nominal performance and robustness, is presented. The basic idea in the approach is that the designer assigns objectives such as steady-state tracking, maximum resonance peaks, bandwidth, m...... is used to examine and improve geometric control of a binary distillation column....
Parametric uncertainty modeling for robust control
DEFF Research Database (Denmark)
Rasmussen, K.H.; Jørgensen, Sten Bay
1999-01-01
The dynamic behaviour of a non-linear process can often be approximated with a time-varying linear model. In the presented methodology the dynamics is modeled non-conservatively as parametric uncertainty in linear lime invariant models. The obtained uncertainty description makes it possible...... to perform robustness analysis on a control system using the structured singular value. The idea behind the proposed method is to fit a rational function to the parameter variation. The parameter variation can then be expressed as a linear fractional transformation (LFT), It is discussed how the proposed...... point changes. It is shown that a diagonal PI control structure provides robust performance towards variations in feed flow rate or feed concentrations. However including both liquid and vapor flow delays robust performance specifications cannot be satisfied with this simple diagonal control structure...
Robust and Adaptive Control With Aerospace Applications
Lavretsky, Eugene
2013-01-01
Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems. The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: · case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; · detailed background material for each chapter to motivate theoretical developments; · realistic examples and simulation data illustrating key features ...
Matlab as a robust control design tool
Gregory, Irene M.
1994-01-01
This presentation introduces Matlab as a tool used in flight control research. The example used to illustrate some of the capabilities of this software is a robust controller designed for a single stage to orbit air breathing vehicles's ascent to orbit. The global requirements of the controller are to stabilize the vehicle and follow a trajectory in the presence of atmospheric disturbances and strong dynamic coupling between airframe and propulsion.
Robustness analysis method for orbit control
Zhang, Jingrui; Yang, Keying; Qi, Rui; Zhao, Shuge; Li, Yanyan
2017-08-01
Satellite orbits require periodical maintenance due to the presence of perturbations. However, random errors caused by inaccurate orbit determination and thrust implementation may lead to failure of the orbit control strategy. Therefore, it is necessary to analyze the robustness of the orbit control methods. Feasible strategies which are tolerant to errors of a certain magnitude can be developed to perform reliable orbit control for the satellite. In this paper, first, the orbital dynamic model is formulated by Gauss' form of the planetary equation using the mean orbit elements; the atmospheric drag and the Earth's non-spherical perturbations are taken into consideration in this model. Second, an impulsive control strategy employing the differential correction algorithm is developed to maintain the satellite trajectory parameters in given ranges. Finally, the robustness of the impulsive control method is analyzed through Monte Carlo simulations while taking orbit determination error and thrust error into account.
Model predictive control classical, robust and stochastic
Kouvaritakis, Basil
2016-01-01
For the first time, a textbook that brings together classical predictive control with treatment of up-to-date robust and stochastic techniques. Model Predictive Control describes the development of tractable algorithms for uncertain, stochastic, constrained systems. The starting point is classical predictive control and the appropriate formulation of performance objectives and constraints to provide guarantees of closed-loop stability and performance. Moving on to robust predictive control, the text explains how similar guarantees may be obtained for cases in which the model describing the system dynamics is subject to additive disturbances and parametric uncertainties. Open- and closed-loop optimization are considered and the state of the art in computationally tractable methods based on uncertainty tubes presented for systems with additive model uncertainty. Finally, the tube framework is also applied to model predictive control problems involving hard or probabilistic constraints for the cases of multiplic...
Robust Nonlinear Control with Compensation Operator for a Peltier System
Directory of Open Access Journals (Sweden)
Sheng-Jun Wen
2014-01-01
Full Text Available Robust nonlinear control with compensation operator is presented for a Peltier actuated system, where the compensation operator is designed by using a predictive model on heat radiation. For the Peltier system, the heat radiation is related to the fourth power of temperature. So, the heat radiation is affected evidently by the temperature when it is high and temperature difference between the system and environment is large. A new nonlinear model with the heat radiation is set up for the system according to some thermal conduction laws. To ensure robust stability of the nonlinear system, operator based robust right coprime factorization design is considered. Also, a compensation operator based on a predictive model is proposed to cancel effect of the heat radiation, where the predictive model is set up by using radial basis kernel function based SVM (support vector machine method. Finally, simulation results are given to show the effectiveness of the proposed scheme.
Robust balance shift control with posture optimization
Kavafoglu, Z.; Kavafoglu, Ersan; Egges, J.
2015-01-01
In this paper we present a control framework which creates robust and natural balance shifting behaviours during standing. Given high-level features such as the position of the center of mass projection and the foot configurations, a kinematic posture satisfying these features is synthesized using
Robust control investigations for equipment loaded panels
DEFF Research Database (Denmark)
Aglietti, G.S.; Langley, R.S.; Rogers, E.
1998-01-01
This paper develops a modelling technique for equipment load panels which directly produces (adequate) models of the underlying dynamics on which to base robust controller design/evaluations. This technique is based on the use of the Lagrange's equations of motion and the resulting models...
Robust blood-glucose control using Mathematica.
Kovács, Levente; Paláncz, Béla; Benyó, Balázs; Török, László; Benyó, Zoltán
2006-01-01
A robust control design on frequency domain using Mathematica is presented for regularization of glucose level in type I diabetes persons under intensive care. The method originally proposed under Mathematica by Helton and Merino, --now with an improved disturbance rejection constraint inequality--is employed, using a three-state minimal patient model. The robustness of the resulted high-order linear controller is demonstrated by nonlinear closed loop simulation in state-space, in case of standard meal disturbances and is compared with H infinity design implemented with the mu-toolbox of Matlab. The controller designed with model parameters represented the most favorable plant dynamics from the point of view of control purposes, can operate properly even in case of parameter values of the worst-case scenario.
Stability Constraints for Robust Model Predictive Control
Directory of Open Access Journals (Sweden)
Amanda G. S. Ottoni
2015-01-01
Full Text Available This paper proposes an approach for the robust stabilization of systems controlled by MPC strategies. Uncertain SISO linear systems with box-bounded parametric uncertainties are considered. The proposed approach delivers some constraints on the control inputs which impose sufficient conditions for the convergence of the system output. These stability constraints can be included in the set of constraints dealt with by existing MPC design strategies, in this way leading to the “robustification” of the MPC.
Integrated robust controller for vehicle path following
Energy Technology Data Exchange (ETDEWEB)
Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)
2015-02-15
The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.
Integrated robust controller for vehicle path following
International Nuclear Information System (INIS)
Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi
2015-01-01
The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties
Robust control technique for nuclear power plants
International Nuclear Information System (INIS)
Murphy, G.V.; Bailey, J.M.
1989-03-01
This report summarizes the linear quadratic Guassian (LQG) design technique with loop transfer recovery (LQG/LTR) for design of control systems. The concepts of return ratio, return difference, inverse return difference, and singular values are summarized. The LQG/LTR design technique allows the synthesis of a robust control system. To illustrate the LQG/LTR technique, a linearized model of a simple process has been chosen. The process has three state variables, one input, and one output. Three control system design methods are compared: LQG, LQG/LTR, and a proportional plus integral controller (PI). 7 refs., 20 figs., 6 tabs
Robust PID Controller for a Pneumatic Actuator
Directory of Open Access Journals (Sweden)
Skarpetis Michael G.
2016-01-01
Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.
Robust hydraulic position controller by a fuzzy state controller
International Nuclear Information System (INIS)
Zhao, T.; Van der Wal, A.J.
1994-01-01
In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters
The Robust Control Mixer Module Method for Control Reconfiguration
DEFF Research Database (Denmark)
Yang, Z.; Blanke, M.
1999-01-01
into a LTI dynamical system, and furthermore multiple dynamical control mixer modules can be employed in our consideration. The H_{\\infty} control theory is used for the analysis and design of the robust control mixer modules. Finally, one practical robot arm system as benchmark is used to test the proposed......The control mixer concept is efficient in improving an ordinary control system into a fault tolerant one, especially for these control systems of which the real-time and on-line redesign of the control laws is very difficult. In order to consider the stability, performance and robustness...... of the reconfigurated system simultaneously, and to deal with a more general controller reconfiguration than the static feedback mechanism by using the control mixer approach, the robust control mixer module method is proposed in this paper. The form of the control mixer module extends from a static gain matrix...
Automatic Synthesis of Robust and Optimal Controllers
DEFF Research Database (Denmark)
Cassez, Franck; Jessen, Jan Jacob; Larsen, Kim Guldstrand
2009-01-01
In this paper, we show how to apply recent tools for the automatic synthesis of robust and near-optimal controllers for a real industrial case study. We show how to use three different classes of models and their supporting existing tools, Uppaal-TiGA for synthesis, phaver for verification......, and Simulink for simulation, in a complementary way. We believe that this case study shows that our tools have reached a level of maturity that allows us to tackle interesting and relevant industrial control problems....
Robust Control Design via Linear Programming
Keel, L. H.; Bhattacharyya, S. P.
1998-01-01
This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.
Robust synergetic control design under inputs and states constraints
Rastegar, Saeid; Araújo, Rui; Sadati, Jalil
2018-03-01
In this paper, a novel robust-constrained control methodology for discrete-time linear parameter-varying (DT-LPV) systems is proposed based on a synergetic control theory (SCT) approach. It is shown that in DT-LPV systems without uncertainty, and for any unmeasured bounded additive disturbance, the proposed controller accomplishes the goal of stabilising the system by asymptotically driving the error of the controlled variable to a bounded set containing the origin and then maintaining it there. Moreover, given an uncertain DT-LPV system jointly subject to unmeasured and constrained additive disturbances, and constraints in states, input commands and reference signals (set points), then invariant set theory is used to find an appropriate polyhedral robust invariant region in which the proposed control framework is guaranteed to robustly stabilise the closed-loop system. Furthermore, this is achieved even for the case of varying non-zero control set points in such uncertain DT-LPV systems. The controller is characterised to have a simple structure leading to an easy implementation, and a non-complex design process. The effectiveness of the proposed method and the implications of the controller design on feasibility and closed-loop performance are demonstrated through application examples on the temperature control on a continuous-stirred tank reactor plant, on the control of a real-coupled DC motor plant, and on an open-loop unstable system example.
A Robust H∞ Controller for an UAV Flight Control System
Directory of Open Access Journals (Sweden)
J. López
2015-01-01
Full Text Available The objective of this paper is the implementation and validation of a robust H∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H∞ robust controller in the inner loop, H∞ control methodology is used. The two controllers that conform the outer loop are designed using the H∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.
Kinematically Optimal Robust Control of Redundant Manipulators
Galicki, M.
2017-12-01
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Robust Sliding Mode Control for Tokamaks
Directory of Open Access Journals (Sweden)
I. Garrido
2012-01-01
Full Text Available Nuclear fusion has arisen as an alternative energy to avoid carbon dioxide emissions, being the tokamak a promising nuclear fusion reactor that uses a magnetic field to confine plasma in the shape of a torus. However, different kinds of magnetohydrodynamic instabilities may affect tokamak plasma equilibrium, causing severe reduction of particle confinement and leading to plasma disruptions. In this sense, numerous efforts and resources have been devoted to seeking solutions for the different plasma control problems so as to avoid energy confinement time decrements in these devices. In particular, since the growth rate of the vertical instability increases with the internal inductance, lowering the internal inductance is a fundamental issue to address for the elongated plasmas employed within the advanced tokamaks currently under development. In this sense, this paper introduces a lumped parameter numerical model of the tokamak in order to design a novel robust sliding mode controller for the internal inductance using the transformer primary coil as actuator.
Multilayer robust control for safety enhancement of reactor operations
International Nuclear Information System (INIS)
Edwards, R.M.; Lee, K.Y.; Ray, A.
1991-01-01
A novel concept of reactor power and temperature control has been recently reported in which a conventional output feedback controller is embedded within a state feedback setting. The embedded output feedback controller at the inner layer largely compensates for plant modeling uncertainties and external disturbances, and the outer layer generates an optimal control signal via feedback of the estimated plant states. A major advantage of this embedded architecture is the robustness of the control system relative to parametric and nonparametric uncertainties and thus the opportunity for designing fault-accommodating control algorithms to improve reactor operations and plant safety. The paper illustrates the architecture of the state-feedback-assisted classical (SFAC) control, which utilizes an embedded output feedback controller designed via classical techniques. It demonstrates the difference between the performance of conventional state feedback control and SFAC by examining the sensitivity of the dominant eigenvalues of the individual closed-loop systems
Robust Force Control of Series Elastic Actuators
Directory of Open Access Journals (Sweden)
Andrea Calanca
2014-07-01
Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.
AC machine control : robust and sensorless control by parameter independency
Energy Technology Data Exchange (ETDEWEB)
Samuelsen, Dag Andreas Hals
2009-06-15
In this thesis it is first presented how robust control can be used to give AC motor drive systems competitive dynamic performance under parameter variations. These variations are common to all AC machines, and are a result of temperature change in the machine, and imperfect machine models. This robust control is, however, dependent on sensor operation in the sense that the rotor position is needed in the control loop. Elimination of this control loop has been for many years, and still is, a main research area of AC machines control systems. An integrated PWM modulator and sampler unit has been developed and tested. The sampler unit is able to give current and voltage measurements with a reduced noise component. It is further used to give the true derivative of currents and voltages in the machine and the power converter, as an average over a PWM period, and as separate values for all states of the power converter. In this way, it can give measurements of the currents as well as the derivative of the currents, at the start and at the end of a single power inverter state. This gave a large degree of freedom in parameter and state identification during uninterrupted operation of the induction machine. The special measurement scheme of the system achieved three main goals: By avoiding the time frame where the transistors commutate and the noise in the measurement of the current is large, filtering of the current measurement is no longer needed. The true derivative of the current in the machine is can be measured with far less noise components. This was extended to give any separate derivative in all three switching states of the power converter. Using the computational resources of the FPGA, more advanced information was supplied to the control system, in order to facilitate sensor less operation, with low computational demands on the DSP. As shown in the papers, this extra information was first used to estimate some of the states of the machine, in some or all of the
Robust sampled-data control of hydraulic flight control actuators
Kliffken, Markus Gustav
1997-01-01
In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...
Observer-Based Robust Control for Hydraulic Velocity Control System
Directory of Open Access Journals (Sweden)
Wei Shen
2013-01-01
Full Text Available This paper investigates the problems of robust stabilization and robust control for the secondary component speed control system with parameters uncertainty and load disturbance. The aim is to enhance the control performance of hydraulic system based on Common Pressure Rail (CPR. Firstly, a mathematical model is presented to describe the hydraulic control system. Then a novel observer is proposed, and an observed-based control strategy is designed such that the closed-loop system is asymptotically stable and satisfies the disturbance attenuation level. The condition for the existence of the developed controller can by efficiently solved by using the MATLAB software. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.
A Robust Controller Structure for Pico-Satellite Applications
DEFF Research Database (Denmark)
Kragelund, Martin Nygaard; Green, Martin; Kristensen, Mads
This paper describes the development of a robust controller structure for use in pico-satellite missions. The structure relies on unknown disturbance estimation and use of robust control theory to implement a system that is robust to both unmodeled disturbances and parameter uncertainties. As one...
Robust adaptive control for Unmanned Aerial Vehicles
Kahveci, Nazli E.
anti-windup compensation. Our analysis on the indirect adaptive scheme reveals that the perturbation terms due to parameter errors do not cause any unbounded signals in the closed-loop. The stability of the adaptive system is established, and the properties of the proposed control scheme are demonstrated through simulations on a UAV model with input magnitude saturation constraints. The robust adaptive control design is further developed to extend our results to rate-saturated systems.
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.
Nonlinear robust hierarchical control for nonlinear uncertain systems
Directory of Open Access Journals (Sweden)
Leonessa Alexander
1999-01-01
Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.
Temperature measurement and control
Leigh, JR
1988-01-01
This book treats the theory and practice of temperature measurement and control and important related topics such as energy management and air pollution. There are no specific prerequisites for the book although a knowledge of elementary control theory could be useful. The first half of the book is an application oriented survey of temperature measurement techniques and devices. The second half is concerned mainly with temperature control in both simple and complex situations.
Robust position control of induction motor using fuzzy logic control
International Nuclear Information System (INIS)
Kim, Sei Chan; Kim, Duk Hun; Yang, Seung Ho; Won, Chung Yuen
1993-01-01
In recent years, fuzzy logic or fuzzy set theory has reveived attention of a number of researchers in the area of power electronics and motion control. The paper describes a vector-controlled induction motor position servo drive where fuzzy control is used to get robustness against parameter variation and load torque disturbance effects. Both coarse and fine control with the help of look-up rule tables are used to improve transient response and system settling time. The performance characteristics are then compared with those of proportional-integral(PI) control. The simulation results clearly indicate the superiority of fuzzy control with larger number of rules. The fuzzy controller was implemented with a 16-bit microprocessor and tested in laboratory on a 3-hp IGBT inverter induction motor drive system. The test results verify the simulation performance. (Author)
International Nuclear Information System (INIS)
Huang Gongsheng; Wang Shengwei; Xu Xinhua
2009-01-01
This paper presents a robust model predictive control strategy for improving the supply air temperature control of air-handling units by dealing with the associated uncertainties and constraints directly. This strategy uses a first-order plus time-delay model with uncertain time-delay and system gain to describe air-conditioning process of an air-handling unit usually operating at various weather conditions. The uncertainties of the time-delay and system gain, which imply the nonlinearities and the variable dynamic characteristics, are formulated using an uncertainty polytope. Based on this uncertainty formulation, an offline LMI-based robust model predictive control algorithm is employed to design a robust controller for air-handling units which can guarantee a good robustness subject to uncertainties and constraints. The proposed robust strategy is evaluated in a dynamic simulation environment of a variable air volume air-conditioning system in various operation conditions by comparing with a conventional PI control strategy. The robustness analysis of both strategies under different weather conditions is also presented.
International Nuclear Information System (INIS)
Dearnaley, G.
1986-01-01
The patent concerns a method for controlling the temperature of silicon wafers (or samples), during ion beam treatment of the wafers, in a vacuum. The apparatus and method are described for irradiation and temperature control of the samples. The wafers are mounted on a drum which is rotated through the ion beam, and are additionally heated by infra-red lamps to achieve the desired temperature. (U.K.)
Robust Control of an Ill-Conditioned Aircraft
DEFF Research Database (Denmark)
Breslin, S.G.; Tøffner-Clausen, S.; Grimble, M.J.
1996-01-01
A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point.......A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point....
The effectiveness of robust RMCD control chart as outliers’ detector
Darmanto; Astutik, Suci
2017-12-01
A well-known control chart to monitor a multivariate process is Hotelling’s T 2 which its parameters are estimated classically, very sensitive and also marred by masking and swamping of outliers data effect. To overcome these situation, robust estimators are strongly recommended. One of robust estimators is re-weighted minimum covariance determinant (RMCD) which has robust characteristics as same as MCD. In this paper, the effectiveness term is accuracy of the RMCD control chart in detecting outliers as real outliers. In other word, how effectively this control chart can identify and remove masking and swamping effects of outliers. We assessed the effectiveness the robust control chart based on simulation by considering different scenarios: n sample sizes, proportion of outliers, number of p quality characteristics. We found that in some scenarios, this RMCD robust control chart works effectively.
Identification and robust control of an experimental servo motor.
Adam, E J; Guestrin, E D
2002-04-01
In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a dc motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, first, a classic closed-loop identification technique is applied and then, the parametrization by internal model control is used. The model uncertainty is evaluated under both parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of a comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed using comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.
Real-time control systems: feedback, scheduling and robustness
Simon, Daniel; Seuret, Alexandre; Sename, Olivier
2017-08-01
The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.
Robust Performance And Dissipation of Stochastic Control Systems
DEFF Research Database (Denmark)
Thygesen, Uffe Høgsbro
and topology on the space of supply rates. For instance, we give conditions under which the available storage is a continuous convex function of the supply rate. Dissipation theory in the existing literature applies only to deterministic systems. This is unfortunate since robust control applications typically...... is a prototype of robust adaptive control problems. We show that the optimal (minimax) controller for this problem is finite dimensional but not based on certainty equivalence, and we discuss the heuristic certainty equivalence controller....
Robust System Identification and Control Design
National Research Council Canada - National Science Library
Zhou, Kemin
2001-01-01
..., some advanced nonlinear control techniques including bifurcation stabilization and compressor stabilization techniques, model reduction techniques, fault detection and fault tolerant control methods...
Genetic and Environmental Control of Neurodevelopmental Robustness in Drosophila.
Directory of Open Access Journals (Sweden)
David J Mellert
Full Text Available Interindividual differences in neuronal wiring may contribute to behavioral individuality and affect susceptibility to neurological disorders. To investigate the causes and potential consequences of wiring variation in Drosophila melanogaster, we focused on a hemilineage of ventral nerve cord interneurons that exhibits morphological variability. We find that late-born subclasses of the 12A hemilineage are highly sensitive to genetic and environmental variation. Neurons in the second thoracic segment are particularly variable with regard to two developmental decisions, whereas its segmental homologs are more robust. This variability "hotspot" depends on Ultrabithorax expression in the 12A neurons, indicating variability is cell-intrinsic and under genetic control. 12A development is more variable and sensitive to temperature in long-established laboratory strains than in strains recently derived from the wild. Strains with a high frequency of one of the 12A variants also showed a high frequency of animals with delayed spontaneous flight initiation, whereas other wing-related behaviors did not show such a correlation and were thus not overtly affected by 12A variation. These results show that neurodevelopmental robustness is variable and under genetic control in Drosophila and suggest that the fly may serve as a model for identifying conserved gene pathways that stabilize wiring in stressful developmental environments. Moreover, some neuronal lineages are variation hotspots and thus may be more amenable to evolutionary change.
Adaptive robust control of the EBR-II reactor
International Nuclear Information System (INIS)
Power, M.A.; Edwards, R.M.
1996-01-01
Simulation results are presented for an adaptive H ∞ controller, a fixed H ∞ controller, and a classical controller. The controllers are applied to a simulation of the Experimental Breeder Reactor II primary system. The controllers are tested for the best robustness and performance by step-changing the demanded reactor power and by varying the combined uncertainty in initial reactor power and control rod worth. The adaptive H ∞ controller shows the fastest settling time, fastest rise time and smallest peak overshoot when compared to the fixed H ∞ and classical controllers. This makes for a superior and more robust controller
Feedforward/feedback control synthesis for performance and robustness
Wie, Bong; Liu, Qiang
1990-01-01
Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.
Energy Technology Data Exchange (ETDEWEB)
Madsen, H; Nielsen, T S; Soegaard, H T
1996-09-01
For many district heating systems, e.g. the system in Hoeje Taastrup, it is desirable to minimize the supply temperature from the heat production unit(s). Lower supply temperature implies lower costs in connection with the production and distribution of heat. Factors having impact on the heat demand are for instance solar radiation, wind speed, wind direction and a climate independent part, which is a function of the time of the day/week/year. By applying an optimization strategy, which minimizes the supply temperature, it is assumed that optimal economical operation can be obtained by minimizing the supply temperature and thereby the heat losses in the system. The models and methods described in this report take such aspects into account, and can therefore be used as elements in a more efficient minimization of the supply temperature. The theoretical part of this report describes models and methods for optimal on-line control of the supply temperature in district heating systems. Some of the models and methods have been implemented - or are going to be implemented - in the computer program PRESS which is a tool for optimal control of supply temperature and forecasting of heat demand in district heating systems. The principles for using transfer function models are briefly described. The ordinary generalized predictive control (OGPC) method is reviewed, and several extensions of this method are suggested. New controller, which is called the extended generalized predictive controller (XGPC), is described. (EG) 57 refs.
Robust Output Model Predictive Control of an Unstable Rijke Tube
Directory of Open Access Journals (Sweden)
Fabian Jarmolowitz
2012-01-01
Full Text Available This work investigates the active control of an unstable Rijke tube using robust output model predictive control (RMPC. As internal model a polytopic linear system with constraints is assumed to account for uncertainties. For guaranteed stability, a linear state feedback controller is designed using linear matrix inequalities and used within a feedback formulation of the model predictive controller. For state estimation a robust gain-scheduled observer is developed. It is shown that the proposed RMPC ensures robust stability under constraints over the considered operating range.
Robust Learning Control Design for Quantum Unitary Transformations.
Wu, Chengzhi; Qi, Bo; Chen, Chunlin; Dong, Daoyi
2017-12-01
Robust control design for quantum unitary transformations has been recognized as a fundamental and challenging task in the development of quantum information processing due to unavoidable decoherence or operational errors in the experimental implementation of quantum operations. In this paper, we extend the systematic methodology of sampling-based learning control (SLC) approach with a gradient flow algorithm for the design of robust quantum unitary transformations. The SLC approach first uses a "training" process to find an optimal control strategy robust against certain ranges of uncertainties. Then a number of randomly selected samples are tested and the performance is evaluated according to their average fidelity. The approach is applied to three typical examples of robust quantum transformation problems including robust quantum transformations in a three-level quantum system, in a superconducting quantum circuit, and in a spin chain system. Numerical results demonstrate the effectiveness of the SLC approach and show its potential applications in various implementation of quantum unitary transformations.
Generalized internal model robust control for active front steering intervention
Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng
2015-03-01
Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.
Self-optimizing robust nonlinear model predictive control
Lazar, M.; Heemels, W.P.M.H.; Jokic, A.; Thoma, M.; Allgöwer, F.; Morari, M.
2009-01-01
This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant - a unique
Robust control of time-delay chaotic systems
International Nuclear Information System (INIS)
Hua Changchun; Guan Xinping
2003-01-01
Robust control problem of nonlinear time-delay chaotic systems is investigated. For such uncertain systems, we propose adaptive feedback controller and novel nonlinear feedback controller. They are both independent of the time delay and can render the corresponding closed-loop systems globally uniformly ultimately bounded stable. The simulations on controlling logistic system are made and the results show the controllers are feasible
Robust Position Control of Electro-mechanical Systems
Rong Mei; Mou Chen
2013-01-01
In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...
Robust Control Analysis of Hydraulic Turbine Speed
Jekan, P.; Subramani, C.
2018-04-01
An effective control strategy for the hydro-turbine governor in time scenario is adjective for this paper. Considering the complex dynamic characteristic and the uncertainty of the hydro-turbine governor model and taking the static and dynamic performance of the governing system as the ultimate goal, the designed logic combined the classical PID control theory with artificial intelligence used to obtain the desired output. The used controller will be a variable control techniques, therefore, its parameters can be adaptively adjusted according to the information about the control error signal.
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...
Robust on-off pulse control of flexible space vehicles
Wie, Bong; Sinha, Ravi
1993-01-01
The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.
Design and implementation of robust controllers for a gait trainer.
Wang, F C; Yu, C H; Chou, T Y
2009-08-01
This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design Hinfinity robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.
Closed-Loop and Robust Control of Quantum Systems
Directory of Open Access Journals (Sweden)
Chunlin Chen
2013-01-01
Full Text Available For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA, and reinforcement learning (RL methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.
Closed-loop and robust control of quantum systems.
Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong
2013-01-01
For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.
ROBUST CONTROL OF OSCILLATIONS IN AGRICULTURAL TRACTORS
DEFF Research Database (Denmark)
Andersen, T. O.; Hansen, M. R.; Conrad, Finn
2003-01-01
for agricultural tractors equiped with hicth and implements. A control strategy is developed to make the implement counteract the movement of the tractor and thereby reducing the pitching oscillation. The control strategy is based on a linear plant model with constant or slowly varying parameters. Using...
Robust Control of Laddermill Wind Energy System
Podgaets, A.R.; Ockels, W.J.
2007-01-01
Laddermill flight control problem with closed loop is considered in this paper. Laddermill is an alternative concept for energy production using high altitude kites. The kites have been simulated as rigid bodies and the cable as a thin elastic line. Euler angles and cable speed are controls. Flight
Linear systems optimal and robust control
Sinha, Alok
2007-01-01
Introduction Overview Contents of the Book State Space Description of a Linear System Transfer Function of a Single Input/Single Output (SISO) System State Space Realizations of a SISO System SISO Transfer Function from a State Space Realization Solution of State Space Equations Observability and Controllability of a SISO System Some Important Similarity Transformations Simultaneous Controllability and Observability Multiinput/Multioutput (MIMO) Systems State Space Realizations of a Transfer Function Matrix Controllability and Observability of a MIMO System Matrix-Fraction Description (MFD) MFD of a Transfer Function Matrix for the Minimal Order of a State Space Realization Controller Form Realization from a Right MFD Poles and Zeros of a MIMO Transfer Function Matrix Stability Analysis State Feedback Control and Optimization State Variable Feedback for a Single Input System Computation of State Feedback Gain Matrix for a Multiinput System State Feedback Gain Matrix for a Multi...
Decentralized robust control design using LMI
Directory of Open Access Journals (Sweden)
Dušan Krokavec
2008-03-01
Full Text Available The paper deals with application of decentralized controllers for large-scale systems with subsystems interaction and system matrices uncertainties. The desired stability of the whole system is guaranteed while at the same time the tolerable bounds in the uncertainties due to structural changes are maximized. The design approach is based on the linear matrix inequalities (LMI techniques adaptation for stabilizing controller design.
Computation of robustly stabilizing PID controllers for interval systems.
Matušů, Radek; Prokop, Roman
2016-01-01
The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.
International Nuclear Information System (INIS)
Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid
2009-01-01
To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.
Multivariable robust adaptive controller using reduced-order model
Directory of Open Access Journals (Sweden)
Wei Wang
1990-04-01
Full Text Available In this paper a multivariable robust adaptive controller is presented for a plant with bounded disturbances and unmodeled dynamics due to plant-model order mismatches. The robust stability of the closed-loop system is achieved by using the normalization technique and the least squares parameter estimation scheme with dead zones. The weighting polynomial matrices are incorporated into the control law, so that the open-loop unstable or/and nonminimum phase plants can be handled.
DEFF Research Database (Denmark)
2017-01-01
‘Robust – Reflections on Resilient Architecture’, is a scientific publication following the conference of the same name in November of 2017. Researches and PhD-Fellows, associated with the Masters programme: Cultural Heritage, Transformation and Restoration (Transformation), at The Royal Danish...
Quantitative Robust Control Engineering: Theory and Applications
2006-09-01
30]. Gutman, PO., Baril , C. Neuman, L. (1994), An algorithm for computing value sets of uncertain transfer functions in factored real form...linear compensation design for saturating unstable uncertain plants. Int. J. Control, Vol. 44, pp. 1137-1146. [90]. Oldak S., Baril C. and Gutman
Robust H∞ Control for Spacecraft Rendezvous with a Noncooperative Target
Directory of Open Access Journals (Sweden)
Shu-Nan Wu
2013-01-01
Full Text Available The robust H∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H∞ performance and finite time performance are proposed, and a robust H∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.
Wind Turbine Control: Robust Model Based Approach
DEFF Research Database (Denmark)
Mirzaei, Mahmood
. Wind turbines are the most common wind energy conversion systems and are hoped to be able to compete economically with fossil fuel power plants in near future. However this demands better technology to reduce the price of electricity production. Control can play an essential part in this context....... This is because, on the one hand, control methods can decrease the cost of energy by keeping the turbine close to its maximum efficiency. On the other hand, they can reduce structural fatigue and therefore increase the lifetime of the wind turbine. The power produced by a wind turbine is proportional...... to the square of its rotor radius, therefore it seems reasonable to increase the size of the wind turbine in order to capture more power. However as the size increases, the mass of the blades increases by cube of the rotor size. This means in order to keep structural feasibility and mass of the whole structure...
Specificity and robustness in transcription control networks.
Sengupta, Anirvan M; Djordjevic, Marko; Shraiman, Boris I
2002-02-19
Recognition by transcription factors of the regulatory DNA elements upstream of genes is the fundamental step in controlling gene expression. How does the necessity to provide stability with respect to mutation constrain the organization of transcription control networks? We examine the mutation load of a transcription factor interacting with a set of n regulatory response elements as a function of the factor/DNA binding specificity and conclude on theoretical grounds that the optimal specificity decreases with n. The predicted correlation between variability of binding sites (for a given transcription factor) and their number is supported by the genomic data for Escherichia coli. The analysis of E. coli genomic data was carried out using an algorithm suggested by the biophysical model of transcription factor/DNA binding. Complete results of the search for candidate transcription factor binding sites are available at http://www.physics.rockefeller.edu/~boris/public/search_ecoli.
Robust fast controller design via nonlinear fractional differential equations.
Zhou, Xi; Wei, Yiheng; Liang, Shu; Wang, Yong
2017-07-01
A new method for linear system controller design is proposed whereby the closed-loop system achieves both robustness and fast response. The robustness performance considered here means the damping ratio of closed-loop system can keep its desired value under system parameter perturbation, while the fast response, represented by rise time of system output, can be improved by tuning the controller parameter. We exploit techniques from both the nonlinear systems control and the fractional order systems control to derive a novel nonlinear fractional order controller. For theoretical analysis of the closed-loop system performance, two comparison theorems are developed for a class of fractional differential equations. Moreover, the rise time of the closed-loop system can be estimated, which facilitates our controller design to satisfy the fast response performance and maintain the robustness. Finally, numerical examples are given to illustrate the effectiveness of our methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Switching robust control synthesis for teleoperation via dwell time conditions
López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.
2014-01-01
Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the
Robust Tracking Control for a Piezoelectric Actuator
2006-01-01
1 ε ρ ( kzk )2 kzk2 r ¸ (31) where kr ∈ R+ is a constant gain, ε ∈ R+ is a small constant, and ρ ( kzk ) ∈ R is a function of norm z (t) ∈ R2. The...equality can be developed (see Appendix 3 for further details) ¯̄̄ Ñ ¯̄̄ ≤ ρ ( kzk ) kzk . (33) After substituting (31) into (27), the following...closed- loop error system can be obtained mṙ = ∼ N +Nd − e+ µ Tem Cc ¶ s− krr (34) −1 ε ρ ( kzk )2 kzk2 r. 3.3 Stability Analysis Theorem 1 The controller
Adaptive integral robust control and application to electromechanical servo systems.
Deng, Wenxiang; Yao, Jianyong
2017-03-01
This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Asymmetric forecasting and commitment policy in a robust control problem
Taro Ikeda
2013-01-01
This paper provides a piece of results regarding asymmetric forecasting and commitment monetary policy with a robust control algorithm. Previous studies provide no clarification of the connection between asymmetric preference and robust commitment policy. Three results emerge from general equilibrium modeling with asymmetric preference: (i) the condition for system stability implies an average inflation bias with respect to asymmetry (ii) the effect of asymmetry can be mitigated if policy mak...
Robust levitation control for maglev systems with guaranteed bounded airgap.
Xu, Jinquan; Chen, Ye-Hwa; Guo, Hong
2015-11-01
The robust control design problem for the levitation control of a nonlinear uncertain maglev system is considered. The uncertainty is (possibly) fast time-varying. The system has magnitude limitation on the airgap between the suspended chassis and the guideway in order to prevent undesirable contact. Furthermore, the (global) matching condition is not satisfied. After a three-step state transformation, a robust control scheme for the maglev vehicle is proposed, which is able to guarantee the uniform boundedness and uniform ultimate boundedness of the system, regardless of the uncertainty. The magnitude limitation of the airgap is guaranteed, regardless of the uncertainty. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Droop Control of Grid-Connected Inverters
DEFF Research Database (Denmark)
Elkayam, Moria; Kuperman, Alon; Guerrero, Josep M.
2016-01-01
The use of distributed generation in microgrid systems is becoming a popular way to provide a reliable source of electricity to critical loads. Droop control techniques are used in power systems for the synchronization of grid-connected inverters by local measurements of active and reactive powers....... Despite the benefits of distributed generation, the drawback is that large grid-side impedance steps can cause a system to become unstable. A robust control method based on disturbance observer is proposed in this paper. When the proposed robust controller is utilized, closed loop performance remains...
Quantification of parameter uncertainty for robust control of shape memory alloy bending actuators
International Nuclear Information System (INIS)
Crews, John H; McMahan, Jerry A; Smith, Ralph C; Hannen, Jennifer C
2013-01-01
In this paper, we employ Bayesian parameter estimation techniques to derive gains for robust control of smart materials. Specifically, we demonstrate the feasibility of utilizing parameter uncertainty estimation provided by Markov chain Monte Carlo (MCMC) methods to determine controller gains for a shape memory alloy bending actuator. We treat the parameters in the equations governing the actuator’s temperature dynamics as uncertain and use the MCMC method to construct the probability densities for these parameters. The densities are then used to derive parameter bounds for robust control algorithms. For illustrative purposes, we construct a sliding mode controller based on the homogenized energy model and experimentally compare its performance to a proportional-integral controller. While sliding mode control is used here, the techniques described in this paper provide a useful starting point for many robust control algorithms. (paper)
Engine Cylinder Temperature Control
Kilkenny, Jonathan Patrick; Duffy, Kevin Patrick
2005-09-27
A method and apparatus for controlling a temperature in a combustion cylinder in an internal combustion engine. The cylinder is fluidly connected to an intake manifold and an exhaust manifold. The method and apparatus includes increasing a back pressure associated with the exhaust manifold to a level sufficient to maintain a desired quantity of residual exhaust gas in the cylinder, and varying operation of an intake valve located between the intake manifold and the cylinder to an open duration sufficient to maintain a desired quantity of fresh air from the intake manifold to the cylinder, wherein controlling the quantities of residual exhaust gas and fresh air are performed to maintain the temperature in the cylinder at a desired level.
Optimization of robustness of interdependent network controllability by redundant design.
Directory of Open Access Journals (Sweden)
Zenghu Zhang
Full Text Available Controllability of complex networks has been a hot topic in recent years. Real networks regarded as interdependent networks are always coupled together by multiple networks. The cascading process of interdependent networks including interdependent failure and overload failure will destroy the robustness of controllability for the whole network. Therefore, the optimization of the robustness of interdependent network controllability is of great importance in the research area of complex networks. In this paper, based on the model of interdependent networks constructed first, we determine the cascading process under different proportions of node attacks. Then, the structural controllability of interdependent networks is measured by the minimum driver nodes. Furthermore, we propose a parameter which can be obtained by the structure and minimum driver set of interdependent networks under different proportions of node attacks and analyze the robustness for interdependent network controllability. Finally, we optimize the robustness of interdependent network controllability by redundant design including node backup and redundancy edge backup and improve the redundant design by proposing different strategies according to their cost. Comparative strategies of redundant design are conducted to find the best strategy. Results shows that node backup and redundancy edge backup can indeed decrease those nodes suffering from failure and improve the robustness of controllability. Considering the cost of redundant design, we should choose BBS (betweenness-based strategy or DBS (degree based strategy for node backup and HDF(high degree first for redundancy edge backup. Above all, our proposed strategies are feasible and effective at improving the robustness of interdependent network controllability.
Robust Control Design for Uncertain Nonlinear Dynamic Systems
Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.
2012-01-01
Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.
International Nuclear Information System (INIS)
Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid
2012-01-01
Highlights: ► Robust control of a multivariable air-handling unit (AHU). ► Controllers designed based on pole-placement and μ-synthesis. ► Robust performance in the presence of model uncertainties. ► Achievement of various tracking objectives in temperature and relative humidity. ► Comfort conditions in buildings with low energy consumption and operation cost. - Abstract: Control of air-conditioner units is essential to achieve satisfactory comfort conditions in buildings while keeping low energy consumption and operation costs. In this paper, a nonlinear multiinput and multioutput model (MIMO) of an air-handling unit (AHU) is considered. After linearization of the state equations around the operating points, an observer and a regulator are designed for the estimation of state variables and disturbance rejection, respectively. A realistic uncertain model is considered which constitutes various uncertainties associated with complex nonlinear model of AHU. In the presence of model uncertainties, a H ∞ -robust controller is designed to guarantee robust performance of the air-handling unit. In addition, a simple controller based on pole-placement approach is developed. Indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. Achievement of tracking objectives is investigated through various desired commands of indoor temperature and relative humidity (including a sequence of steps and ramps-steps). According to results, the H ∞ -robust controller guarantees the robust performance of the AHU in tracking of desired set-paths (while using the simple pole-placement controller leads to high oscillatory behavior of the output variables and control efforts). Moreover, using H ∞ -robust controller results in less energy consumption in comparison with the pole-placement controller.
Robust Model Predictive Control of a Wind Turbine
DEFF Research Database (Denmark)
Mirzaei, Mahmood; Poulsen, Niels Kjølstad; Niemann, Hans Henrik
2012-01-01
In this work the problem of robust model predictive control (robust MPC) of a wind turbine in the full load region is considered. A minimax robust MPC approach is used to tackle the problem. Nonlinear dynamics of the wind turbine are derived by combining blade element momentum (BEM) theory...... of the uncertain system is employed and a norm-bounded uncertainty model is used to formulate a minimax model predictive control. The resulting optimization problem is simplified by semidefinite relaxation and the controller obtained is applied on a full complexity, high fidelity wind turbine model. Finally...... and first principle modeling of the turbine flexible structure. Thereafter the nonlinear model is linearized using Taylor series expansion around system operating points. Operating points are determined by effective wind speed and an extended Kalman filter (EKF) is employed to estimate this. In addition...
Robust Adaptive Speed Control of Induction Motor Drives
DEFF Research Database (Denmark)
Bidstrup, N.
, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... adaptive speed control of the CVC drive. A direct truly adaptive speed controller has been implemented. The adaptive controller is a moving Average Self-Tuning Regulator which is abbreviated MASTR throughout the thesis. Two practical implementations of this controller were proposed. They were denoted MASTR...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...
Robust hopping based on virtual pendulum posture control
International Nuclear Information System (INIS)
Sharbafi, Maziar A; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Maufroy, Christophe; Seyfarth, Andre
2013-01-01
A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved. (paper)
Positive polynomials and robust stabilization with fixed-order controllers
Czech Academy of Sciences Publication Activity Database
Henrion, Didier; Šebek, M.; Kučera, V.
2003-01-01
Roč. 48, č. 7 (2003), s. 1178-1186 ISSN 0018-9286 R&D Projects: GA ČR GA102/02/0709; GA MŠk ME 496 Institutional research plan: CEZ:AV0Z1075907 Keywords : fixed-order control lers * linear matrix inequality * polynomials, robust control Subject RIV: BC - Control Systems Theory Impact factor: 1.896, year: 2003
A Design Method of Robust Servo Internal Model Control with Control Input Saturation
山田, 功; 舩見, 洋祐
2001-01-01
In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.
Robust and optimal control a two-port framework approach
Tsai, Mi-Ching
2014-01-01
A Two-port Framework for Robust and Optimal Control introduces an alternative approach to robust and optimal controller synthesis procedures for linear, time-invariant systems, based on the two-port system widespread in electrical engineering. The novel use of the two-port system in this context allows straightforward engineering-oriented solution-finding procedures to be developed, requiring no mathematics beyond linear algebra. A chain-scattering description provides a unified framework for constructing the stabilizing controller set and for synthesizing H2 optimal and H∞ sub-optimal controllers. Simple yet illustrative examples explain each step. A Two-port Framework for Robust and Optimal Control features: · a hands-on, tutorial-style presentation giving the reader the opportunity to repeat the designs presented and easily to modify them for their own programs; · an abundance of examples illustrating the most important steps in robust and optimal design; and · �...
Robust Optimal Adaptive Control Method with Large Adaptive Gain
Nguyen, Nhan T.
2009-01-01
In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.
Optimal robust control strategy of a solid oxide fuel cell system
Wu, Xiaojuan; Gao, Danhui
2018-01-01
Optimal control can ensure system safe operation with a high efficiency. However, only a few papers discuss optimal control strategies for solid oxide fuel cell (SOFC) systems. Moreover, the existed methods ignore the impact of parameter uncertainty on system instantaneous performance. In real SOFC systems, several parameters may vary with the variation of operation conditions and can not be identified exactly, such as load current. Therefore, a robust optimal control strategy is proposed, which involves three parts: a SOFC model with parameter uncertainty, a robust optimizer and robust controllers. During the model building process, boundaries of the uncertain parameter are extracted based on Monte Carlo algorithm. To achieve the maximum efficiency, a two-space particle swarm optimization approach is employed to obtain optimal operating points, which are used as the set points of the controllers. To ensure the SOFC safe operation, two feed-forward controllers and a higher-order robust sliding mode controller are presented to control fuel utilization ratio, air excess ratio and stack temperature afterwards. The results show the proposed optimal robust control method can maintain the SOFC system safe operation with a maximum efficiency under load and uncertainty variations.
Robust Stabilization of Nonlinear Systems with Uncertain Varying Control Coefficient
Directory of Open Access Journals (Sweden)
Zaiyue Yang
2014-01-01
Full Text Available This paper investigates the stabilization problem for a class of nonlinear systems, whose control coefficient is uncertain and varies continuously in value and sign. The study emphasizes the development of a robust control that consists of a modified Nussbaum function to tackle the uncertain varying control coefficient. By such a method, the finite-time escape phenomenon has been prevented when the control coefficient is crossing zero and varying its sign. The proposed control guarantees the asymptotic stabilization of the system and boundedness of all closed-loop signals. The control performance is illustrated by a numerical simulation.
Robust chaotic control of Lorenz system by backstepping design
International Nuclear Information System (INIS)
Peng, C.-C.; Chen, C.-L.
2008-01-01
This work presents a robust chaotic control strategy for the Lorenz chaos via backstepping design. Backstepping technique is a systematic tool of control law design to provide Lyapunov stability. The concept of extended system is used such that a continuous sliding mode control (SMC) effort is generated using backstepping scheme. In the proposed control algorithm, an adaptation law is applied to estimate the system parameter and the SMC offers the robustness to model uncertainties and external disturbances so that the asymptotical convergence of tracking error can be achieved. Regarding the SMC, an equivalent control algorithm is chosen based on the selection of Lyapunov stability criterion during backstepping approach. The converging rate of error state is relative to the corresponding dynamics of sliding surface. Numerical simulations demonstrate its advantages to a regulation problem and an orbit tracking problem of the Lorenz chaos
A new robust control for minirotorcraft unmanned aerial vehicles.
Mokhtari, M Rida; Cherki, Brahim
2015-05-01
This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Adaptive Speed Control of Induction Motor Drives
DEFF Research Database (Denmark)
Bidstrup, N.
This thesis concerns speed control of current vector controlled induction motor drives (CVC drives). The CVC drive is an existing prototype drive developed by Danfoss A/S, Transmission Division. Practical tests have revealed that the open loop dynamical properties of the CVC drive are highly......, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...
Research on Robust Control Strategies for VSC-HVDC
Zhu, Kaicheng; Bao, Hai
2018-01-01
In the control system of VSC-HVDC, the phase locked loop provides phase signals to voltage vector control and trigger pulses to generate the required reference phase. The PLL is a typical second-order system. When the system is in unstable state, it will oscillate, make the trigger angle shift, produce harmonic, and make active power and reactive power coupled. Thus, considering the external disturbances introduced by the PLL in VSC-HVDC control system, the parameter perturbations of the controller and the model uncertainties, a H∞ robust controller of mixed sensitivity optimization problem is designed by using the Hinf function provided by the robust control toolbox. Then, compare it with the proportional integral controller through the MATLAB simulation experiment. By contrast, when the H∞ robust controller is added, active and reactive power of the converter station can track the change of reference values more accurately and quickly, and reduce overshoot. When the step change of active and reactive power occurs, mutual influence is reduced and better independent regulation is achieved.
IQC-based robust stability analysis for LPV control of doubly-fed induction generators
Tien, H. N.; Scherer, C. W.; Scherpen, J. M. A.
2008-01-01
Parameters of electrical machines are usually varying with time in a smooth way due to changing operating conditions, such as variations in the machine temperature and/or the magnetic saturation. This paper is concerned with robust stability analysis of controlled Doubly-Fed Induction Generators
Robust combined position and formation control for marine surface craft
DEFF Research Database (Denmark)
Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.
We consider the robustness properties of a formation control system for marine surface vessels. Intervessel constraint functions are stabilized to achieve the desired formation configuration. We show that the formation dynamics is Input-to-State Stable (ISS) to both environmental perturbations th...
Model predictive control of hybrid systems : stability and robustness
Lazar, M.
2006-01-01
This thesis considers the stabilization and the robust stabilization of certain classes of hybrid systems using model predictive control. Hybrid systems represent a broad class of dynamical systems in which discrete behavior (usually described by a finite state machine) and continuous behavior
Robust stabilization of nonlinear systems by quantized and ternary control
Persis, Claudio De
2009-01-01
Results on the problem of stabilizing a nonlinear continuous-time minimum-phase system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive robust practical stabilizability results by
Robust nonlinear control of nuclear reactors under model uncertainty
International Nuclear Information System (INIS)
Park, Moon Ghu
1993-02-01
A nonlinear model-based control method is developed for the robust control of a nuclear reactor. The nonlinear plant model is used to design a unique control law which covers a wide operating range. The robustness is a crucial factor for the fully automatic control of reactor power due to time-varying, uncertain parameters, and state estimation error, or unmodeled dynamics. A variable structure control (VSC) method is introduced which consists of an adaptive performance specification (fime control) after the tracking error reaches the narrow boundary-layer by a time-optimal control (coarse control). Variable structure control is a powerful method for nonlinear system controller design which has inherent robustness to parameter variations or external disturbances using the known uncertainty bounds, and it requires very low computational efforts. In spite of its desirable properties, conventional VSC presents several important drawbacks that limit its practical applicability. One of the most undesirable phenomena is chattering, which implies extremely high control activity and may excite high-frequency unmodeled dynamics. This problem is due to the neglected actuator time-delay or sampling effects. The problem was partially remedied by replacing chattering control by a smooth control inter-polation in a boundary layer neighnboring a time-varying sliding surface. But, for the nuclear reactor systems which has very fast dynamic response, the sampling effect may destroy the narrow boundary layer when a large uncertainty bound is used. Due to the very short neutron life time, large uncertainty bound leads to the high gain in feedback control. To resolve this problem, a derivative feedback is introduced that gives excellent performance by reducing the uncertainty bound. The stability of tracking error dynamics is guaranteed by the second method of Lyapunov using the two-level uncertainty bounds that are obtained from the knowledge of uncertainty bound and the estimated
Robust Tracking Control for Rendezvous in Near-Circular Orbits
Directory of Open Access Journals (Sweden)
Neng Wan
2013-01-01
Full Text Available This paper investigates a robust guaranteed cost tracking control problem for thrust-limited spacecraft rendezvous in near-circular orbits. Relative motion model is established based on the two-body problem with noncircularity of the target orbit described as a parameter uncertainty. A guaranteed cost tracking controller with input saturation is designed via a linear matrix inequality (LMI method, and sufficient conditions for the existence of the robust tracking controller are derived, which is more concise and less conservative compared with the previous works. Numerical examples are provided for both time-invariant and time-variant reference signals to illustrate the effectiveness of the proposed control scheme when applied to the terminal rendezvous and other astronautic missions with scheduled states signal.
Robust reactor power control system design by genetic algorithm
Energy Technology Data Exchange (ETDEWEB)
Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)
1997-12-31
The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)
Microgrid Stability Controller Based on Adaptive Robust Total SMC
DEFF Research Database (Denmark)
Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.
2015-01-01
This paper presents a microgrid stability controller (MSC) in order to provide existing DGs the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics....... The MSC provides fast dynamic response and robustness to the microgrid. When the system is operating in grid-connected mode, it is able to improve the controllability of the exchanged power between the microgrid and the utility grid, while smoothing DG’s output power. When the microgrid is operating...... and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding-mode control (ARTSMC) system for the MSC. It is proved that the ARTSMC system is insensitive to parametric uncertainties and external disturbances...
Robust reactor power control system design by genetic algorithm
Energy Technology Data Exchange (ETDEWEB)
Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)
1998-12-31
The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)
Two stage neural network modelling for robust model predictive control.
Patan, Krzysztof
2018-01-01
The paper proposes a novel robust model predictive control scheme realized by means of artificial neural networks. The neural networks are used twofold: to design the so-called fundamental model of a plant and to catch uncertainty associated with the plant model. In order to simplify the optimization process carried out within the framework of predictive control an instantaneous linearization is applied which renders it possible to define the optimization problem in the form of constrained quadratic programming. Stability of the proposed control system is also investigated by showing that a cost function is monotonically decreasing with respect to time. Derived robust model predictive control is tested and validated on the example of a pneumatic servomechanism working at different operating regimes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control
DEFF Research Database (Denmark)
Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen
2005-01-01
This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...
Microgrid Stability Controller Based on Adaptive Robust Total SMC
Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.; Sun, Hai
2015-01-01
This paper presents a microgrid stability controller (MSC) in order to provide existing distributed generation units (DGs) the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding...
Set-Membership Identification for Robust Control Design
1993-04-28
Clauifica lion) ( U) Set-Memnbership Identification for Robust Control Design ___________________ 1. PERSONAL A UTHOR(SI Dr. Robert L. Kosul. Final Report...Shalom, E.Tse "Caution, probing, and the value of information in the control of un- certain systems", Annals of Economic and Social Measurement, 5/3, pp...knowing a bound on I the impulse response is quantitative. A similar clasoitication can be made regarding signal charateristics . Knowing that a signal is
Robust sawtooth period control based on adaptive online optimization
International Nuclear Information System (INIS)
Bolder, J.J.; Witvoet, G.; De Baar, M.R.; Steinbuch, M.; Van de Wouw, N.; Haring, M.A.M.; Westerhof, E.; Doelman, N.J.
2012-01-01
The systematic design of a robust adaptive control strategy for the sawtooth period using electron cyclotron current drive (ECCD) is presented. Recent developments in extremum seeking control (ESC) are employed to derive an optimized controller structure and offer practical tuning guidelines for its parameters. In this technique a cost function in terms of the desired sawtooth period is optimized online by changing the ECCD deposition location based on online estimations of the gradient of the cost function. The controller design does not require a detailed model of the sawtooth instability. Therefore, the proposed ESC is widely applicable to any sawtoothing plasma or plasma simulation and is inherently robust against uncertainties or plasma variations. Moreover, it can handle a broad class of disturbances. This is demonstrated by time-domain simulations, which show successful tracking of time-varying sawtooth period references throughout the whole operating space, even in the presence of variations in plasma parameters, disturbances and slow launcher mirror dynamics. Due to its simplicity and robustness the proposed ESC is a valuable sawtooth control candidate for any experimental tokamak plasma, and may even be applicable to other fusion-related control problems. (paper)
Model-reference robust tuning of PID controllers
Alfaro, Victor M
2016-01-01
This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivati...
Analysis and design of robust decentralized controllers for nonlinear systems
Energy Technology Data Exchange (ETDEWEB)
Schoenwald, D.A.
1993-07-01
Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.
Designing robust control-based HIV-treatment
Directory of Open Access Journals (Sweden)
Fredy Andrés Olarte Dussán
2008-05-01
Full Text Available Designing a robust control-based treatment for human immunodeficiency virus (HIV-infected patients was studied. The dynamics of the immune system’s response to infection was modelled using a 5th order nonlinear model with separate efficacy coefficients for protease inhibitor (PIs and reverse transcriptase inhibitors (RTIs. The immune res-ponse has been represented as an uncertain system due to errors in parameter estimation and the existence of un-modelled dynamics. A polytopic system was constructed incorporating all possible system parameter values. A con-trol system was designed using robust pole location techniques stabilising the polytopic system around an equilibrium point having a low viral load. Numerical simulation results (including the organism’s pharmacokinetical response to anti-retroviral drugs showed that the control law could lead to long-term stable conditions, even in extreme cases.
Robust control for constant thrust rendezvous under thrust failure
Directory of Open Access Journals (Sweden)
Qi Yongqiang
2015-04-01
Full Text Available A robust constant thrust rendezvous approach under thrust failure is proposed based on the relative motion dynamic model. Firstly, the design problem is cast into a convex optimization problem by introducing a Lyapunov function subject to linear matrix inequalities. Secondly, the robust controllers satisfying the requirements can be designed by solving this optimization problem. Then, a new algorithm of constant thrust fitting is proposed through the impulse compensation and the fuel consumption under the theoretical continuous thrust and the actual constant thrust is calculated and compared by using the method proposed in this paper. Finally, the proposed method having the advantage of saving fuel is proved and the actual constant thrust switch control laws are obtained through the isochronous interpolation method, meanwhile, an illustrative example is provided to show the effectiveness of the proposed control design method.
Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.
Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng
2017-07-01
In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control
Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu
This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.
Multivariable robust control of an integrated nuclear power reactor
Directory of Open Access Journals (Sweden)
A. Etchepareborda
2002-12-01
Full Text Available The design of the main control system of the CAREM nuclear power plant is presented. This plant is an inherently safe low-power nuclear reactor with natural convection on the primary coolant circuit and is self-pressurized with a steam dome on the top of the pressure vessel (PV. It is an integrated reactor as the whole primary coolant circuit is within the PV. The primary circuit transports the heat to the secondary circuit through once-through steam generators (SG. There is a feedwater valve at the inlet of the SG and a turbine valve at the outlet of the SG. The manipulated variables are the aperture of these valves and the reactivity of the control rods. The control target is to regulate the primary and secondary pressures and to monitor steam flow reference ramps on a range of nominal flow from 100% to 40%. The requirements for the control system are robust stability, low-order simple controllers and transient/permanent error bounding. The controller design is based on a detailed RETRAN plant model, from which linear perturbed open-loop dynamic models at different powers are identified. Two low-order nominal models with their associated uncertainties are chosen for two different power ranges. Robust controllers with acceptable performances are designed for each range. Numerical optimization based on the loop-shaping method is used for the controller design. The designed controllers are implemented in the RETRAN model and tested in simulations achieving successful results.
Robust Control with Enlaeged Interval of Uncertain Parameters
Directory of Open Access Journals (Sweden)
Marek Keresturi
2002-01-01
Full Text Available Robust control is advantageous for systems with defined interval of uncertain parameters. This can be substantially enlarged dividing it into a few sub-intervals. Corresponding controllers for each of them may be set after approximate identification of some uncertain plant parameters. The paper deals with application of the pole region assignment method for position control of the crane crab. The same track form is required for uncertain burden mass and approximate value of rope length. Measurement of crab position and speed is supposed, burden deviation angle is observed. Simulation results have verified feasibility of this design procedure.
Robust stability bounds for multi-delay networked control systems
Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza
2018-04-01
In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.
Robust control charts in industrial production of olive oil
Grilo, Luís M.; Mateus, Dina M. R.; Alves, Ana C.; Grilo, Helena L.
2014-10-01
Acidity is one of the most important variables in the quality analysis and characterization of olive oil. During the industrial production we use individuals and moving range charts to monitor this variable, which is not always normal distributed. After a brief exploratory data analysis, where we use the bootstrap method, we construct control charts, before and after a Box-Cox transformation, and compare their robustness and performance.
Robust coordinated control of a dual-arm space robot
Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay
2017-09-01
Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.
An adaptive robust controller for time delay maglev transportation systems
Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza
2012-12-01
For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.
Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter
Directory of Open Access Journals (Sweden)
M. Navabi
Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.
Robust output LQ optimal control via integral sliding modes
Fridman, Leonid; Bejarano, Francisco Javier
2014-01-01
Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization. In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be kn...
High Temperature PEM Fuel Cell Systems, Control and Diagnostics
DEFF Research Database (Denmark)
Andreasen, Søren Juhl; Kær, Søren Knudsen; Justesen, Kristian Kjær
2015-01-01
fuels utilizes one of the main advantages of the high temperature PEM fuel cell: robustness to fuel quality and impurities. In order for such systems to provide efficient, robust, and reliable energy, proper control strategies are needed. The complexity and nonlinearity of many of the components...
Robust multi-model predictive control of multi-zone thermal plate system
Directory of Open Access Journals (Sweden)
Poom Jatunitanon
2018-02-01
Full Text Available A modern controller was designed by using the mathematical model of a multi–zone thermal plate system. An important requirement for this type of controller is that it must be able to keep the temperature set-point of each thermal zone. The mathematical model used in the design was determined through a system identification process. The results showed that when the operating condition is changed, the performance of the controller may be reduced as a result of the system parameter uncertainties. This paper proposes a weighting technique of combining the robust model predictive controller for each operating condition into a single robust multi-model predictive control. Simulation and experimental results showed that the proposed method performed better than the conventional multi-model predictive control in rise time of transient response, when used in a system designed to work over a wide range of operating conditions.
Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle
Directory of Open Access Journals (Sweden)
Youssif Mohamed Toum Elobaid
2014-01-01
Full Text Available Presently pneumatic muscles (PMs are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.
Robust synchronization of unified chaotic systems via sliding mode control
International Nuclear Information System (INIS)
Yan Junjuh; Yang Yisung; Chiang Tsungying; Chen Chingyuan
2007-01-01
This paper investigates the chaos synchronization problem for a class of uncertain master-slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional-integral (PI) switching surface is introduced for determining the synchronization performance of systems in the sliding mode motion. Simulation results are proposed to demonstrate the effectiveness of the method
Robust Control Methods for On-Line Statistical Learning
Directory of Open Access Journals (Sweden)
Capobianco Enrico
2001-01-01
Full Text Available The issue of controlling that data processing in an experiment results not affected by the presence of outliers is relevant for statistical control and learning studies. Learning schemes should thus be tested for their capacity of handling outliers in the observed training set so to achieve reliable estimates with respect to the crucial bias and variance aspects. We describe possible ways of endowing neural networks with statistically robust properties by defining feasible error criteria. It is convenient to cast neural nets in state space representations and apply both Kalman filter and stochastic approximation procedures in order to suggest statistically robustified solutions for on-line learning.
Temperature controlled 'void' formation
International Nuclear Information System (INIS)
Dasgupta, P.; Sharma, B.D.
1975-01-01
The nucleation and growth of voids in structural materials during high temperature deformation or irradiation is essentially dependent upon the existence of 'vacancy supersaturation'. The role of temperature dependent diffusion processes in 'void' formation under varying conditions, and the mechanical property changes associated with this microstructure are briefly reviewed. (author)
Effective and Robust Generalized Predictive Speed Control of Induction Motor
Directory of Open Access Journals (Sweden)
Patxi Alkorta
2013-01-01
Full Text Available This paper presents and validates a new proposal for effective speed vector control of induction motors based on linear Generalized Predictive Control (GPC law. The presented GPC-PI cascade configuration simplifies the design with regard to GPC-GPC cascade configuration, maintaining the advantages of the predictive control algorithm. The robust stability of the closed loop system is demonstrated by the poles placement method for several typical cases of uncertainties in induction motors. The controller has been tested using several simulations and experiments and has been compared with Proportional Integral Derivative (PID and Sliding Mode (SM control schemes, obtaining outstanding results in speed tracking even in the presence of parameter uncertainties, unknown load disturbance, and measurement noise in the loop signals, suggesting its use in industrial applications.
Robust Adaptive Reactive Power Control for Doubly Fed Induction Generator
Directory of Open Access Journals (Sweden)
Huabin Wen
2014-01-01
Full Text Available The problem of reactive power control for mains-side inverter (MSI in doubly fed induction generator (DFIG is studied in this paper. To accommodate the modelling nonlinearities and inherent uncertainties, a novel robust adaptive control algorithm for MSI is proposed by utilizing Lyapunov theory that ensures asymptotic stability of the system under unpredictable external disturbances and significant parametric uncertainties. The distinguishing benefit of the aforementioned scheme consists in its capabilities to maintain satisfactory performance under varying operation conditions without the need for manually redesigning or reprogramming the control gains in contrast to the commonly used PI/PID control. Simulations are also built to confirm the correctness and benefits of the control scheme.
Robust tracking control of uncertain Duffing-Holmes control systems
International Nuclear Information System (INIS)
Sun, Y.-J.
2009-01-01
In this paper, the notion of virtual stabilizability for dynamical systems is introduced and the virtual stabilizability of uncertain Duffing-Holmes control systems is investigated. Based on the time-domain approach with differential inequality, a tracking control is proposed such that the states of uncertain Duffing-Holmes control system track the desired trajectories with any pre-specified exponential decay rate and convergence radius. Moreover, we present an algorithm to find such a tracking control. Finally, a numerical example is provided to illustrate the use of the main results.
COA based robust output feedback UPFC controller design
Energy Technology Data Exchange (ETDEWEB)
Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)
2010-12-15
In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.
System Identification and Resonant Control of Thermoacoustic Engines for Robust Solar Power
Directory of Open Access Journals (Sweden)
Boe-Shong Hong
2015-05-01
Full Text Available It was found that thermoacoustic solar-power generators with resonant control are more powerful than passive ones. To continue the work, this paper focuses on the synthesis of robustly resonant controllers that guarantee single-mode resonance not only in steady states, but also in transient states when modelling uncertainties happen and working temperature temporally varies. Here the control synthesis is based on the loop shifting and the frequency-domain identification in advance thereof. Frequency-domain identification is performed to modify the mathematical modelling and to identify the most powerful mode, so that the DSP-based feedback controller can online pitch the engine to the most powerful resonant-frequency robustly and accurately. Moreover, this paper develops two control tools, the higher-order van-der-Pol oscillator and the principle of Dynamical Equilibrium, to assist in system identification and feedback synthesis, respectively.
Microgrid Stability Controller Based on Adaptive Robust Total SMC
Directory of Open Access Journals (Sweden)
Xiaoling Su
2015-03-01
Full Text Available This paper presents a microgrid stability controller (MSC in order to provide existing distributed generation units (DGs the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding-mode control (ARTSMC system for the MSC. It is proved that the ARTSMC system is insensitive to parametric uncertainties and external disturbances. The MSC provides fast dynamic response and robustness to the microgrid. When the system is operating in grid-connected mode, it is able to improve the controllability of the exchanged power between the microgrid and the utility grid, while smoothing the DGs’ output power. When the microgrid is operating in islanded mode, it provides voltage and frequency support, while guaranteeing seamless transition between the two operation modes. Simulation and experimental results show the effectiveness of the proposed approach.
Bilinear Approximate Model-Based Robust Lyapunov Control for Parabolic Distributed Collectors
Elmetennani, Shahrazed
2016-11-09
This brief addresses the control problem of distributed parabolic solar collectors in order to maintain the field outlet temperature around a desired level. The objective is to design an efficient controller to force the outlet fluid temperature to track a set reference despite the unpredictable varying working conditions. In this brief, a bilinear model-based robust Lyapunov control is proposed to achieve the control objectives with robustness to the environmental changes. The bilinear model is a reduced order approximate representation of the solar collector, which is derived from the hyperbolic distributed equation describing the heat transport dynamics by means of a dynamical Gaussian interpolation. Using the bilinear approximate model, a robust control strategy is designed applying Lyapunov stability theory combined with a phenomenological representation of the system in order to stabilize the tracking error. On the basis of the error analysis, simulation results show good performance of the proposed controller, in terms of tracking accuracy and convergence time, with limited measurement even under unfavorable working conditions. Furthermore, the presented work is of interest for a large category of dynamical systems knowing that the solar collector is representative of physical systems involving transport phenomena constrained by unknown external disturbances.
The Robust Control Mixer Method for Reconfigurable Control Design By Using Model Matching Strategy
DEFF Research Database (Denmark)
Yang, Z.; Blanke, Mogens; Verhagen, M.
2001-01-01
This paper proposes a robust reconfigurable control synthesis method based on the combination of the control mixer method and robust H1 con- trol techniques through the model-matching strategy. The control mixer modules are extended from the conventional matrix-form into the LTI sys- tem form....... By regarding the nominal control system as the desired model, an augmented control system is constructed through the model-matching formulation, such that the current robust control techniques can be usedto synthesize these dynamical modules. One extension of this method with respect to the performance...... recovery besides the functionality recovery is also discussed under this framework. Comparing with the conventional control mixer method, the proposed method considers the recon gured system's stability, performance and robustness simultaneously. Finally, the proposed method is illustrated by a case study...
A robust adaptive load frequency control for micro-grids.
Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede; Davari, Pooya; Dragicevic, Tomislav
2016-11-01
The goal of this study is to introduce a novel robust load frequency control (LFC) strategy for micro-grid(s) (MG(s)) in islanded mode operation. Admittedly, power generators in MG(s) cannot supply steady electric power output and sometimes cause unbalance between supply and demand. Battery energy storage system (BESS) is one of the effective solutions to these problems. Due to the high cost of the BESS, a new idea of Vehicle-to-Grid (V2G) is that a battery of Electric-Vehicle (EV) can be applied as a tantamount large-scale BESS in MG(s). As a result, a new robust control strategy for an islanded micro-grid (MG) is introduced that can consider electric vehicles׳ (EV(s)) effect. Moreover, in this paper, a new combination of the General Type II Fuzzy Logic Sets (GT2FLS) and the Modified Harmony Search Algorithm (MHSA) technique is applied for adaptive tuning of proportional-integral (PI) controller. Implementing General Type II Fuzzy Systems is computationally expensive. However, using a recently introduced α-plane representation, GT2FLS can be seen as a composition of several Interval Type II Fuzzy Logic Systems (IT2FLS) with a corresponding level of α for each. Real-data from an offshore wind farm in Sweden and solar radiation data in Aberdeen (United Kingdom) was used in order to examine the performance of the proposed novel controller. A comparison is made between the achieved results of Optimal Fuzzy-PI (OFPI) controller and those of Optimal Interval Type II Fuzzy-PI (IT2FPI) controller, which are of most recent advances in the area at hand. The Simulation results prove the successfulness and effectiveness of the proposed controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
International Nuclear Information System (INIS)
Fakhari, Vahid; Choi, Seung-Bok; Cho, Chang-Hyun
2015-01-01
This work presents a new robust model reference adaptive control (MRAC) for vibration control caused from vehicle engine using an electromagnetic type of active engine mount. Vibration isolation performances of the active mount associated with the robust controller are evaluated in the presence of large uncertainties. As a first step, an active mount with linear solenoid actuator is prepared and its dynamic model is identified via experimental test. Subsequently, a new robust MRAC based on the gradient method with σ-modification is designed by selecting a proper reference model. In designing the robust adaptive control, structured (parametric) uncertainties in the stiffness of the passive part of the mount and in damping ratio of the active part of the mount are considered to investigate the robustness of the proposed controller. Experimental and simulation results are presented to evaluate performance focusing on the robustness behavior of the controller in the face of large uncertainties. The obtained results show that the proposed controller can sufficiently provide the robust vibration control performance even in the presence of large uncertainties showing an effective vibration isolation. (paper)
Development of a robust model-based reactivity control system
International Nuclear Information System (INIS)
Rovere, L.A.; Otaduy, P.J.; Brittain, C.R.
1990-01-01
This paper describes the development and implementation of a digital model-based reactivity control system that incorporates a knowledge of the plant physics into the control algorithm to improve system performance. This controller is composed of a model-based module and modified proportional-integral-derivative (PID) module. The model-based module has an estimation component to synthesize unmeasurable process variables that are necessary for the control action computation. These estimated variables, besides being used within the control algorithm, will be used for diagnostic purposes by a supervisory control system under development. The PID module compensates for inaccuracies in model coefficients by supplementing the model-based output with a correction term that eliminates any demand tracking or steady state errors. This control algorithm has been applied to develop controllers for a simulation of liquid metal reactors in a multimodular plant. It has shown its capability to track demands in neutron power much more accurately than conventional controllers, reducing overshoots to almost negligible value while providing a good degree of robustness to unmodeled dynamics. 10 refs., 4 figs
Robust algebraic image enhancement for intelligent control systems
Lerner, Bao-Ting; Morrelli, Michael
1993-01-01
Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.
Temperature-controlled resistor
Perkins, T. G.
1969-01-01
Electrical resistance of a carbon-pile resistor is controlled by the compression or relaxation of a pile of carbon disks by a thermally actuated bimetallic spring. The concept is advantageous in that it is direct-acting, can cover a wide range of controllable characteristics, and can handle considerable power directly.
Directory of Open Access Journals (Sweden)
Deyin Yao
2014-01-01
Full Text Available This paper deals with the problem of robust model predictive control (RMPC for a class of linear time-varying systems with constraints and data losses. We take the polytopic uncertainties into account to describe the uncertain systems. First, we design a robust state observer by using the linear matrix inequality (LMI constraints so that the original system state can be tracked. Second, the MPC gain is calculated by minimizing the upper bound of infinite horizon robust performance objective in terms of linear matrix inequality conditions. The method of robust MPC and state observer design is illustrated by a numerical example.
Density control in ITER: an iterative learning control and robust control approach
Ravensbergen, T.; de Vries, P. C.; Felici, F.; Blanken, T. C.; Nouailletas, R.; Zabeo, L.
2018-01-01
Plasma density control for next generation tokamaks, such as ITER, is challenging because of multiple reasons. The response of the usual gas valve actuators in future, larger fusion devices, might be too slow for feedback control. Both pellet fuelling and the use of feedforward-based control may help to solve this problem. Also, tight density limits arise during ramp-up, due to operational limits related to divertor detachment and radiative collapses. As the number of shots available for controller tuning will be limited in ITER, in this paper, iterative learning control (ILC) is proposed to determine optimal feedforward actuator inputs based on tracking errors, obtained in previous shots. This control method can take the actuator and density limits into account and can deal with large actuator delays. However, a purely feedforward-based density control may not be sufficient due to the presence of disturbances and shot-to-shot differences. Therefore, robust control synthesis is used to construct a robustly stabilizing feedback controller. In simulations, it is shown that this combined controller strategy is able to achieve good tracking performance in the presence of shot-to-shot differences, tight constraints, and model mismatches.
Robust predictive control of a gasoline debutanizer column
Directory of Open Access Journals (Sweden)
E. Almeida Neto
2000-12-01
Full Text Available This paper studies the application of Model Predictive Control to moderately nonlinear processes. The system used in this work is an industrial gasoline debutanizer column. The paper presents two new formulations of MPC: MMPC (Multi-Model Predictive Controller and RSMPC (Robust Stable MPC. The approach is based on the concepts of Linear Matrix Inequalities (LMI, which have been recently introduced in the MPC field. Model uncertainty is considered by assuming that the true process model belongs to a convex set (polytope of possible plants. The controller has guaranteed stability when a Lyapunov type inequality constraint is included in the MPC problem. In the debutanizer column, several nonlinearities are present in the advanced control level when the manipulated inputs are the reflux flow and the reboiler heat duty. In most cases the controlled outputs are the contents of C5+ (pentane and heavier hydrocarbons in the LPG (Liquefied Petroleum Gas and the gasoline vapor pressure (P VR. In this case the QDMC algorithm which is usually applied to the debutanizer column has a poor performance and stability problems reflected in an oscillatory behavior of the process. The new approach considers several process models representing different operating conditions where linear models are identified. The results presented here show that the multimodel controller is capable of controlling the process in the entire operating window while the conventional MPC has a limited operating range.
Robust control design for the plasma horizontal position control on J-TEXT Tokamak
International Nuclear Information System (INIS)
Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.
2013-01-01
It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine
Robust Control for High-Speed Visual Servoing Applications
DEFF Research Database (Denmark)
Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads
2007-01-01
This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....
Application of robust control to a rotary-wing aircraft
Turkoglu, Ercument
The thesis is concerned with the application of robust controller synthesis and analysis tools to a rotary-wing aircraft: the Bell 205 teetering-rotor helicopter. The Tioo loop-shaping approach is central to the work and two main issues concerned with its application will be considered. Firstly, the construction of diagonal (structured) and non- diagonal (unstructured) weighting functions will be considered. Secondly, the analysis of the implications of different weighting function structures in the controller implementation. A two stage cross-comparative analysis of a series of 1 Dof (Degree of Freedom) and 2 Dof controllers synthesized with both diagonal and non-diagonal weights using the Hqo loop- shaping technique will be presented for square and non-square multi input multi output, unstable, non-minimum phase and ill-conditioned models of the helicopter. Handling qualities of each control law augmented system will be assessed quantitatively and qualitatively. A quantitative analysis, in view of the specifications in ADS-33E, will be given based on a combination of flight data from in-flight tested controllers and, desk-top simula tions run on a fully augmented 12 Dof nonlinear helicopter model provided by QinetiQ, UK. A qualitative analysis will be given based on the pilot comments compiled (in view of the Cooper-Harper handling qualities rating scale) from the evaluated in-flight control laws.
ROBUST CONTROL ALGORITHM FOR MULTIVARIABLE PLANTS WITH QUANTIZED OUTPUT
Directory of Open Access Journals (Sweden)
A. A. Margun
2017-01-01
Full Text Available The paper deals with robust output control algorithm for multivariable plants under disturbances. A plant is described by the system of linear differential equations with known relative degrees. Plant parameters are unknown but belong to the known closed bounded set. Plant state vector is unmeasured. Plant output is measured only via static quantizer. Control system algorithm is based on the high gain feedback method. Developed controller provides exponential convergence of tracking error to the bounded area. The area bounds depend on quantizer parameters and the value of external disturbances. Experimental approbation of the proposed control algorithm is performed with the use of Twin Rotor MIMO System laboratory bench. This bench is a helicopter like model with two degrees of freedom (pitch and yaw. DC motors are used as actuators. The output signals are measured via optical encoders. Mathematical model of laboratory bench is obtained. Proposed algorithm was compared with proportional - integral – differential controller in conditions of output quantization. Obtained results have confirmed the efficiency of proposed controller.
Wong, E-H
2015-01-01
Robust Design of Microelectronics Assemblies Against Mechanical Shock, Temperature and Moisture discusses how the reliability of packaging components is a prime concern to electronics manufacturers. The text presents a thorough review of this important field of research, providing users with a practical guide that discusses theoretical aspects, experimental results, and modeling techniques. The authors use their extensive experience to produce detailed chapters covering temperature, moisture, and mechanical shock induced failure, adhesive interconnects, and viscoelasticity. Useful progr
Wide-range nuclear reactor temperature control using automatically tuned fuzzy logic controller
International Nuclear Information System (INIS)
Ramaswamy, P.; Edwards, R.M.; Lee, K.Y.
1992-01-01
In this paper, a fuzzy logic controller design for optimal reactor temperature control is presented. Since fuzzy logic controllers rely on an expert's knowledge of the process, they are hard to optimize. An optimal controller is used in this paper as a reference model, and a Kalman filter is used to automatically determine the rules for the fuzzy logic controller. To demonstrate the robustness of this design, a nonlinear six-delayed-neutron-group plant is controlled using a fuzzy logic controller that utilizes estimated reactor temperatures from a one-delayed-neutron-group observer. The fuzzy logic controller displayed good stability and performance robustness characteristics for a wide range of operation
High-throughput electrical characterization for robust overlay lithography control
Devender, Devender; Shen, Xumin; Duggan, Mark; Singh, Sunil; Rullan, Jonathan; Choo, Jae; Mehta, Sohan; Tang, Teck Jung; Reidy, Sean; Holt, Jonathan; Kim, Hyung Woo; Fox, Robert; Sohn, D. K.
2017-03-01
Realizing sensitive, high throughput and robust overlay measurement is a challenge in current 14nm and advanced upcoming nodes with transition to 300mm and upcoming 450mm semiconductor manufacturing, where slight deviation in overlay has significant impact on reliability and yield1). Exponentially increasing number of critical masks in multi-patterning lithoetch, litho-etch (LELE) and subsequent LELELE semiconductor processes require even tighter overlay specification2). Here, we discuss limitations of current image- and diffraction- based overlay measurement techniques to meet these stringent processing requirements due to sensitivity, throughput and low contrast3). We demonstrate a new electrical measurement based technique where resistance is measured for a macro with intentional misalignment between two layers. Overlay is quantified by a parabolic fitting model to resistance where minima and inflection points are extracted to characterize overlay control and process window, respectively. Analyses using transmission electron microscopy show good correlation between actual overlay performance and overlay obtained from fitting. Additionally, excellent correlation of overlay from electrical measurements to existing image- and diffraction- based techniques is found. We also discuss challenges of integrating electrical measurement based approach in semiconductor manufacturing from Back End of Line (BEOL) perspective. Our findings open up a new pathway for accessing simultaneous overlay as well as process window and margins from a robust, high throughput and electrical measurement approach.
Robust Backstepping Control of Wing Rock Using Disturbance Observer
Directory of Open Access Journals (Sweden)
Dawei Wu
2017-02-01
Full Text Available Wing rock is a highly nonlinear phenomenon when the aircraft suffers undesired roll-dominated oscillatory at high angle of attack (AOA. Considering the strong nonlinear and unsteady aerodynamic characteristics, an uncertain multi-input and multi-output (MIMO nonlinear wing rock model is studied, and system uncertainties, unsteady aerodynamic disturbances and externaldisturbancesareconsideredinthedesignofwingrockcontrollaw. Tohandletheproblemof multipledisturbances,arobustcontrolschemeisproposedbasedontheextendedstateobserver(ESO and the radial basis function neural network (RBFNN technique. Considering that the effectiveness of actuators are greatly decreased at high AOA, the input saturation problem is also handled by constructing a corresponding auxiliary system. Based on the improved ESO and the auxiliary system, a robust backstepping control law is proposed for the wing rock control. In addition, the dynamic surface control (DSC technique is introduced to avoid the tedious computations of time derivatives for the virtual control laws in the backstepping method. The stability of the closed-loop system is guaranteed via rigorously Lyapunov analysis. Finally, simulation results are presented to illustrate the effectiveness of the ESO and the proposed wing rock control approach.
Robust Sliding Mode Control of Air Handling Unit for Energy Efficiency Enhancement
Directory of Open Access Journals (Sweden)
Awais Shah
2017-11-01
Full Text Available In order to achieve feasible and copacetic low energy consuming building, a robust and efficient air conditioning system is necessary. Since heating ventilation and air conditioning systems are nonlinear and temperature and humidity are coupled, application of conventional control is inappropriate. A multi-input multi-output nonlinear model is presented. The temperature and humidity of thermal zone are ascendance by the manipulation of the water and air flow rates. A sliding mode controller (SMC is designed to ensure robust performance of air handling unit in the presence of uncertainties. A simple proportional-integral-derivative (PID controller is used as a comparison template to highlight the efficiency of the proposed controller. To accomplish tracking targets, a variety of desired temperature and relative humidity commands (including ramp and combination with sequence of steps are investigated. According to simulation results, SMC transcends the PID controller in terms of settling time, steady state and rise time, which makes SMC more energy efficient.
A Robust H ∞ Controller for an UAV Flight Control System.
López, J; Dormido, R; Dormido, S; Gómez, J P
2015-01-01
The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.
Robust Model Predictive Control Schemes for Tracking Setpoints
Directory of Open Access Journals (Sweden)
Vu Trieu Minh
2010-01-01
Full Text Available This paper briefly reviews the development of nontracking robust model predictive control (RMPC schemes for uncertain systems using linear matrix inequalities (LMIs subject to input saturated and softened state constraints. Then we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. The novel tracking setpoint RMPC schemes are able to stabilize uncertain systems once the output setpoints lead to the violation of the state constraints. The state violation can be regulated by changing the value of the weighting factor. A brief comparative simulation study of the two tracking setpoint RMPC schemes is done via simple examples to demonstrate the ability of the softened state constraint schemes. Finally, some features of future research from this study are discussed.
Central control of body temperature.
Morrison, Shaun F
2016-01-01
Central neural circuits orchestrate the behavioral and autonomic repertoire that maintains body temperature during environmental temperature challenges and alters body temperature during the inflammatory response and behavioral states and in response to declining energy homeostasis. This review summarizes the central nervous system circuit mechanisms controlling the principal thermoeffectors for body temperature regulation: cutaneous vasoconstriction regulating heat loss and shivering and brown adipose tissue for thermogenesis. The activation of these thermoeffectors is regulated by parallel but distinct efferent pathways within the central nervous system that share a common peripheral thermal sensory input. The model for the neural circuit mechanism underlying central thermoregulatory control provides a useful platform for further understanding of the functional organization of central thermoregulation, for elucidating the hypothalamic circuitry and neurotransmitters involved in body temperature regulation, and for the discovery of novel therapeutic approaches to modulating body temperature and energy homeostasis.
Effect of intermittent feedback control on robustness of human-like postural control system
Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki
2016-03-01
Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.
Photoirradiation system with temperature control
International Nuclear Information System (INIS)
Yonadab Lopez, F.; Stolik, S.; La Rosa, J. M. de; Moreno, E.
2012-01-01
During application of phototherapy is possible to induce a significant increase in tissue temperature and generate a localized hyperthermia state if the power density of incident light is high enough. We present a controlled temperature phototherapy system, this allows the application of optical radiation at a wavelength of 630nm using a light emitting diode (LED) of high power. The system automatically controls the irradiation time and power which allows irradiating the tissue with an appropriate energy density. A thermocouple is placed in the irradiated tissue to measure and control the temperature by varying the parameters of power density and time. From results of irradiations made in nu / nu mice using doses of 150 J/cm 2 energy and 250 J/cm 2 shows that the temperature control allows the study of photodynamic therapy in synergy with thermo therapy in different diseases external tissues. (Author)
Temperature controller of semiconductor laser
Czech Academy of Sciences Publication Activity Database
Matoušek, Vít; Číp, Ondřej
2003-01-01
Roč. 73, č. 3 (2003), s. 10 - 12 ISSN 0928-5008 Institutional research plan: CEZ:AV0Z2065902 Keywords : temperature controller * semiconductor laser * laser diode Subject RIV: BH - Optics, Masers, Lasers
Robust Dynamics and Control of a Partially Observed Markov Chain
International Nuclear Information System (INIS)
Elliott, R. J.; Malcolm, W. P.; Moore, J. P.
2007-01-01
In a seminal paper, Martin Clark (Communications Systems and Random Process Theory, Darlington, 1977, pp. 721-734, 1978) showed how the filtered dynamics giving the optimal estimate of a Markov chain observed in Gaussian noise can be expressed using an ordinary differential equation. These results offer substantial benefits in filtering and in control, often simplifying the analysis and an in some settings providing numerical benefits, see, for example Malcolm et al. (J. Appl. Math. Stoch. Anal., 2007, to appear).Clark's method uses a gauge transformation and, in effect, solves the Wonham-Zakai equation using variation of constants. In this article, we consider the optimal control of a partially observed Markov chain. This problem is discussed in Elliott et al. (Hidden Markov Models Estimation and Control, Applications of Mathematics Series, vol. 29, 1995). The innovation in our results is that the robust dynamics of Clark are used to compute forward in time dynamics for a simplified adjoint process. A stochastic minimum principle is established
Fractional order differentiation and robust control design crone, h-infinity and motion control
Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain
2015-01-01
This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...
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...
Robust Control of Aeronautical Electrical Generators for Energy Management Applications
Directory of Open Access Journals (Sweden)
Giacomo Canciello
2017-01-01
Full Text Available A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like are normally used for the rectification of the generator voltage to be used to supply a high-voltage DC bus. The regulation is obtained by acting on a DC/DC converter that imposes the field voltage of the exciter. In this paper, the field voltage is fed to the generator windings by using a second-order sliding mode controller, resulting into a stable, robust (against disturbances action and a fast convergence to the desired reference. By using this strategy, an energy management strategy is proposed that dynamically changes the voltage set point, in order to intelligently transfer power between two voltage busses. Detailed simulation results are provided in order to show the effectiveness of the proposed energy management strategy in different scenarios.
Temperature uniformity control in RTP using multivariable adaptive control
Energy Technology Data Exchange (ETDEWEB)
Morales, S.; Dahhou, B.; Dilhac, J.M. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Morales, S.
1995-12-31
In Rapid Thermal Processing (RTP) control of the wafer temperature during all processing to get good trajectory following, together with spatial temperature uniformity, is essential. It is well know as RTP process is nonlinear, classical control laws are not very efficient. In this work, the authors aim at studying the applicability of MIMO (Multiple Inputs Multiple Outputs) adaptive techniques to solve the temperature control problems in RTP. A multivariable linear discrete time CARIMA (Controlled Auto Regressive Integrating Moving Average) model of the highly non-linear process is identified on-line using a robust identification technique. The identified model is used to compute an infinite time LQ (Linear Quadratic) based control law, with a partial state reference model. This reference model smooths the original setpoint sequence, and at the same time gives a tracking capability to the LQ control law. After an experimental open-loop investigation, the results of the application of the adaptive control law are presented. Finally, some comments on the future difficulties and developments of the application of adaptive control in RTP are given. (author) 13 refs.
Digital control programmer for temperature control
International Nuclear Information System (INIS)
Rajore, S.B.; Kumar, S.V.
1993-01-01
This report describes a PC based digital control programmer for controlling and programming temperature of a high vacuum resistance heating furnace and the software developed to control power using PID algorithm. It also describes the amplifier specially developed to suit the input requirement of the non-standard W5 thermocouple and the software and hardware protections introduced in the system. (author). 5 refs., 8 figs., 1 appendix
Robust quasi NID current and flux control of an induction motor for position control
van Duijnhoven, M.; Blachuta, M.J.
1999-01-01
In the paper, a new control design method called Dynamic Contraction method is applied to the flux and quadrature current robust control of an induction motor operated using the field orientation principle. The resulting input-output decoupled and linearized drive is then used for time-optimal
Robust Controller to Extract the Maximum Power of a Photovoltaic System
Directory of Open Access Journals (Sweden)
OULD CHERCHALI Noureddine
2014-05-01
Full Text Available This paper proposes a technique of intelligent control to track the maximum power point (MPPT of a photovoltaic system . The PV system is non-linear and it is exposed to external perturbations like temperature and solar irradiation. Fuzzy logic control is known for its stability and robustness. FLC is adopted in this work for the improvement and optimization of control performance of a photovoltaic system. Another technique called perturb and observe (P & O is studied and compared with the FLC technique. The PV system is constituted of a photovoltaic panel (PV, a DC-DC converter (Boost and a battery like a load. The simulation results are developed in MATLAB / Simulink software. The results show that the controller based on fuzzy logic is better and faster than the conventional controller perturb and observe (P & O and gives a good maximum power of a photovoltaic generator under different changes of weather conditions.
Heat pipes for temperature control
International Nuclear Information System (INIS)
Groll, M.
1978-01-01
Heat pipes have known for years as effective constructional elements for temperature control. With the aid of special techniques (gas, liquid, steam, and voltage control), special operating characteristics can be obtained, e.g. variable heat conduction or diode behaviour. Their main field of application is in spacecraft technology and in nuclear technology in the isothermalisation of irradiation capsules. The different control techniques are presented and critically evaluated on the basis of characteristic properties like heat transfer capacity, volume and mass requirements, complexity of structure and production, reliability, and temperature control characteristics. Advantages and shortcomings of the different concepts are derived and compared. The state of the art of these control techniques is established on the basis of four development levels. Finally, the necessity and direction of further R + D activities are discussed, and suggestions are made for further work. (orig./HP) [de
Robustness-tracking control based on sliding mode and H∞ theory for linear servo system
Institute of Scientific and Technical Information of China (English)
TIAN Yan-feng; GUO Qing-ding
2005-01-01
A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.
Synthesis of fixed-architecture, robust H 2 and H ∞ controllers
Directory of Open Access Journals (Sweden)
Collins Jr. Emmanuel G.
2000-01-01
Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H 2 or H ∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H 2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H ∞ performance. Both robust H 2 and H ∞ , controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H ∞ performance is much more computationally intensive than that for robust H 2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis
Synthesis of fixed-architecture, robust H2 and H∞ controllers
Directory of Open Access Journals (Sweden)
Emmanuel G. Collins
2000-01-01
Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H2 or H∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H∞ performance. Both robust H2 and H∞, controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H∞ performance is much more computationally intensive than that for robust H2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis.
Application of robust fuzzy control in power control of nuclear reactor
International Nuclear Information System (INIS)
Liu Lei; Luan Xiuchun; Jin Guangyuan; Yu Tao; Rao Su
2013-01-01
Robust-fuzzy controller based on T-S fuzzy model was designed for real-time controlling of nuclear reactor power and adapting to the load changing of power grid. Local controller was designed by means of state feedback technique, and the global controller was designed by parallel distributed compensation (PDC) method. The result of solving linear matrix inequalities (LMI) proves that this controller is stable. The simulation shows that the nuclear power can be well controlled in three typical conditions by this controller. (authors)
Keum, Jung-Hoon; Ra, Sung-Woong
2009-12-01
Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.
Optimal control of quantum systems: Origins of inherent robustness to control field fluctuations
International Nuclear Information System (INIS)
Rabitz, Herschel
2002-01-01
The impact of control field fluctuations on the optimal manipulation of quantum dynamics phenomena is investigated. The quantum system is driven by an optimal control field, with the physical focus on the evolving expectation value of an observable operator. A relationship is shown to exist between the system dynamics and the control field fluctuations, wherein the process of seeking optimal performance assures an inherent degree of system robustness to such fluctuations. The presence of significant field fluctuations breaks down the evolution of the observable expectation value into a sequence of partially coherent robust steps. Robustness occurs because the optimization process reduces sensitivity to noise-driven quantum system fluctuations by taking advantage of the observable expectation value being bilinear in the evolution operator and its adjoint. The consequences of this inherent robustness are discussed in the light of recent experiments and numerical simulations on the optimal control of quantum phenomena. The analysis in this paper bodes well for the future success of closed-loop quantum optimal control experiments, even in the presence of reasonable levels of field fluctuations
International Nuclear Information System (INIS)
Peng, Y.-F.
2009-01-01
The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with built-in simple computation, good generalization capability and fast learning property. In this paper, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive CMAC and H ∞ control technique is proposed for a class of chaotic systems with unknown system dynamics and external disturbance. In the proposed control system, an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to mimic an ideal backstepping control (IBC), and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. Finally, three application examples, including a Duffing-Holmes chaotic system, a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the effectiveness and performance of proposed robust control technique.
Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm
Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.
Observation Quality Control with a Robust Ensemble Kalman Filter
Roh, Soojin
2013-12-01
Current ensemble-based Kalman filter (EnKF) algorithms are not robust to gross observation errors caused by technical or human errors during the data collection process. In this paper, the authors consider two types of gross observational errors, additive statistical outliers and innovation outliers, and introduce a method to make EnKF robust to gross observation errors. Using both a one-dimensional linear system of dynamics and a 40-variable Lorenz model, the performance of the proposed robust ensemble Kalman filter (REnKF) was tested and it was found that the new approach greatly improves the performance of the filter in the presence of gross observation errors and leads to only a modest loss of accuracy with clean, outlier-free, observations.
Observation Quality Control with a Robust Ensemble Kalman Filter
Roh, Soojin; Genton, Marc G.; Jun, Mikyoung; Szunyogh, Istvan; Hoteit, Ibrahim
2013-01-01
Current ensemble-based Kalman filter (EnKF) algorithms are not robust to gross observation errors caused by technical or human errors during the data collection process. In this paper, the authors consider two types of gross observational errors, additive statistical outliers and innovation outliers, and introduce a method to make EnKF robust to gross observation errors. Using both a one-dimensional linear system of dynamics and a 40-variable Lorenz model, the performance of the proposed robust ensemble Kalman filter (REnKF) was tested and it was found that the new approach greatly improves the performance of the filter in the presence of gross observation errors and leads to only a modest loss of accuracy with clean, outlier-free, observations.
Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders
Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong
2013-09-01
This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.
Robust Control Mixer Method for Reconfigurable Control Design Using Model Matching Strategy
DEFF Research Database (Denmark)
Yang, Zhenyu; Blanke, Mogens; Verhagen, Michel
2007-01-01
A novel control mixer method for recon¯gurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a LTI dynamic system-form. The H_inf control technique is employed for these dynamic module designs after an augmented control...... system is constructed through a model-matching strategy. The stability, performance and robustness of the reconfigured system can be guaranteed when some conditions are satisfied. To illustrate the effectiveness of the proposed method, a robot system subjected to failures is used to demonstrate...
International Nuclear Information System (INIS)
Peng Yafu
2009-01-01
In this paper, a robust intelligent sliding model control (RISMC) scheme using an adaptive recurrent cerebellar model articulation controller (RCMAC) is developed for a class of uncertain nonlinear chaotic systems. This RISMC system offers a design approach to drive the state trajectory to track a desired trajectory, and it is comprised of an adaptive RCMAC and a robust controller. The adaptive RCMAC is used to mimic an ideal sliding mode control (SMC) due to unknown system dynamics, and a robust controller is designed to recover the residual approximation error for guaranteeing the stable characteristic. Moreover, the Taylor linearization technique is employed to derive the linearized model of the RCMAC. The all adaptation laws of the RISMC system are derived based on the Lyapunov stability analysis and projection algorithm, so that the stability of the system can be guaranteed. Finally, the proposed RISMC system is applied to control a Van der Pol oscillator, a Genesio chaotic system and a Chua's chaotic circuit. The effectiveness of the proposed control scheme is verified by some simulation results with unknown system dynamics and existence of external disturbance. In addition, the advantages of the proposed RISMC are indicated in comparison with a SMC system
Robust adaptive fuzzy neural tracking control for a class of unknown ...
Indian Academy of Sciences (India)
In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is ... The robust controller is used to guarantee the stability and to control the per- ..... From the above analysis we have the following theorem:.
Directory of Open Access Journals (Sweden)
A. Mohammadpour
2009-12-01
Full Text Available Robust performance controller design for duty-cycle controlled series resonant converter (SRC is proposed in this paper. The uncertainties of the converter are analyzed with load variation and power circuit components tolerances are taken into consideration. Additionally, a nominal performance (NP controller is designed. Closed-loop system is simulated with Orcad and simulation results of robust controller are compared with nominal performance controller. Although nominal performance controller has better performance for nominal plant, the robust performance controller is advantageous in dealing with uncertainties.
Yan, Yan
2015-01-01
We study a new optimization scheme that generates smooth and robust solutions for Dirichlet velocity boundary control (DVBC) of conjugate heat transfer (CHT) processes. The solutions to the DVBC of the incompressible Navier-Stokes equations are typically nonsmooth, due to the regularity degradation of the boundary stress in the adjoint Navier-Stokes equations. This nonsmoothness is inherited by the solutions to the DVBC of CHT processes, since the CHT process couples the Navier-Stokes equations of fluid motion with the convection-diffusion equations of fluid-solid thermal interaction. Our objective in the CHT boundary control problem is to select optimally the fluid inflow profile that minimizes an objective function that involves the sum of the mismatch between the temperature distribution in the fluid system and a prescribed temperature profile and the cost of the control.Our strategy to resolve the nonsmoothness of the boundary control solution is based on two features, namely, the objective function with a regularization term on the gradient of the control profile on both the continuous and the discrete levels, and the optimization scheme with either explicit or implicit smoothing effects, such as the smoothed Steepest Descent and the Limited-memory Broyden-Fletcher-Goldfarb-Shanno (L-BFGS) methods. Our strategy to achieve the robustness of the solution process is based on combining the smoothed optimization scheme with the numerical continuation technique on the regularization parameters in the objective function. In the section of numerical studies, we present two suites of experiments. In the first one, we demonstrate the feasibility and effectiveness of our numerical schemes in recovering the boundary control profile of the standard case of a Poiseuille flow. In the second one, we illustrate the robustness of our optimization schemes via solving more challenging DVBC problems for both the channel flow and the flow past a square cylinder, which use initial
Design and Validation of Optimized Feedforward with Robust Feedback Control of a Nuclear Reactor
International Nuclear Information System (INIS)
Shaffer, Roman; He Weidong; Edwards, Robert M.
2004-01-01
Design applications for robust feedback and optimized feedforward control, with confirming results from experiments conducted on the Pennsylvania State University TRIGA reactor, are presented. The combination of feedforward and feedback control techniques complement each other in that robust control offers guaranteed closed-loop stability in the presence of uncertainties, and optimized feedforward offers an approach to achieving performance that is sometimes limited by overly conservative robust feedback control. The design approach taken in this work combines these techniques by first designing robust feedback control. Alternative methods for specifying a low-order linear model and uncertainty specifications, while seeking as much performance as possible, are discussed and evaluated. To achieve desired performance characteristics, the optimized feedforward control is then computed by using the nominal nonlinear plant model that incorporates the robust feedback control
Robust digital controllers for uncertain chaotic systems: A digital redesign approach
Energy Technology Data Exchange (ETDEWEB)
Ababneh, Mohammad [Department of Controls, FMC Kongsberg Subsea, FMC Energy Systems, Houston, TX 77067 (United States); Barajas-Ramirez, Juan-Gonzalo [CICESE, Depto. De Electronica y Telecomunicaciones, Ensenada, BC, 22860 (Mexico); Chen Guanrong [Centre for Chaos Control and Synchronization, Department of Electronic Engineering, City University of Hong Kong (China); Shieh, Leang S. [Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77204-4005 (United States)
2007-03-15
In this paper, a new and systematic method for designing robust digital controllers for uncertain nonlinear systems with structured uncertainties is presented. In the proposed method, a controller is designed in terms of the optimal linear model representation of the nominal system around each operating point of the trajectory, while the uncertainties are decomposed such that the uncertain nonlinear system can be rewritten as a set of local linear models with disturbed inputs. Applying conventional robust control techniques, continuous-time robust controllers are first designed to eliminate the effects of the uncertainties on the underlying system. Then, a robust digital controller is obtained as the result of a digital redesign of the designed continuous-time robust controller using the state-matching technique. The effectiveness of the proposed controller design method is illustrated through some numerical examples on complex nonlinear systems--chaotic systems.
International Nuclear Information System (INIS)
Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo
2002-01-01
In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement
Dimova, E.; Steflekova, V.; Karatodorov, S.; Kyoseva, E.
2018-03-01
We propose a way of achieving efficient and robust second-harmonic generation. The technique proposed is similar to the adiabatic population transfer in a two-state quantum system with crossing energies. If the phase mismatching changes slowly, e.g., due to a temperature gradient along the crystal, and makes the phase match for second-harmonic generation to occur, then the energy would be converted adiabatically to the second harmonic. As an adiabatic technique, the second-harmonic generation scheme presented is stable to variations in the crystal parameters, as well as in the input light, crystal length, input intensity, wavelength and angle of incidence.
Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties
Directory of Open Access Journals (Sweden)
Byung Woo Kim
2016-06-01
Full Text Available The Segway, which is a popular vehicle nowadays, is an uncertain nonlinear system and has an unknown time-varying control coefficient. Thus, we should consider the unknown time-varying control coefficient and model uncertainties to design the controller. Motivated by this observation, we propose a robust control for the Segway with unknown control coefficient and model uncertainties. To deal with the time-varying unknown control coefficient, we employ the Nussbaum gain technique. We introduce an auxiliary variable to solve the underactuated problem. Due to the prescribed performance control technique, the proposed controller does not require the adaptive technique, neural network, and fuzzy logic to compensate the uncertainties. Therefore, it can be simple. From the Lyapunov stability theory, we prove that all signals in the closed-loop system are bounded. Finally, we provide the simulation results to demonstrate the effectiveness of the proposed control scheme.
Effect of interaction strength on robustness of controlling edge dynamics in complex networks
Pang, Shao-Peng; Hao, Fei
2018-05-01
Robustness plays a critical role in the controllability of complex networks to withstand failures and perturbations. Recent advances in the edge controllability show that the interaction strength among edges plays a more important role than network structure. Therefore, we focus on the effect of interaction strength on the robustness of edge controllability. Using three categories of all edges to quantify the robustness, we develop a universal framework to evaluate and analyze the robustness in complex networks with arbitrary structures and interaction strengths. Applying our framework to a large number of model and real-world networks, we find that the interaction strength is a dominant factor for the robustness in undirected networks. Meanwhile, the strongest robustness and the optimal edge controllability in undirected networks can be achieved simultaneously. Different from the case of undirected networks, the robustness in directed networks is determined jointly by the interaction strength and the network's degree distribution. Moreover, a stronger robustness is usually associated with a larger number of driver nodes required to maintain full control in directed networks. This prompts us to provide an optimization method by adjusting the interaction strength to optimize the robustness of edge controllability.
Distributed Systems for Problems in Robust Control and Visual Tracking
National Research Council Canada - National Science Library
Tannenbaum, Allen
2000-01-01
.... A key application is in controlled active vision, including visual tracking, the control of autonomous vehicles, motion planning, and the utilization of visual information in guidance and control...
High-Performance Flexible Force and Temperature Sensing Array with a Robust Structure
Kim, Min-Seok; Song, Han-Wook; Park, Yon-Kyu
We have developed a flexible tactile sensor array capable of sensing physical quantities, e.g. force and temperature with high-performances and high spatial resolution. The fabricated tactile sensor consists of 8 × 8 force measuring array with 1 mm spacing and a thin metal (copper) temperature sensor. The flexible force sensing array consists of sub-millimetre-size bar-shaped semi-conductor strain gage array attached to a thin and flexible printed circuit board covered by stretchable elastomeric material on both sides. This design incorporates benefits of both materials; the semi-conductor's high performance and the polymer's mechanical flexibility and robustness, while overcoming their drawbacks of those two materials. Special fabrication processes, so called “dry-transfer technique” have been used to fabricate the tactile sensor along with standard micro-fabrication processes.
Guerrero, César; Pedrosa, Elisabete T.; Pérez-Bejarano, Andrea; Keizer, Jan Jacob
2014-05-01
The temperature reached on soils is an important parameter needed to describe the wildfire effects. However, the methods for measure the temperature reached on burned soils have been poorly developed. Recently, the use of the near-infrared (NIR) spectroscopy has been pointed as a valuable tool for this purpose. The NIR spectrum of a soil sample contains information of the organic matter (quantity and quality), clay (quantity and quality), minerals (such as carbonates and iron oxides) and water contents. Some of these components are modified by the heat, and each temperature causes a group of changes, leaving a typical fingerprint on the NIR spectrum. This technique needs the use of a model (or calibration) where the changes in the NIR spectra are related with the temperature reached. For the development of the model, several aliquots are heated at known temperatures, and used as standards in the calibration set. This model offers the possibility to make estimations of the temperature reached on a burned sample from its NIR spectrum. However, the estimation of the temperature reached using NIR spectroscopy is due to changes in several components, and cannot be attributed to changes in a unique soil component. Thus, we can estimate the temperature reached by the interaction between temperature and the thermo-sensible soil components. In addition, we cannot expect the uniform distribution of these components, even at small scale. Consequently, the proportion of these soil components can vary spatially across the site. This variation will be present in the samples used to construct the model and also in the samples affected by the wildfire. Therefore, the strategies followed to develop robust models should be focused to manage this expected variation. In this work we compared the prediction accuracy of models constructed with different approaches. These approaches were designed to provide insights about how to distribute the efforts needed for the development of robust
Robust Control for Microgravity Vibration Isolation using Fixed Order, Mixed H2/Mu Design
Whorton, Mark
2003-01-01
Many space-science experiments need an active isolation system to provide a sufficiently quiescent microgravity environment. Modern control methods provide the potential for both high-performance and robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H(infinity) methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/H(infinity), controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure, for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.
Directory of Open Access Journals (Sweden)
Vahid Raissi Dehkordi
2009-01-01
Full Text Available This paper deals with the robust performance problem of a linear time-invariant control system in the presence of robust controller uncertainty. Assuming that plant uncertainty is modeled as an additive perturbation, a geometrical approach is followed in order to find a necessary and sufficient condition for robust performance in the form of a bound on the magnitude of controller uncertainty. This frequency domain bound is derived by converting the problem into an optimization problem, whose solution is shown to be more time-efficient than a conventional structured singular value calculation. The bound on controller uncertainty can be used in controller order reduction and implementation problems.
Observer-Based Robust Control of Uncertain Switched Fuzzy Systems with Combined Switching Controller
Directory of Open Access Journals (Sweden)
Hong Yang
2013-01-01
Full Text Available The observer-based robust control for a class of switched fuzzy (SF time-delay systems involving uncertainties and external disturbances is investigated in this paper. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a combined switching controller is proposed. The designed controller based on the observer instead of the state information integrates the advantages of both the switching controllers and the supplementary controllers but eliminates their disadvantages. The proposed controller provides good performance during the transient period, and the chattering effect is removed when the system state approaches the origin. Sufficient condition for the solvability of the robust control problem is given for the case that the state of system is not available. Since convex combination techniques are used to derive the delay-independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach.
Using H∞ to design robust POD controllers for wind power plants
DEFF Research Database (Denmark)
Mehmedalic, Jasmin; Knüppel, Thyge; Østergaard, Jacob
2012-01-01
Large wind power plants (WPPs) can help to improve small signal stability by increasing the damping of electromechanical modes of oscillation. This can be done by adding a power system oscillation damping (POD) controller to the wind power plants, similar to power system stabilizer (PSS......) controllers on conventional generation. Here two different design methods are evaluated for their suitability in producing a robust power system oscillation damping controller for wind power plants with full-load converter wind turbine generators (WTGs). Controllers are designed using classic PSS design and H......∞ methods and the designed controllers evaluated on both performance and robustness. It is found that the choice of control signal has a large influence on the robustness of the controllers, and the best performance and robustness is found when the converter active power command is used as control signal...
Robust high-performance control for robotic manipulators
Seraji, Homayoun (Inventor)
1991-01-01
Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.
Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System
Fengjiao Wu; Junling Ding; Zhengzhong Wang
2016-01-01
The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the d...
Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.
2016-04-01
A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.
Phase and gain control policies for robust active vibration control of flexible structures
International Nuclear Information System (INIS)
Zhang, K; Ichchou, M N; Scorletti, G; Mieyeville, F
2013-01-01
The interest of this paper is to develop a general and systematic robust control methodology for active vibration control of flexible structures. For this purpose, first phase and gain control policies are proposed to impose qualitative frequency-dependent requirements on the controller to consider a complete set of control objectives. Then the proposed control methodology is developed by employing phase and gain control policies in the dynamic output feedback H ∞ control: according to the set of control objectives, phase and gain control policies incorporate necessary weighting functions and determine them in a rational and systematic way; on the other hand, with the appropriate weighting functions efficient H ∞ control algorithms can automatically realize phase and gain control policies and generate a satisfactory H ∞ controller. The proposed control methodology can be used for both SISO and MIMO systems with collocated or non-collocated sensors and actuators. In this paper, it is validated on a non-collocated piezoelectric cantilever beam. Both numerical simulations and experimental results demonstrate the effectiveness of the proposed control methodology. (paper)
Li, Zhaoying; Zhou, Wenjie; Liu, Hao
2016-09-01
This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Networked Control Scheme for Distributed Secondary Control of Islanded MicroGrids
DEFF Research Database (Denmark)
Shafiee, Qobad; Stefanovic, Cedomir; Dragicevic, Tomislav
2014-01-01
Distributed secondary control (DSC) is a new approach for microgrids (MGs) by which the frequency, voltage and power can be regulated by using only local unit controllers. Such a solution is necessary for anticipated scenarios that have an increased number of distributed generators (DGs) within...... the MG. Due to the constrained traffic pattern required by the secondary control, it is viable to implement a dedicated local area communication functionality among the local controllers. This paper presents a new, wireless-based robust communication algorithm for the DSC of MGs. The algorithm tightly...... couples the communication and the control functionality, such that the transmission errors are absorbed through an averaging operation performed in each local controller, resulting in a very high reliability. Furthermore, transmissions from each DG are periodic and prescheduled broadcasts, and in this way...
Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation
Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy
2001-01-01
Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.
Robust Control of Wide Bandgap Power Electronics Device Enabled Smart Grid
Yao, Tong
In recent years, wide bandgap (WBG) devices enable power converters with higher power density and higher efficiency. On the other hand, smart grid technologies are getting mature due to new battery technology and computer technology. In the near future, the two technologies will form the next generation of smart grid enabled by WBG devices. This dissertation deals with two applications: silicon carbide (SiC) device used for medium voltage level interface (7.2 kV to 240 V) and gallium nitride (GaN) device used for low voltage level interface (240 V/120 V). A 20 kW solid state transformer (SST) is designed with 6 kHz switching frequency SiC rectifier. Then three robust control design methods are proposed for each of its smart grid operation modes. In grid connected mode, a new LCL filter design method is proposed considering grid voltage THD, grid current THD and current regulation loop robust stability with respect to the grid impedance change. In grid islanded mode, micro synthesis method combined with variable structure control is used to design a robust controller for grid voltage regulation. For grid emergency mode, multivariable controller designed using Hinfinity synthesis method is proposed for accurate power sharing. Controller-hardware-in-the-loop (CHIL) testbed considering 7-SST system is setup with Real Time Digital Simulator (RTDS). The real TMS320F28335 DSP and Spartan 6 FPGA control board is used to interface a switching model SST in RTDS. And the proposed control methods are tested. For low voltage level application, a 3.3 kW smart grid hardware is built with 3 GaN inverters. The inverters are designed with the GaN device characterized using the proposed multi-function double pulse tester. The inverter is controlled by onboard TMS320F28379D dual core DSP with 200 kHz sampling frequency. Each inverter is tested to process 2.2 kW power with overall efficiency of 96.5 % at room temperature. The smart grid monitor system and fault interrupt devices (FID
Energy Technology Data Exchange (ETDEWEB)
Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)
1997-10-01
The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.
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.
A robust fractional-order PID controller design based on active queue management for TCP network
Hamidian, Hamideh; Beheshti, Mohammad T. H.
2018-01-01
In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.
Directory of Open Access Journals (Sweden)
Qinghua Zeng
2015-07-01
Full Text Available This article proposes a linear matrix inequality–based robust controller design approach to implement the synchronous design of aircraft control discipline and other disciplines, in which the variation in design parameters is treated as equivalent perturbations. Considering the complicated mapping relationships between the coefficient arrays of aircraft motion model and the aircraft design parameters, the robust controller designed is directly based on the variation in these coefficient arrays so conservative that the multidisciplinary design optimization problem would be too difficult to solve, or even if there is a solution, the robustness of design result is generally poor. Therefore, this article derives the uncertainty model of disciplinary design parameters based on response surface approximation, converts the design problem of the robust controller into a problem of solving a standard linear matrix inequality, and theoretically gives a less conservative design method of the robust controller which is based on the variation in design parameters. Furthermore, the concurrent subspace approach is applied to the multidisciplinary system with this kind of robust controller in the design loop. A multidisciplinary design optimization of a tailless aircraft as example is shown that control discipline can be synchronous optimal design with other discipline, especially this method will greatly reduce the calculated amount of multidisciplinary design optimization and make multidisciplinary design optimization results more robustness of flight performance.
Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System
Directory of Open Access Journals (Sweden)
Guofeng Tong
2014-04-01
Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.
Robust Nonlinear Control of Stall and Flutter in Aeroengines
National Research Council Canada - National Science Library
Murray, Richard
2001-01-01
... (bleed valves and air injection). The goal of the third activity, begun after the initial student supported by the grant left Caltech, was to develop modeling and control approaches for complex, physical systems, including control...
Robust Control Design of Wheeled Inverted Pendulum Assistant Robot
Institute of Scientific and Technical Information of China (English)
Magdi S.Mahmoud; Mohammad T.Nasir
2017-01-01
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR（inverted pendulum type assistant robot）. The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator（LQR）, linear quadratic Gaussian control（LQG）, H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.
Robust chaos synchronization using input-to-state stable control
Indian Academy of Sciences (India)
... be obtained by solving a convex optimization problem represented by the. LMI. Simulation studies are presented to demonstrate the effectiveness of the proposed ... one is the linear state feedback controller and the other is the nonlinear feedback controller. By the proposed control scheme, the closed-loop error system is ...
Robust adaptive fuzzy neural tracking control for a class of unknown ...
Indian Academy of Sciences (India)
In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is proposed. The proposed AFNC is comprised of a fuzzy neural controller and a robust controller. The fuzzy neural controller including a fuzzy neural network identiﬁer (FNNI) is the principal controller. The FNNI is used for ...
Directory of Open Access Journals (Sweden)
Zunjian Bian
2017-07-01
Full Text Available The inversion of land surface component temperatures is an essential source of information for mapping heat fluxes and the angular normalization of thermal infrared (TIR observations. Leaf and soil temperatures can be retrieved using multiple-view-angle TIR observations. In a satellite-scale pixel, the clumping effect of vegetation is usually present, but it is not completely considered during the inversion process. Therefore, we introduced a simple inversion procedure that uses gap frequency with a clumping index (GCI for leaf and soil temperatures over both crop and forest canopies. Simulated datasets corresponding to turbid vegetation, regularly planted crops and randomly distributed forest were generated using a radiosity model and were used to test the proposed inversion algorithm. The results indicated that the GCI algorithm performed well for both crop and forest canopies, with root mean squared errors of less than 1.0 °C against simulated values. The proposed inversion algorithm was also validated using measured datasets over orchard, maize and wheat canopies. Similar results were achieved, demonstrating that using the clumping index can improve inversion results. In all evaluations, we recommend using the GCI algorithm as a foundation for future satellite-based applications due to its straightforward form and robust performance for both crop and forest canopies using the vegetation clumping index.
Scaling the robustness of the solutions for quantum controllable problems
International Nuclear Information System (INIS)
Kallush, S.; Kosloff, R.
2011-01-01
The major task in quantum control theory is to find an external field that transforms the system from one state to another or executes a predetermined unitary transformation. We investigate the difficulty of computing the control field as the size of the Hilbert space is increased. In the models studied the controls form a small closed subalgebra of operators. Complete controllability is obtained by the commutators of the controls with the stationary Hamiltonian. We investigate the scaling of the computation effort required to converge a solution for the quantum control task with respect to the size of the Hilbert space. The models studied include the double-well Bose Hubbard model with the SU(2) control subalgebra and the Morse oscillator with the Heisenberg-Weil algebra. We find that for initial and target states that are classified as generalized coherent states (GCSs) of the control subalgebra the control field is easily found independent of the size of the Hilbert space. For such problems, a control field generated for a small system can serve as a pilot for finding the field for larger systems. Attempting to employ pilot fields that generate superpositions of GCSs or cat states failed. No relation was found between control solutions of different Hilbert space sizes. In addition the task of finding such a field scales unfavorably with Hilbert space sizes. We demonstrate the use of symmetry to obtain quantum transitions between states without phase information. Implications to quantum computing are discussed.
Robust Distributed Model Predictive Load Frequency Control of Interconnected Power System
Directory of Open Access Journals (Sweden)
Xiangjie Liu
2013-01-01
Full Text Available Considering the load frequency control (LFC of large-scale power system, a robust distributed model predictive control (RDMPC is presented. The system uncertainty according to power system parameter variation alone with the generation rate constraints (GRC is included in the synthesis procedure. The entire power system is composed of several control areas, and the problem is formulated as convex optimization problem with linear matrix inequalities (LMI that can be solved efficiently. It minimizes an upper bound on a robust performance objective for each subsystem. Simulation results show good dynamic response and robustness in the presence of power system dynamic uncertainties.
Newsom, J. R.; Mukhopadhyay, V.
1983-01-01
A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two output drone flight control system.
Temperature-Controlled Chameleonlike Cloak
Peng, Ruiguang; Xiao, Zongqi; Zhao, Qian; Zhang, Fuli; Meng, Yonggang; Li, Bo; Zhou, Ji; Fan, Yuancheng; Zhang, Peng; Shen, Nian-Hai; Koschny, Thomas; Soukoulis, Costas M.
2017-01-01
Invisibility cloaking based on transformation optics has brought about unlimited space for reverie. However, the design and fabrication of transformation-optics-based cloaks still remain fairly challenging because of the complicated, even extreme, material prescriptions, including its meticulously engineered anisotropy, inhomogeneity and singularity. And almost all the state-of-the-art cloaking devices work within a narrow and invariable frequency band. Here, we propose a novel mechanism for all-dielectric temperature-controllable cloaks. A prototype device was designed and fabricated with SrTiO3 ferroelectric cuboids as building blocks, and its cloaking effects were successfully demonstrated, including its frequency-agile invisibility by varying temperature. It revealed that the predesignated cloaking device based on our proposed strategy could be directly scaled in dimensions to operate at different frequency regions, without the necessity for further efforts of redesign. Our work opens the door towards the realization of tunable cloaking devices for various practical applications and provides a simple strategy to readily extend the cloaking band from microwave to terahertz regimes without the need for reconfiguration.
Temperature-Controlled Chameleonlike Cloak
Directory of Open Access Journals (Sweden)
Ruiguang Peng
2017-03-01
Full Text Available Invisibility cloaking based on transformation optics has brought about unlimited space for reverie. However, the design and fabrication of transformation-optics-based cloaks still remain fairly challenging because of the complicated, even extreme, material prescriptions, including its meticulously engineered anisotropy, inhomogeneity and singularity. And almost all the state-of-the-art cloaking devices work within a narrow and invariable frequency band. Here, we propose a novel mechanism for all-dielectric temperature-controllable cloaks. A prototype device was designed and fabricated with SrTiO_{3} ferroelectric cuboids as building blocks, and its cloaking effects were successfully demonstrated, including its frequency-agile invisibility by varying temperature. It revealed that the predesignated cloaking device based on our proposed strategy could be directly scaled in dimensions to operate at different frequency regions, without the necessity for further efforts of redesign. Our work opens the door towards the realization of tunable cloaking devices for various practical applications and provides a simple strategy to readily extend the cloaking band from microwave to terahertz regimes without the need for reconfiguration.
Directory of Open Access Journals (Sweden)
Zhaoxia Peng
2014-01-01
Full Text Available This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.
Robust receding horizon control for networked and distributed nonlinear systems
Li, Huiping
2017-01-01
This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel ...
Plug and Play Robust Distributed Control with Ellipsoidal Parametric Uncertainty System
Directory of Open Access Journals (Sweden)
Hong Wang-jian
2016-01-01
Full Text Available We consider a continuous linear time invariant system with ellipsoidal parametric uncertainty structured into subsystems. Since the design of a local controller uses only information on a subsystem and its neighbours, we combine the plug and play idea and robust distributed control to propose one distributed control strategy for linear system with ellipsoidal parametric uncertainty. Firstly for linear system with ellipsoidal parametric uncertainty, a necessary and sufficient condition for robust state feedback control is proposed by means of linear matrix inequality. If this necessary and sufficient condition is satisfied, this robust state feedback gain matrix can be easily derived to guarantee robust stability and prescribed closed loop performance. Secondly the plug and play idea is introduced in the design process. Finally by one example of aircraft flutter model parameter identification, the efficiency of the proposed control strategy can be easily realized.
Robust controller for synchronous generator with local load via VSC
Energy Technology Data Exchange (ETDEWEB)
Cabrera-Vazquez, J. [Universidad de Guadalajara, Centro Universitario de Ciencias Exactas e Ingenierias, Departamento de Electronica, Av. Revolucion No. 1500, Modulo ' ' O' ' , Apdo. Postal 44840, Guadalajara Jalisco (Mexico); Loukianov, Alexander G.; Canedo, Jose M. [Centro de Investigacion y de Estudios Avanzados del IPN, Apdo. Postal 31-438, Plaza La Luna, C. P. 44550, Guadalajara, Jalisco (Mexico); Utkin, Vadim I. [Department of Electrical Engineering, The Ohio-State University, Columbus, OH 43210-1272 (United States)
2007-05-15
The objective of this paper is to design a nonlinear observer-based excitation controller for power system comprising a single synchronous generator connected to an infinite bus with local load. The controller proposed is based on the using first singular perturbation systems concepts and then Sliding Mode Control technique combining with Block Control Principle. To reduce ''chattering'' a nonlinear observer with estimation of the mechanical torque and rotor fluxes is designed. This combined approach enables to compensate the inherent nonlinearities of the generator and to reject external disturbances. (author)
WGC Based Robust and Gain Scheduling PI Controller Design for Condensing Boilers
Directory of Open Access Journals (Sweden)
Cem Onat
2014-05-01
Full Text Available This paper addresses the water temperature PI control in condensing domestic boilers. The main challenge of this process under the controller design perspective is the fact that the dynamics of condensing boilers are strongly affected by the demanded water flow rate. First, a robust PI controller based on weighted geometrical center method is designed that stabilizes and achieves good performance for closed-loop system for a wide range of the water flow rate. Then, it is shown that if the water flow rate information is used to update the controller gains, through a technique known as gain scheduled control, the performance can be significantly improved. Important characteristics of these PI design approaches are that the resulting parameters are calculated numerically without using any graphical method or iterative optimization process and that it guarantees the stability of the closed-loop. Significantly, simulation results have demonstrated that the proposed tuning techniques can perform better for set point changes and load disturbance than other available methods in the literature.
A fuzzy controller with a robust learning function
International Nuclear Information System (INIS)
Tanji, Jun-ichi; Kinoshita, Mitsuo
1987-01-01
A self-organizing fuzzy controller is able to use linguistic decision rules of control strategy and has a strong adaptive property by virture of its rule learning function. While a simple linguistic description of the learning algorithm first introduced by Procyk, et al. has much flexibility for applications to a wide range of different processes, its detailed formulation, in particular with control stability and learning process convergence, is not clear. In this paper, we describe the formulation of an analytical basis for a self-organizing fuzzy controller by using a method of model reference adaptive control systems (MRACS) for which stability in the adaptive loop is theoretically proven. A detailed formulation is described regarding performance evaluation and rule modification in the rule learning process of the controller. Furthermore, an improved learning algorithm using adaptive rule is proposed. An adaptive rule gives a modification coefficient for a rule change estimating the effect of disturbance occurrence in performance evaluation. The effect of introducing an adaptive rule to improve the learning convergency is described by using a simple iterative formulation. Simulation tests are presented for an application of the proposed self-organizing fuzzy controller to the pressure control system in a Boiling Water Reactor (BWR) plant. Results with the tests confirm the improved learning algorithm has strong convergent properties, even in a very disturbed environment. (author)
Resilient control under Denial-of-Service: Robust design
Feng, Shuai; Tesi, Pietro
2016-01-01
In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of the DoS attacks under which closed-loop stability is not
Resilient Control under Denial-of-Service:Robust Design
Feng, Shuai; Tesi, Pietro
2016-01-01
In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of the DoS attacks under which closed-loop stability is not
Robust, Optimal, Predictive, and Integrated Road Traffic Control : Research proposal
Van de Weg, G.S.; Hegyi, A.; Hoogendoorn, S.P.
2014-01-01
The development of control strategies for traffic lights, ramp metering installations, and variable speed limits to improve the throughput of road traffic networks can contribute to a more efficient use of road networks. In this project, a hierarchical controller will be developed for the
Hard and Soft Sub-Time-Optimal Robust Controllers
DEFF Research Database (Denmark)
Kulczycki, Piotr; Wisniewski, Rafal; Kowalski, Piotr
2010-01-01
In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load...
Modeling, robust and distributed model predictive control for freeway networks
Liu, S.
2016-01-01
In Model Predictive Control (MPC) for traffic networks, traffic models are crucial since they are used as prediction models for determining the optimal control actions. In order to reduce the computational complexity of MPC for traffic networks, macroscopic traffic models are often used instead of
Dealing with Flexible Modes in 6 DOFs Robust Servo Control
Oomen, T.A.E.; Bosgra, O.H.; Angelis, G.Z.
2007-01-01
Control of high performance multi-input multi-output electromechanical systems with flexible dynamics is investigated. Present feedforward and feedback control design approaches mainly focus on rigid-body plant behaviour. To achieve higher performance, flexible dynamics should be explicitly
Robust Fallback Scheme for the Danish Automatic Voltage Control System
DEFF Research Database (Denmark)
Qin, Nan; Dmitrova, Evgenia; Lund, Torsten
2015-01-01
This paper proposes a fallback scheme for the Danish automatic voltage control system. It will be activated in case of the local station loses telecommunication to the control center and/or the local station voltage violates the acceptable operational limits. It cuts in/out switchable and tap...... power system....
Ofshore Wind Park Control Assessment Methodologies to Assure Robustness
DEFF Research Database (Denmark)
Gryning, Mikkel Peter Sidoroff
to a point where turbines are reaching a production capability exceeding 6 megawatt and the turbines have moved offshore due to stronger wind, and to avoid proximity to populated areas. The placement of wind power plants (WPP) with a typical size of 60 large turbines in remote locations with a weak grid...... for control designers. This project deals with these challenges and provides insight in root causes to phenomena that have been issues during wind power plant commissioning in the past. This is done through development of design and validation methods for controllers, by analyzing turbine interaction...... power oscillations observed were suspected to be i caused by the voltage control at the point of common coupling. The fault was thought to involve the interaction between the static synchronous compensator (STATCOM), the wind turbine voltage control and the power plant control (PPC). By establishing...
Robust Visual Control of Parallel Robots under Uncertain Camera Orientation
Directory of Open Access Journals (Sweden)
Miguel A. Trujano
2012-10-01
Full Text Available This work presents a stability analysis and experimental assessment of a visual control algorithm applied to a redundant planar parallel robot under uncertainty in relation to camera orientation. The key feature of the analysis is a strict Lyapunov function that allows the conclusion of asymptotic stability without invoking the Barbashin-Krassovsky-LaSalle invariance theorem. The controller does not rely on velocity measurements and has a structure similar to a classic Proportional Derivative control algorithm. Experiments in a laboratory prototype show that uncertainty in camera orientation does not significantly degrade closed-loop performance.
Observer-Based Robust Control for Spacecraft Rendezvous with Thrust Saturation
Directory of Open Access Journals (Sweden)
Neng Wan
2014-01-01
Full Text Available This paper proposes an observer-based robust guaranteed cost control method for thrust-limited rendezvous in near-circular orbits. Treating the noncircularity of the target orbit as a parametric uncertainty, a linearized motion model derived from the two-body problem is adopted as the controlled plant. Based on this model, a robust guaranteed cost observer-controller is synthesized with a less conservative saturation control law, and sufficient condition for the existence of this observer-based rendezvous controller is derived. Finally, an illustrative example with immeasurable velocity states is presented to demonstrate the advantages and effectiveness of the control scheme.
Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems
International Nuclear Information System (INIS)
Chang Weider; Yan Junjuh
2005-01-01
A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p , K i , and K d , are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller
Robust reconfigurable control for parametric and additive faults with FDI uncertainties
DEFF Research Database (Denmark)
Stoustrup, Jakob; Yang, Zhenyu
2000-01-01
From the system recoverable point of view, this paper discusses robust reconfigurable control synthesis for LTI systems and a class of nonlinear control systems with parametric and additive faults as well as derivations generated by FDI algorithms. By following the model-matching strategy......, an augmented optimal control problem is constructed based on the considered faulty and fictitious nominal systems, such that the robust control design techniques, such as H-infinity control and mu synthesis, can be employed for the reconfigurable control design....
Energy Technology Data Exchange (ETDEWEB)
Qiang Lu; Yusong Sun; Yuanzhang Sun [Tsinghua University, Beijing (China). Dept. of Electrical Engineering; Felix F Wu; Yixin Ni [University of Hong Kong (China). Dept. of Electrical and Electronic Engineering; Yokoyama, Akihiko [University of Tokyo (Japan). Dept. of Electrical Engineering; Goto, Masuo; Konishi, Hiroo [Hitachi Ltd., Tokyo (Japan). Power System Div.
2004-06-01
A novel nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems is suggested in this paper. The nonelastic water hammer effect and disturbances are considered in the modeling. The advanced differential geometry theory, nonlinear robust control theory and the dynamic feedback method are combined to solve the problem. The nonlinear decentralized robust control law for the speed governor of hydroturbine-generators has been derived. The input signals to the proposed controller are all local measurements and independent to the system parameters. The derived control law guarantees the integrated system stability with disturbance attenuation, which is significant to the real power system application. Computer tests on an 8-machine, 36-bus power system show clearly the effectiveness of the new control strategy in transient stability enhancement and disturbance attenuation. The computer test results based on the suggested controller are compared favorably with those based on the conventional linear governor control. (author)
Workplane Illuminance Estimation for Robust Daylight Harvesting Lighting Control
Zhang, S.; Birru, D.
2012-01-01
Daylight harvesting lighting controls can provide significant energysavings in daylit spaces. However, their performance is affected bythe changing lighting distribution in the space due to window treatments and the sun. Such impacts reduce the field performance of daylight harvesting dimming
Robust tracking control for linear vibrating mechanical systems
Directory of Open Access Journals (Sweden)
Francisco Beltrán-Carbajal
2015-01-01
Full Text Available Se propone un enfoque de control novedoso para seguimiento por realimentación de la salida para sistemas mecánicos vibratorios del tipo masa-resorte-amortiguador lineales sub-actuados. La metodología de diseño de control que se presenta considera robustez con respecto de dinámicas no modeladas y fuerzas externas. El esquema de control propuesto solamente requiere mediciones de la variable de la salida de posición. Se utiliza compensación integral del error de seguimiento de manera apropiada para evitar la estimación en tiempo real de las perturbaciones. Resultado analíticos y numéricos muestran la efectividad del esquema de control activo de vibración para atenuación de vibraciones resonantes y caóticas afectando la respuesta de la variable de salida.
Robust Controller for Turbulent and Convective Boundary Layers
National Research Council Canada - National Science Library
Speyer, Jason L; Kim, J. John
2006-01-01
Linear feedback controllers and estimators have been designed from the governing equations of a channel flow, linearized about the laminar mean flow, and a layer of heated fluid, linearized about the no-motion state...
The parametric open-plus-closed-loop control of chaotic maps and its robustness
International Nuclear Information System (INIS)
Chen Liqun
2004-01-01
This paper proposes a parametric open-plus-closed-loop control approach to controlling chaos. The logistic map is treated as an example to demonstrate the application of the proposed approach. It is proved that the approach is robust to the model error. Its relations to the open-plus-closed-loop control and the parametric entrainment control are discussed
Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques
National Research Council Canada - National Science Library
Toussaint, Gregory
2000-01-01
This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...
Zhang, Langwen; Xie, Wei; Wang, Jingcheng
2017-11-01
In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min-max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm.
H∞ Robust Current Control for DFIG Based Wind Turbine subject to Grid Voltage Distortions
DEFF Research Database (Denmark)
Wang, Yun; Wu, Qiuwei; Gong, Wenming
2016-01-01
This paper proposes an H∞ robust current controller for doubly fed induction generator (DFIG) based wind turbines (WTs) subject to grid voltage distortions. The controller is to mitigate the impact of the grid voltage distortions on rotor currents with DFIG parameter perturbation. The grid voltage...... distortions considered include asymmetric voltage dips and grid background harmonics. An uncertain DFIG model is developed with uncertain factors originating from distorted stator voltage, and changed generator parameters due to the flux saturation effect, the skin effect, etc. Weighting functions...... are designed to efficiently track the unbalanced current components and the 5th and 7th background harmonics. The robust stability (RS) and robust performance (RP) of the proposed controller are verified by the structured singular value µ. The performance of the H∞ robust current controller was demonstrated...
Directory of Open Access Journals (Sweden)
Huipeng Chen
2018-02-01
Full Text Available Incorporating linear-scanning micro-electro-mechanical systems (MEMS micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM spectral linewidth of 96 cm−1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.
Chen, Huipeng; Li, Mengyuan; Zhang, Yi; Xie, Huikai; Chen, Chang; Peng, Zhangming; Su, Shaohui
2018-02-08
Incorporating linear-scanning micro-electro-mechanical systems (MEMS) micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID) closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM) spectral linewidth of 96 cm -1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.
Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance
Directory of Open Access Journals (Sweden)
Zhonghua Wu
2017-01-01
Full Text Available This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP technique, prescribed performance control, and a kind of smooth switching strategy into back-stepping design, a new composite switching adaptive neural prescribed performance control scheme is proposed and a new type of adaptive laws is constructed for the altitude subsystem. Compared with previous neural control scheme for flight vehicle, the remarkable feature is that the proposed controller not only achieves the prescribed performance including transient and steady property but also addresses the constraint on NN. Two comparative simulations are presented to verify the effectiveness of the proposed controller.
Wie, Bong; Liu, Qiang
1992-01-01
Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.
Wu, Lucia R.; Chen, Sherry X.; Wu, Yalei; Patel, Abhijit A.; Zhang, David Yu
2018-01-01
Rare DNA-sequence variants hold important clinical and biological information, but existing detection techniques are expensive, complex, allele-specific, or don’t allow for significant multiplexing. Here, we report a temperature-robust polymerase-chain-reaction method, which we term blocker displacement amplification (BDA), that selectively amplifies all sequence variants, including single-nucleotide variants (SNVs), within a roughly 20-nucleotide window by 1,000-fold over wild-type sequences. This allows for easy detection and quantitation of hundreds of potential variants originally at ≤0.1% in allele frequency. BDA is compatible with inexpensive thermocycler instrumentation and employs a rationally designed competitive hybridization reaction to achieve comparable enrichment performance across annealing temperatures ranging from 56 °C to 64 °C. To show the sequence generality of BDA, we demonstrate enrichment of 156 SNVs and the reliable detection of single-digit copies. We also show that the BDA detection of rare driver mutations in cell-free DNA samples extracted from the blood plasma of lung-cancer patients is highly consistent with deep sequencing using molecular lineage tags, with a receiver operator characteristic accuracy of 95%. PMID:29805844
Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint
Aksun-Güvenc, B.; Güvenc, L.; Odenthal, D.; Bünte, T.
2001-01-01
Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability a...
Burken, John J.
2005-01-01
This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.
Robust adaptive control for a hybrid solid oxide fuel cell system
Snyder, Steven
2011-12-01
Solid oxide fuel cells (SOFCs) are electrochemical energy conversion devices. They offer a number of advantages beyond those of most other fuel cells due to their high operating temperature (800-1000°C), such as internal reforming, heat as a byproduct, and faster reaction kinetics without precious metal catalysts. Mitigating fuel starvation and improving load-following capabilities of SOFC systems are conflicting control objectives. However, this can be resolved by the hybridization of the system with an energy storage device, such as an ultra-capacitor. In this thesis, a steady-state property of the SOFC is combined with an input-shaping method in order to address the issue of fuel starvation. Simultaneously, an overall adaptive system control strategy is employed to manage the energy sharing between the elements as well as to maintain the state-of-charge of the energy storage device. The adaptive control method is robust to errors in the fuel cell's fuel supply system and guarantees that the fuel cell current and ultra-capacitor state-of-charge approach their target values and remain uniformly, ultimately bounded about these target values. Parameter saturation is employed to guarantee boundedness of the parameters. The controller is validated through hardware-in-the-loop experiments as well as computer simulations.
A New Robust Controller with Applications to Bioreactors
Directory of Open Access Journals (Sweden)
Alejandro Rincón
2014-01-01
Full Text Available In this work an anaerobic digester is controlled using input-output linearization and Lyapunov-like function methods. It is assumed that model parameters are unknown, time-varying, and bounded, and upper or lower bounds are also unknown. To tackle the effect of input saturation, a state observer is designed. The tracking and observer errors are defined in terms of the noisy measured output instead of ideal output, given by the mathematical model. The design of the observer mechanism and the update laws is based on the Lyapunov-like function technique, whereas the design of the control law is based on the input-output linearization method. In this paper two important properties of the controlled system are proven. First, the observer error converges asymptotically to a residual set whose size is user-defined, and such convergence is not disrupted, neither by the input saturation nor by the parameter uncertainties. Second, when the control input is nonsaturated the tracking error converges to a residual set whose size is user-defined. The model parameter uncertainties are included to prove the convergence of errors. Finally, a numerical example to validate the developed control is presented.
Assuring robustness to noise in optimal quantum control experiments
International Nuclear Information System (INIS)
Bartelt, A.F.; Roth, M.; Mehendale, M.; Rabitz, H.
2005-01-01
Closed-loop optimal quantum control experiments operate in the inherent presence of laser noise. In many applications, attaining high quality results [i.e., a high signal-to-noise (S/N) ratio for the optimized objective] is as important as producing a high control yield. Enhancement of the S/N ratio will typically be in competition with the mean signal, however, the latter competition can be balanced by biasing the optimization experiments towards higher mean yields while retaining a good S/N ratio. Other strategies can also direct the optimization to reduce the standard deviation of the statistical signal distribution. The ability to enhance the S/N ratio through an optimized choice of the control is demonstrated for two condensed phase model systems: second harmonic generation in a nonlinear optical crystal and stimulated emission pumping in a dye solution
Adaptive and robust active vibration control methodology and tests
Landau, Ioan Doré; Castellanos-Silva, Abraham; Constantinescu, Aurelian
2017-01-01
This book approaches the design of active vibration control systems from the perspective of today’s ideas of computer control. It formulates the various design problems encountered in the active management of vibration as control problems and searches for the most appropriate tools to solve them. The experimental validation of the solutions proposed on relevant tests benches is also addressed. To promote the widespread acceptance of these techniques, the presentation eliminates unnecessary theoretical developments (which can be found elsewhere) and focuses on algorithms and their use. The solutions proposed cannot be fully understood and creatively exploited without a clear understanding of the basic concepts and methods, so these are considered in depth. The focus is on enhancing motivations, algorithm presentation and experimental evaluation. MATLAB®routines, Simulink® diagrams and bench-test data are available for download and encourage easy assimilation of the experimental and exemplary material. Thre...
HOTELLING'S T2 CONTROL CHARTS BASED ON ROBUST ESTIMATORS
Directory of Open Access Journals (Sweden)
SERGIO YÁÑEZ
2010-01-01
Full Text Available Under the presence of multivariate outliers, in a Phase I analysis of historical set of data, the T 2 control chart based on the usual sample mean vector and sample variance covariance matrix performs poorly. Several alternative estimators have been proposed. Among them, estimators based on the minimum volume ellipsoid (MVE and the minimum covariance determinant (MCD are powerful in detecting a reasonable number of outliers. In this paper we propose a T 2 control chart using the biweight S estimators for the location and dispersion parameters when monitoring multivariate individual observations. Simulation studies show that this method outperforms the T 2 control chart based on MVE estimators for a small number of observations.
Active Robust Control of Elastic Blade Element Containing Magnetorheological Fluid
Sivrioglu, Selim; Cakmak Bolat, Fevzi
2018-03-01
This research study proposes a new active control structure to suppress vibrations of a small-scale wind turbine blade filled with magnetorheological (MR) fluid and actuated by an electromagnet. The aluminum blade structure is manufactured using the airfoil with SH3055 code number which is designed for use on small wind turbines. An interaction model between MR fluid and the electromagnetic actuator is derived. A norm based multi-objective H2/H∞ controller is designed using the model of the elastic blade element. The H2/H∞ controller is experimentally realized under the impact and steady state aerodynamic load conditions. The results of experiments show that the MR fluid is effective for suppressing vibrations of the blade structure.
An Approach to Robust Control of the Hopf Bifurcation
Directory of Open Access Journals (Sweden)
Giacomo Innocenti
2011-01-01
Full Text Available The paper illustrates a novel approach to modify the Hopf bifurcation nature via a nonlinear state feedback control, which leaves the equilibrium properties unchanged. This result is achieved by recurring to linear and nonlinear transformations, which lead the system to locally assume the ordinary differential equation representation. Third-order models are considered, since they can be seen as proper representatives of a larger class of systems. The explicit relationship between the control input and the Hopf bifurcation nature is obtained via a frequency approach, that does not need the computation of the center manifold.
Robust synchronization of chaotic systems via adaptive sliding mode control
International Nuclear Information System (INIS)
Yan, J.-J.; Hung, M.-L.; Chiang, T.-Y.; Yang, Y.-S.
2006-01-01
This Letter investigates the synchronization problem for a general class of chaotic systems. Using the sliding mode control technique, an adaptive control law is established to guarantee synchronization of the master and slave systems even when unknown parameters and external disturbances are present. In contrast to the previous works, the structure of slave system is simple and need not be identical to the master system. Furthermore, a novel proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. An illustrative example of Chua's circuit is given to demonstrate the effectiveness of the proposed synchronization scheme
Robust Self-Triggered Coordination With Ternary Controllers
De Persis, Claudio; Frasca, Paolo; Nair, G.N.
2013-01-01
This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each
Robust self-triggered coordination with ternary controllers
De Persis, Claudio; Frasca, Paolo
2013-01-01
This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each
Robust chaos synchronization using input-to-state stable control
Indian Academy of Sciences (India)
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 ...
Robust antisynchronization of chaos using sliding mode control ...
Indian Academy of Sciences (India)
tiveness of the method is established by implementing it to antisynchronize ... research in the field of physics, mathematics and engineering sciences. ... for mixed synchronization and the papers discussed antisynchronization as a ...... As a result, we have a very elegant and concise controller that is quite easy to implement,.
Robust formation control of marine surface craft using Lagrange multipliers
DEFF Research Database (Denmark)
Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.
2006-01-01
This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Formation control for a °eet of marine craft is achieved by stabilizing the auxiliary constraints such that the desired formation con¯guration appears. In the proposed fr...
Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target
Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang
2013-01-01
The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446
Efficient robust control of first order scalar conservation laws using semi-analytical solutions
Li, Yanning; Canepa, Edward S.; Claudel, Christian G.
2014-01-01
This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using initial density control and boundary flow control, as a Linear Program. We then show that this framework can be extended to arbitrary control problems involving the control of subsets of the initial and boundary conditions. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP/MILP. Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality.
Robust model predictive control for constrained continuous-time nonlinear systems
Sun, Tairen; Pan, Yongping; Zhang, Jun; Yu, Haoyong
2018-02-01
In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.
Robust Bio-Signal Based Control of an Intelligent Wheelchair
Directory of Open Access Journals (Sweden)
Dongyi Chen
2013-09-01
Full Text Available In this paper, an adaptive human-machine interaction (HMI method that is based on surface electromyography (sEMG signals is proposed for the hands-free control of an intelligent wheelchair. sEMG signals generated by the facial movements are obtained by a convenient dry electrodes sensing device. After the signals features are extracted from the autoregressive model, control data samples are updated and trained by an incremental online learning algorithm in real-time. Experimental results show that the proposed method can significantly improve the classification accuracy and training speed. Moreover, this method can effectively reduce the influence of muscle fatigue during a long time operation of sEMG-based HMI.
Embarked electrical network robust control based on singular perturbation model.
Abdeljalil Belhaj, Lamya; Ait-Ahmed, Mourad; Benkhoris, Mohamed Fouad
2014-07-01
This paper deals with an approach of modelling in view of control for embarked networks which can be described as strongly coupled multi-sources, multi-loads systems with nonlinear and badly known characteristics. This model has to be representative of the system behaviour and easy to handle for easy regulators synthesis. As a first step, each alternator is modelled and linearized around an operating point and then it is subdivided into two lower order systems according to the singular perturbation theory. RST regulators are designed for each subsystem and tested by means of a software test-bench which allows predicting network behaviour in both steady and transient states. Finally, the designed controllers are implanted on an experimental benchmark constituted by two alternators supplying loads in order to test the dynamic performances in realistic conditions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance
Wu, Zhonghua; Lu, Jingchao; Shi, Jingping; Liu, Yang; Zhou, Qing
2017-01-01
This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs) be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP) tech...
Robust Control of Aeronautical Electrical Generators for Energy Management Applications
Giacomo Canciello; Alberto Cavallo; Beniamino Guida
2017-01-01
A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like) are normally...
Robust entry guidance using linear covariance-based model predictive control
Directory of Open Access Journals (Sweden)
Jianjun Luo
2017-02-01
Full Text Available For atmospheric entry vehicles, guidance design can be accomplished by solving an optimal issue using optimal control theories. However, traditional design methods generally focus on the nominal performance and do not include considerations of the robustness in the design process. This paper proposes a linear covariance-based model predictive control method for robust entry guidance design. Firstly, linear covariance analysis is employed to directly incorporate the robustness into the guidance design. The closed-loop covariance with the feedback updated control command is initially formulated to provide the expected errors of the nominal state variables in the presence of uncertainties. Then, the closed-loop covariance is innovatively used as a component of the cost function to guarantee the robustness to reduce its sensitivity to uncertainties. After that, the models predictive control is used to solve the optimal problem, and the control commands (bank angles are calculated. Finally, a series of simulations for different missions have been completed to demonstrate the high performance in precision and the robustness with respect to initial perturbations as well as uncertainties in the entry process. The 3σ confidence region results in the presence of uncertainties which show that the robustness of the guidance has been improved, and the errors of the state variables are decreased by approximately 35%.
Robust wide-range control of nuclear reactors by using the feedforward-feedback concept
International Nuclear Information System (INIS)
Weng, C.K.; Edwards, R.M.; Ray, A.
1994-01-01
A robust feedforward-feedback controller is proposed for wide-range operations of nuclear reactors. This control structure provides (a) optimized performance over a wide operating range resulting form the feedforward element and (b) guaranteed robust stability and performance resulting from the feedback element. The feedforward control law is synthesized via nonlinear programming, which generates an optimal control sequence over a finite-time horizon under specified constraints. The feedback control is synthesized via the structured singular value μ approach to guarantee robustness in the presence of disturbances and modeling uncertainties. The results of simulation experiments are presented to demonstrate efficacy of the proposed control structure for a large rapid power reduction to avoid unnecessary plant trips
Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System
Directory of Open Access Journals (Sweden)
Fengjiao Wu
2016-01-01
Full Text Available The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.
Adaptive Fuzzy Robust Control for a Class of Nonlinear Systems via Small Gain Theorem
Directory of Open Access Journals (Sweden)
Xingjian Wang
2013-01-01
Full Text Available Practical nonlinear systems can usually be represented by partly linearizable models with unknown nonlinearities and external disturbances. Based on this consideration, we propose a novel adaptive fuzzy robust control (AFRC algorithm for such systems. The AFRC effectively combines techniques of adaptive control and fuzzy control, and it improves the performance by retaining the advantages of both methods. The linearizable part will be linearly parameterized with unknown but constant parameters, and the discontinuous-projection-based adaptive control law is used to compensate these parts. The Takagi-Sugeno fuzzy logic systems are used to approximate unknown nonlinearities. Robust control law ensures the robustness of closed-loop control system. A systematic design procedure of the AFRC algorithm by combining the backstepping technique and small-gain approach is presented. Then the closed-loop stability is studied by using small gain theorem, and the result indicates that the closed-loop system is semiglobally uniformly ultimately bounded.
Liu, Yanbin; Liu, Mengying; Sun, Peihua
2014-01-01
A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods.
Robust, Gain-Scheduled Control of Wind Turbines
DEFF Research Database (Denmark)
Østergaard, Kasper Zinck
Wind turbines are today large and efficient machines, which are combined into wind farms operating on par with conventional power plants. When looking back, this is significantly different from the status only a few years ago, when wind turbines were sold mainly to private people. This change...... in turbine owners has resulted in a new focus on operational reliability instead of turbine size. This research deals with investigating model-based gain-scheduling control of wind turbines by use of linear parameter varying (LPV) methods. The numerical challenges grow quickly with the model size...
Robust stability in predictive control with soft constraints
DEFF Research Database (Denmark)
Thomsen, Sven Creutz; Niemann, Hans Henrik; Poulsen, Niels Kjølstad
2010-01-01
In this paper we take advantage of the primary and dual Youla parameterizations for setting up a soft constrained model predictive control (MPC) scheme for which stability is guaranteed in face of norm-bounded uncertainties. Under special conditions guarantees are also given for hard input...... constraints. In more detail, we parameterize the MPC predictions in terms of the primary Youla parameter and use this parameter as the online optimization variable. The uncertainty is parameterized in terms of the dual Youla parameter. Stability can then be guaranteed through small gain arguments on the loop...
Robust stability in constrained predictive control through the Youla parameterisations
DEFF Research Database (Denmark)
Thomsen, Sven Creutz; Niemann, Hans Henrik; Poulsen, Niels Kjølstad
2011-01-01
In this article we take advantage of the primary and dual Youla parameterisations to set up a soft constrained model predictive control (MPC) scheme. In this framework it is possible to guarantee stability in face of norm-bounded uncertainties. Under special conditions guarantees are also given...... for hard input constraints. In more detail, we parameterise the MPC predictions in terms of the primary Youla parameter and use this parameter as the on-line optimisation variable. The uncertainty is parameterised in terms of the dual Youla parameter. Stability can then be guaranteed through small gain...
Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes
Jia, Yinghong; Misra, Arun K.
2017-08-01
It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.
Robust tracking control of two-degrees-of-freedom mobile robots
Oelen, W.; Oelen, W.; van Amerongen, J.
1994-01-01
A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of
Precup, Radu-Emil; David, Radu-Codrut; Petriu, Emil M; Radac, Mircea-Bogdan; Preitl, Stefan
2014-11-01
This paper suggests a new generation of optimal PI controllers for a class of servo systems characterized by saturation and dead zone static nonlinearities and second-order models with an integral component. The objective functions are expressed as the integral of time multiplied by absolute error plus the weighted sum of the integrals of output sensitivity functions of the state sensitivity models with respect to two process parametric variations. The PI controller tuning conditions applied to a simplified linear process model involve a single design parameter specific to the extended symmetrical optimum (ESO) method which offers the desired tradeoff to several control system performance indices. An original back-calculation and tracking anti-windup scheme is proposed in order to prevent the integrator wind-up and to compensate for the dead zone nonlinearity of the process. The minimization of the objective functions is carried out in the framework of optimization problems with inequality constraints which guarantee the robust stability with respect to the process parametric variations and the controller robustness. An adaptive gravitational search algorithm (GSA) solves the optimization problems focused on the optimal tuning of the design parameter specific to the ESO method and of the anti-windup tracking gain. A tuning method for PI controllers is proposed as an efficient approach to the design of resilient control systems. The tuning method and the PI controllers are experimentally validated by the adaptive GSA-based tuning of PI controllers for the angular position control of a laboratory servo system.
A COMPARISON OF SOME ROBUST BIVARIATE CONTROL CHARTS FOR INDIVIDUAL OBSERVATIONS
Directory of Open Access Journals (Sweden)
Moustafa Omar Ahmed Abu - Shawiesh
2014-06-01
Full Text Available This paper proposed and considered some bivariate control charts to monitor individual observations from a statistical process control. Usual control charts which use mean and variance-covariance estimators are sensitive to outliers. We consider the following robust alternatives to the classical Hoteling's T2: T2MedMAD, T2MCD, T2MVE a simulation study has been conducted to compare the performance of these control charts. Two real life data are analyzed to illustrate the application of these robust alternatives.
Wind turbine inverter robust loop-shaping control subject to grid interaction effects
DEFF Research Database (Denmark)
Gryning, Mikkel Peter Sidoroff; Wu, Qiuwei; Blanke, Mogens
2015-01-01
the grid and the number of wind turbines connected. Power converter based turbines inject harmonic currents, which are attenuated by passive filters. A robust high order active filter controller is proposed to complement the passive filtering. The H∞ design of the control loop enables desired tracking......An H∞ robust control of wind turbine inverters employing an LCL filter is proposed in this paper. The controller dynamics are designed for selective harmonic filtering in an offshore transmission network subject to parameter perturbations. Parameter uncertainty in the network originates from...
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
Directory of Open Access Journals (Sweden)
Xing Fang
2015-01-01
Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.
A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter.
Shabbouei Hagh, Yashar; Mohammadi Asl, Reza; Cocquempot, Vincent
2017-01-01
In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H ∞ control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Robust, nonlinear, high angle-of-attack control design for a supermaneuverable vehicle
Adams, Richard J.
1993-01-01
High angle-of-attack flight control laws are developed for a supermaneuverable fighter aircraft. The methods of dynamic inversion and structured singular value synthesis are combined into an approach which addresses both the nonlinearity and robustness problems of flight at extreme operating conditions. The primary purpose of the dynamic inversion control elements is to linearize the vehicle response across the flight envelope. Structured singular value synthesis is used to design a dynamic controller which provides robust tracking to pilot commands. The resulting control system achieves desired flying qualities and guarantees a large margin of robustness to uncertainties for high angle-of-attack flight conditions. The results of linear simulation and structured singular value stability analysis are presented to demonstrate satisfaction of the design criteria. High fidelity nonlinear simulation results show that the combined dynamics inversion/structured singular value synthesis control law achieves a high level of performance in a realistic environment.
Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties
Directory of Open Access Journals (Sweden)
Xu Yang
2013-01-01
Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.
Versatile microcomputer-based temperature controller
International Nuclear Information System (INIS)
Yarberry, V.R.
1980-09-01
The wide range of thermal responses required in laboratory and scientific equipment requires a temperature controller with a great deal of flexibility. While a number of analog temperature controllers are commercially available, they have certain limitations, such as inflexible parameter control or insufficient precision. Most lack digital interface capabilities--a necessity when the temperature controller is part of a computer-controlled automatic data acquisition system. We have developed an extremely versatile microcomputer-based temperature controller to fulfill this need in a variety of equipment. The control algorithm used allows optimal tailoring of parameters to control overshoot, response time, and accuracy. This microcomputer-based temperature controller can be used as a standalone instrument (with a teletype used to enter para-meters), or it can be integrated into a data acquisition system
Bilinear Approximate Model-Based Robust Lyapunov Control for Parabolic Distributed Collectors
Elmetennani, Shahrazed; Laleg-Kirati, Taous-Meriem
2016-01-01
This brief addresses the control problem of distributed parabolic solar collectors in order to maintain the field outlet temperature around a desired level. The objective is to design an efficient controller to force the outlet fluid temperature
Robust passive control for Internet-based switching systems with time-delay
Energy Technology Data Exchange (ETDEWEB)
Guan Zhihong [Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074 (China); Zhang Hao [Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074 (China)], E-mail: ehao79@163.com; Yang Shuanghua [Department of Computer Science, Loughborough University, Loughborough LE11 3TU (United Kingdom)
2008-04-15
In this paper, based on remote control and local control strategy, a class of hybrid multi-rate control models with time-delay and switching controllers are formulated and the problem of robust passive control for this discrete system is investigated. By Lyapunov-Krasovskii function and applying it to a descriptor model transformation some new sufficient conditions in form of LMIs are derived. A numerical example is given to illustrate the effectiveness of the theoretical result.
Design of a H∞ Robust Controller with μ-Analysis for Steam Turbine Power Generation Applications
Directory of Open Access Journals (Sweden)
Vincenzo Iannino
2017-07-01
Full Text Available Concentrated Solar Power plants are complex systems subjected to quite sensitive variations of the steam production profile and external disturbances, thus advanced control techniques that ensure system stability and suitable performance criteria are required. In this work, a multi-objective H∞ robust controller is designed and applied to the power control of a Concentered Solar Power plant composed by two turbines, a gear and a generator. In order to provide robust performance and stability in presence of disturbances, not modeled plant dynamics and plant-parameter variations, the advanced features of the μ-analysis are exploited. A high order controller is obtained from the process of synthesis that makes the implementation of the controller difficult and computational more demanding for a Programmable Logic Controller. Therefore, the controller order is reduced through the Balanced Truncation method and then discretized. The obtained robust control is compared to the current Proportional Integral Derivative-based governing system in order to evaluate its performance, considering unperturbed as well as perturbed scenarios, taking into account variations of steam conditions, sensor measurement delays and power losses. The simulations results show that the proposed controller achieves better robustness and performance compared to the existing Proportional Integral Derivative controller.
Li, Yanning
2013-10-01
This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using boundary flow control, as a Linear Program. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP (or MILP if the objective function depends on boolean variables). Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality. © 2013 IEEE.
Li, Yanning; Canepa, Edward S.; Claudel, Christian G.
2013-01-01
This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using boundary flow control, as a Linear Program. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP (or MILP if the objective function depends on boolean variables). Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality. © 2013 IEEE.
Acikmese, Behcet A.; Carson, John M., III
2005-01-01
A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees the resolvability of the associated finite-horizon optimal control problem in a receding-horizon implementation. The control consists of two components; (i) feedforward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives, and derivatives in polytopes. An illustrative numerical example is also provided.
Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng
2018-01-01
To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.
Optimal strategy analysis based on robust predictive control for inventory system with random demand
Saputra, Aditya; Widowati, Sutrisno
2017-12-01
In this paper, the optimal strategy for a single product single supplier inventory system with random demand is analyzed by using robust predictive control with additive random parameter. We formulate the dynamical system of this system as a linear state space with additive random parameter. To determine and analyze the optimal strategy for the given inventory system, we use robust predictive control approach which gives the optimal strategy i.e. the optimal product volume that should be purchased from the supplier for each time period so that the expected cost is minimal. A numerical simulation is performed with some generated random inventory data. We simulate in MATLAB software where the inventory level must be controlled as close as possible to a set point decided by us. From the results, robust predictive control model provides the optimal strategy i.e. the optimal product volume that should be purchased and the inventory level was followed the given set point.
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.
Biophysical control of leaf temperature
Dong, N.; Prentice, I. C.; Wright, I. J.
2014-12-01
In principle sunlit leaves can maintain their temperatures within a narrower range than ambient temperatures. This is an important and long-known (but now overlooked) prediction of energy balance theory. Net radiation at leaf surface in steady state (which is reached rapidly) must be equal to the combination of sensible and latent heat exchanges with surrounding air, the former being proportional to leaf-to-air temperature difference (ΔT), the latter to the transpiration rate. We present field measurements of ΔT which confirm the existence of a 'crossover temperature' in the 25-30˚C range for species in a tropical savanna and a tropical rainforest environment. This finding is consistent with a simple representation of transpiration as a function of net radiation and temperature (Priestley-Taylor relationship) assuming an entrainment factor (ω) somewhat greater than the canonical value of 0.26. The fact that leaves in tropical forests are typically cooler than surrounding air, often already by solar noon, is consistent with a recently published comparison of MODIS day-time land-surface temperatures with air temperatures. Theory further predicts a strong dependence of leaf size (which is inversely related to leaf boundary-layer conductance, and therefore to absolute magnitude of ΔT) on moisture availability. Theoretically, leaf size should be determined by either night-time constraints (risk of frost damage to active leaves) or day-time constraints (risk of heat stress damage),with the former likely to predominate - thereby restricting the occurrence of large leaves - at high latitudes. In low latitudes, daytime maximum leaf size is predicted to increase with temperature, provided that water is plentiful. If water is restricted, however, transpiration cannot proceed at the Priestley-Taylor rate, and it quickly becomes advantageous for plants to have small leaves, which do not heat up much above the temperature of their surroundings. The difference between leaf
Troudet, T.; Garg, S.; Merrill, W.
1992-01-01
The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.
Directory of Open Access Journals (Sweden)
Longge Zhang
2013-01-01
Full Text Available Two automatic robust model predictive control strategies are presented for uncertain polytopic linear plants with input and output constraints. A sequence of nested geometric proportion asymptotically stable ellipsoids and controllers is constructed offline first. Then the feedback controllers are automatically selected with the receding horizon online in the first strategy. Finally, a modified automatic offline robust MPC approach is constructed to improve the closed system's performance. The new proposed strategies not only reduce the conservatism but also decrease the online computation. Numerical examples are given to illustrate their effectiveness.
Directory of Open Access Journals (Sweden)
Guowei Cai
2014-01-01
Full Text Available As to strong nonlinearity of doubly fed induction generators (DFIG and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC. The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.
Xia, Kewei; Huo, Wei
2016-05-01
This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
El Farouq, Naïma, E-mail: naima.elfarouq@univ-bpclermont.fr [Université Blaise Pascal (Clermont-Ferrand II) (France); Bernhard, Pierre, E-mail: pierre.bernhard@inria.fr [INRIA Sophia Antipolis-Méditerranée (France)
2015-10-15
We prove the missing uniqueness theorem for the viscosity solution of a quasi-variational inequality related to a minimax impulse control problem modeling the option pricing with proportional transactions costs. This result makes our robust control approach of option pricing in the interval market model essentially complete.
International Nuclear Information System (INIS)
El Farouq, Naïma; Bernhard, Pierre
2015-01-01
We prove the missing uniqueness theorem for the viscosity solution of a quasi-variational inequality related to a minimax impulse control problem modeling the option pricing with proportional transactions costs. This result makes our robust control approach of option pricing in the interval market model essentially complete
Robust output-feedback control to eliminate stick-slip oscillations in drill-string systems
Vromen, T.G.M.; Dai, C.H.; van de Wouw, N.; Oomen, T.A.E.; Astrid, P.; Nijmeijer, H.
2015-01-01
The aim of this paper is to design a robust output-feedback controller to eliminate torsional stick-slip vibrations. A multi-modal model of the torsional dynamics with a nonlinear bit-rock interaction model is used. The controller design is based on skewed-μ DK-iteration and the stability of the
An improved robust model predictive control for linear parameter-varying input-output models
Abbas, H.S.; Hanema, J.; Tóth, R.; Mohammadpour, J.; Meskin, N.
2018-01-01
This paper describes a new robust model predictive control (MPC) scheme to control the discrete-time linear parameter-varying input-output models subject to input and output constraints. Closed-loop asymptotic stability is guaranteed by including a quadratic terminal cost and an ellipsoidal terminal
Optimal and Robust Switching Control Strategies : Theory, and Applications in Traffic Management
Hajiahmadi, M.
2015-01-01
Macroscopic modeling, predictive and robust control and route guidance for large-scale freeway and urban traffic networks are the main focus of this thesis. In order to increase the efficiency of our control strategies, we propose several mathematical and optimization techniques. Moreover, in the
Saltik, M.B.; Özkan, L.; Ludlage, J.H.A.; Weiland, S.; Van den Hof, P.M.J.
2018-01-01
In this paper, we discuss the model predictive control algorithms that are tailored for uncertain systems. Robustness notions with respect to both deterministic (or set based) and stochastic uncertainties are discussed and contributions are reviewed in the model predictive control literature. We
DEFF Research Database (Denmark)
Lu, Xiaobing; Liu, Zhigang; Song, Yang
2018-01-01
Active control of the pantograph is one of the promising measures for decreasing fluctuation in the contact force between the pantograph and the catenary. In this paper, an estimator-based multiobjective robust control strategy is proposed for an active pantograph, which consists of a state estim...
Robust control of distributed parameter mechanical systems using a multidimensional systems approach
Czech Academy of Sciences Publication Activity Database
Cichy, B.; Augusta, Petr; Rogers, E.; Galkowski, K.; Hurák, Z.
2010-01-01
Roč. 58, č. 1 (2010), s. 67-75 ISSN 0239-7269 R&D Projects: GA MŠk(CZ) 1M0567 Institutional research plan: CEZ:AV0Z10750506 Keywords : robust control * distributed parameter mechanical systems * multidimensional systems Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2010/TR/augusta-0347866.pdf
Robust Economic Control Decision Method of Uncertain System on Urban Domestic Water Supply.
Li, Kebai; Ma, Tianyi; Wei, Guo
2018-03-31
As China quickly urbanizes, urban domestic water generally presents the circumstances of both rising tendency and seasonal cycle fluctuation. A robust economic control decision method for dynamic uncertain systems is proposed in this paper. It is developed based on the internal model principle and pole allocation method, and it is applied to an urban domestic water supply system with rising tendency and seasonal cycle fluctuation. To achieve this goal, first a multiplicative model is used to describe the urban domestic water demand. Then, a capital stock and a labor stock are selected as the state vector, and the investment and labor are designed as the control vector. Next, the compensator subsystem is devised in light of the internal model principle. Finally, by using the state feedback control strategy and pole allocation method, the multivariable robust economic control decision method is implemented. The implementation with this model can accomplish the urban domestic water supply control goal, with the robustness for the variation of parameters. The methodology presented in this study may be applied to the water management system in other parts of the world, provided all data used in this study are available. The robust control decision method in this paper is also applicable to deal with tracking control problems as well as stabilization control problems of other general dynamic uncertain systems.
International Nuclear Information System (INIS)
Safarzadeh, O.; Khaki-Sedigh, A.; Shirani, A.S.
2011-01-01
Highlights: → A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. → To design the controller, fairly accurate linear models are identified for the SG. → The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. → Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. → The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.
Energy Technology Data Exchange (ETDEWEB)
Safarzadeh, O., E-mail: O_Safarzadeh@sbu.ac.ir [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of); Khaki-Sedigh, A. [K. N. Toosi University of Technology, Tehran (Iran, Islamic Republic of); Shirani, A.S. [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of)
2011-09-15
Highlights: {yields} A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. {yields} To design the controller, fairly accurate linear models are identified for the SG. {yields} The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. {yields} Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. {yields} The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.
Robust Multivariable Feedback Control of Natural Gas-Diesel RCCI Combustion
Indrajuana, A.; Bekdemir, C.; Luo, X.; Willems, F.P.T.
2016-01-01
Advanced combustion concepts such as Reactivity Controlled Compression Ignition (RCCI) demonstrate very high thermal efficiencies combined with ultra low NOx emissions. As RCCI is sensitive for operating conditions, closed-loop control is a crucial enabler for stable and robust combustion. The
Robust approximation-free prescribed performance control for nonlinear systems and its application
Sun, Ruisheng; Na, Jing; Zhu, Bin
2018-02-01
This paper presents a robust prescribed performance control approach and its application to nonlinear tail-controlled missile systems with unknown dynamics and uncertainties. The idea of prescribed performance function (PPF) is incorporated into the control design, such that both the steady-state and transient control performance can be strictly guaranteed. Unlike conventional PPF-based control methods, we further tailor a recently proposed systematic control design procedure (i.e. approximation-free control) using the transformed tracking error dynamics, which provides a proportional-like control action. Hence, the function approximators (e.g. neural networks, fuzzy systems) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. The proposed control design leads to a robust yet simplified function approximation-free control for nonlinear systems. The closed-loop system stability and the control error convergence are all rigorously proved. Finally, comparative simulations are conducted based on nonlinear missile systems to validate the improved response and the robustness of the proposed control method.
Parametric synthesis of a robust controller on a base of mathematical programming method
Khozhaev, I. V.; Gayvoronskiy, S. A.; Ezangina, T. A.
2018-05-01
Considered paper is dedicated to deriving sufficient conditions, linking root indices of robust control quality with coefficients of interval characteristic polynomial, on the base of mathematical programming method. On the base of these conditions, a method of PI- and PID-controllers, providing aperiodic transient process with acceptable stability degree and, subsequently, acceptable setting time, synthesis was developed. The method was applied to a problem of synthesizing a controller for a depth control system of an unmanned underwater vehicle.
Dynamic optimization and robust explicit model predictive control of hydrogen storage tank
Panos, C.
2010-09-01
We present a general framework for the optimal design and control of a metal-hydride bed under hydrogen desorption operation. The framework features: (i) a detailed two-dimension dynamic process model, (ii) a design and operational dynamic optimization step, and (iii) an explicit/multi-parametric model predictive controller design step. For the controller design, a reduced order approximate model is obtained, based on which nominal and robust multi-parametric controllers are designed. © 2010 Elsevier Ltd.
Robust Design of H-infinity Controller for a Launch Vehicle Autopilot against Disturbances
Graells, Antonio; Carrabina, Francisco
2016-01-01
Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point was found to design a robust command tracker using H-infinity control theory that guarantees a stable maneuver. At the end, the controller was employed on the launch vehicle to assess the capability of control design on the linearized aerospace vehicle. Exp...
Dynamic optimization and robust explicit model predictive control of hydrogen storage tank
Panos, C.; Kouramas, K.I.; Georgiadis, M.C.; Pistikopoulos, E.N.
2010-01-01
We present a general framework for the optimal design and control of a metal-hydride bed under hydrogen desorption operation. The framework features: (i) a detailed two-dimension dynamic process model, (ii) a design and operational dynamic optimization step, and (iii) an explicit/multi-parametric model predictive controller design step. For the controller design, a reduced order approximate model is obtained, based on which nominal and robust multi-parametric controllers are designed. © 2010 Elsevier Ltd.
Securing a robust electrical discharge drilling process by means of flow rate control
Risto, Matthias; Munz, Markus; Haas, Ruediger; Abdolahi, Ali
2017-10-01
This paper deals with the increase of the process robustness while drilling cemented carbide using electrical discharge machining (EDM). A demand for high efficiency in the resulting diameter is equivalent with a high robustness of the EDM drilling process. Analysis were done to investigate the process robustness (standard deviation of the borehole diameter) when drilling cemented carbide. The investigation has shown that the dielectric flow rate changes over the drilling process. In this case the flow rate decreased with a shorter tool electrode due to an uneven wear of the tool electrode's cross section. Using a controlled flow rate during the drilling process has led to a reduced standard deviation of the borehole diameter, thus to a higher process robustness when drilling cemented carbide.
Temperature Switch PCR (TSP: Robust assay design for reliable amplification and genotyping of SNPs
Directory of Open Access Journals (Sweden)
Mather Diane E
2009-12-01
Full Text Available Abstract Background Many research and diagnostic applications rely upon the assay of individual single nucleotide polymorphisms (SNPs. Thus, methods to improve the speed and efficiency for single-marker SNP genotyping are highly desirable. Here, we describe the method of temperature-switch PCR (TSP, a biphasic four-primer PCR system with a universal primer design that permits amplification of the target locus in the first phase of thermal cycling before switching to the detection of the alleles. TSP can simplify assay design for a range of commonly used single-marker SNP genotyping methods, and reduce the requirement for individual assay optimization and operator expertise in the deployment of SNP assays. Results We demonstrate the utility of TSP for the rapid construction of robust and convenient endpoint SNP genotyping assays based on allele-specific PCR and high resolution melt analysis by generating a total of 11,232 data points. The TSP assays were performed under standardised reaction conditions, requiring minimal optimization of individual assays. High genotyping accuracy was verified by 100% concordance of TSP genotypes in a blinded study with an independent genotyping method. Conclusion Theoretically, TSP can be directly incorporated into the design of assays for most current single-marker SNP genotyping methods. TSP provides several technological advances for single-marker SNP genotyping including simplified assay design and development, increased assay specificity and genotyping accuracy, and opportunities for assay automation. By reducing the requirement for operator expertise, TSP provides opportunities to deploy a wider range of single-marker SNP genotyping methods in the laboratory. TSP has broad applications and can be deployed in any animal and plant species.
International Nuclear Information System (INIS)
Shyu, S.-S.; Edwards, Robert M.
2002-01-01
In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change
International Nuclear Information System (INIS)
Jin, Maolin; Chang, Pyung Hun
2009-01-01
This work presents two simple and robust techniques based on time delay estimation for the respective control and synchronization of chaos systems. First, one of these techniques is applied to the control of a chaotic Lorenz system with both matched and mismatched uncertainties. The nonlinearities in the Lorenz system is cancelled by time delay estimation and desired error dynamics is inserted. Second, the other technique is applied to the synchronization of the Lue system and the Lorenz system with uncertainties. The synchronization input consists of three elements that have transparent and clear meanings. Since time delay estimation enables a very effective and efficient cancellation of disturbances and nonlinearities, the techniques turn out to be simple and robust. Numerical simulation results show fast, accurate and robust performance of the proposed techniques, thereby demonstrating their effectiveness for the control and synchronization of Lorenz systems.
H∞ robust control of load frequency in diesel-battery hybrid electric propulsion ship
Directory of Open Access Journals (Sweden)
LI Hongyue
2017-05-01
Full Text Available Considering the load frequency fluctuation in the shipboard integrated power system caused by such stochastic uncertainty as wind, wave and current, the battery is adopted here to compensate for the difference between diesel generator output power and ship demand power, and the secondary frequency control is used for the diesel generator to guarantee the power balance in the shipboard integrated power system and suppress the frequency fluctuation. The load frequency control problem is modeled as a state space equation, the robust controller is designed by selecting the appropriate sensitivity function and complementary sensitivity function based on the H∞ mixed sensitivity principle, and the controller is solved by the linear matrix inequality(LMIapproach. The amplitude frequency characteristics denote the reasonability of the designed controller and the design requirement is satisfied by the impact of the impulse signal. The simulation results show that, compared with the classical PI controller, the controller designed by the H∞ robust method can significantly suppress frequency fluctuation under stochastic uncertainty, and improve the power variation of the diesel generator, battery and state of charge(SOC. The robust stability and robust performance of the power system are also advanced.
Directory of Open Access Journals (Sweden)
Shiyun Xu
2015-01-01
Full Text Available The present study proposes a hierarchical wide-area decentralized coordinated control framework for HVDC power system that is robust to multiple operating conditions. The upper level wide-area coordinated controller is designed in the form of dynamic output feedback control that coordinates the lower level HVDC supplementary controller, PSS, and SVC. In order to enhance the robustness of the designed controller under various operating conditions, the polytopic model is introduced such that the closed-loop control system can be operated under strong damping mode in virtue of the stability criterion based on damping ratio. Simulation results demonstrate that the proposed controller design algorithm is capable of enhancing the system damping over four different conditions.
A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back
Directory of Open Access Journals (Sweden)
Emre Sariyildiz
2015-08-01
Full Text Available Proportional-Integral-Derivative (PID control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.
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.
Directory of Open Access Journals (Sweden)
Fengjiao Wu
2016-01-01
Full Text Available The robust fuzzy control for fractional-order hydroturbine regulating system is studied in this paper. First, the more practical fractional-order hydroturbine regulating system with uncertain parameters and random disturbances is presented. Then, on the basis of interval matrix theory and fractional-order stability theorem, a fuzzy control method is proposed for fractional-order hydroturbine regulating system, and the stability condition is expressed as a group of linear matrix inequalities. Furthermore, the proposed method has good robustness which can process external random disturbances and uncertain parameters. Finally, the validity and superiority are proved by the numerical simulations.
Quasipolynomial Approach to Simultaneous Robust Control of Time-Delay Systems
Directory of Open Access Journals (Sweden)
Nikolaj Semenič
2014-01-01
Full Text Available A control law for retarded time-delay systems is considered, concerning infinite closed-loop spectrum assignment. An algebraic method for spectrum assignment is presented with a unique optimization algorithm for minimization of spectral abscissa and effective shaping of the chains of infinitely many closed-loop poles. Uncertainty of plant delays of a certain structure is considered in a sense of a robust simultaneous stabilization. Robust performance is achieved using mixed sensitivity design, which is incorporated into the addressed control law.
Directory of Open Access Journals (Sweden)
Ling Lu
2016-12-01
Full Text Available This paper considers the problem of event-triggered decentralized model predictive control (MPC for constrained large-scale linear systems subject to additive bounded disturbances. The constraint tightening method is utilized to formulate the MPC optimization problem. The local predictive control law for each subsystem is determined aperiodically by relevant triggering rule which allows a considerable reduction of the computational load. And then, the robust feasibility and closed-loop stability are proved and it is shown that every subsystem state will be driven into a robust invariant set. Finally, the effectiveness of the proposed approach is illustrated via numerical simulations.
A new look at the robust control of discrete-time Markov jump linear systems
Todorov, M. G.; Fragoso, M. D.
2016-03-01
In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.
Parallel Solution of Robust Nonlinear Model Predictive Control Problems in Batch Crystallization
Directory of Open Access Journals (Sweden)
Yankai Cao
2016-06-01
Full Text Available Representing the uncertainties with a set of scenarios, the optimization problem resulting from a robust nonlinear model predictive control (NMPC strategy at each sampling instance can be viewed as a large-scale stochastic program. This paper solves these optimization problems using the parallel Schur complement method developed to solve stochastic programs on distributed and shared memory machines. The control strategy is illustrated with a case study of a multidimensional unseeded batch crystallization process. For this application, a robust NMPC based on min–max optimization guarantees satisfaction of all state and input constraints for a set of uncertainty realizations, and also provides better robust performance compared with open-loop optimal control, nominal NMPC, and robust NMPC minimizing the expected performance at each sampling instance. The performance of robust NMPC can be improved by generating optimization scenarios using Bayesian inference. With the efficient parallel solver, the solution time of one optimization problem is reduced from 6.7 min to 0.5 min, allowing for real-time application.
Temperature and Humidity Control in Livestock Stables
DEFF Research Database (Denmark)
Hansen, Michael; Andersen, Palle; Nielsen, Kirsten M.
2010-01-01
The paper describes temperature and humidity control of a livestock stable. It is important to have a correct air flow pattern in the livestock stable in order to achieve proper temperature and humidity control as well as to avoid draught. In the investigated livestock stable the air flow...
International Nuclear Information System (INIS)
Yao, Jianyong; Jiao, Zongxia; Yao, Bin
2014-01-01
High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.
Robust control for a biaxial servo with time delay system based on adaptive tuning technique.
Chen, Tien-Chi; Yu, Chih-Hsien
2009-07-01
A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.
Energy Technology Data Exchange (ETDEWEB)
Yao, Jianyong [Nanjing University of Science and Technology, Nanjing (China); Jiao, Zongxia [Beihang University, Beijing (China); Yao, Bin [Purdue University, West Lafayette (United States)
2014-04-15
High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.
Confidence from uncertainty - A multi-target drug screening method from robust control theory
Directory of Open Access Journals (Sweden)
Petzold Linda R
2010-11-01
Full Text Available Abstract Background Robustness is a recognized feature of biological systems that evolved as a defence to environmental variability. Complex diseases such as diabetes, cancer, bacterial and viral infections, exploit the same mechanisms that allow for robust behaviour in healthy conditions to ensure their own continuance. Single drug therapies, while generally potent regulators of their specific protein/gene targets, often fail to counter the robustness of the disease in question. Multi-drug therapies offer a powerful means to restore disrupted biological networks, by targeting the subsystem of interest while preventing the diseased network from reconciling through available, redundant mechanisms. Modelling techniques are needed to manage the high number of combinatorial possibilities arising in multi-drug therapeutic design, and identify synergistic targets that are robust to system uncertainty. Results We present the application of a method from robust control theory, Structured Singular Value or μ- analysis, to identify highly effective multi-drug therapies by using robustness in the face of uncertainty as a new means of target discrimination. We illustrate the method by means of a case study of a negative feedback network motif subject to parametric uncertainty. Conclusions The paper contributes to the development of effective methods for drug screening in the context of network modelling affected by parametric uncertainty. The results have wide applicability for the analysis of different sources of uncertainty like noise experienced in the data, neglected dynamics, or intrinsic biological variability.
International Nuclear Information System (INIS)
Ukai, Hiroyuki; Iwazumi, Tetsuo
1994-01-01
The control problem of xenon-induced spatial oscillations of PWR in the axial direction during a load following operation is investigated. The system models are described by a one-group diffusion equation with xenon and temperature feed-backs, iodine and xenon dynamic equations, and heat conductions processes. Control is implemented by the full-length and the part-length control rods and the boron concentration. In order to achieve the control purpose, control models are formulated as the design problem of robust servo systems for distributed parameter reactor systems. The total thermal power and the axial offset are chosen as outputs to be controlled. The control systems consist of servo compensators and stabilizing compensators. They are designed based on the finite-dimensional systems which are constructed by linearizing around steady states, approximately by the Galerkin method, and reducing dimensions via the singular perturbation method. A new and simple computational algorithm to obtain an approximate solution of a steady-state neutron balance is developed via the perturbation method. Some results of numerical simulations are shown in order to discuss the effectiveness of the theory developed in this paper. In particular, it is shown that the designed servo systems are robust against model errors with linearization and modal truncation
Robust anti-windup control for marine cyber-physical systems
Directory of Open Access Journals (Sweden)
Kakanov Mikhail
2018-01-01
Full Text Available In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.
A Robust Control Scheme for Medium-Voltage-Level DVR Implementation
DEFF Research Database (Denmark)
Blaabjerg, Frede; Loh, Poh Chiang; Li, Yun Wei
2007-01-01
of Hinfin controller weighting function selection, inner current loop tuning, and system disturbance rejection capability is presented. Finally, the designed control scheme is extensively tested on a laboratory 10-kV MV-level DVR system with varying voltage sag (balanced and unbalanced) and loading (linear....../nonlinear load and induction motor load) conditions. It is shown that the proposed control scheme is effective in both balanced and unbalanced sag compensation and load disturbance rejection, as its robustness is explicitly specified....
Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking
Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin
2017-08-01
Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.
Synchronization dynamics in a small pacemaker neuronal ensemble via a robust adaptive controller
International Nuclear Information System (INIS)
Cornejo-Pérez, O.; Solis-Perales, G.C.; Arenas-Prado, J.A.
2012-01-01
The synchronization dynamics of a pacemaker neuronal ensemble under the action of a control command is studied herein. The ensemble corresponds to the pyloric central pattern generator of the stomatogastric ganglion of lobster. The desired dynamics is provided by means of an external master neuron and it is induced via a nonlinear controller. Such a controller is composed of a linearizing-like controller and a high gain observer; the controller is able to counteract uncertainties and external perturbations in the controlled system. Numerical simulations of the robust synchronization dynamics of the master neuron and the pacemaker neuronal ensemble are displayed.
Alexander-Turner, R.; Ortega, P.; Robson, J. I.
2018-04-01
It has been suggested that changes in the Atlantic Meridional Overturning Circulation (AMOC) can drive sea surface temperature (SST) on monthly time scales (Duchez et al., 2016, https://doi.org/10.1002/2017GB005667). However, with only 11 years of continuous observations, the validity of this result over longer, or different, time periods is uncertain. In this study, we use a 120 yearlong control simulation from a high-resolution climate model to test the robustness of the AMOC fingerprints. The model reproduces the observed AMOC seasonal cycle and its variability, and the observed 5-month lagged AMOC-SST fingerprints derived from 11 years of data. However, the AMOC-SST fingerprints are very sensitive to the particular time period considered. In particular, both the Florida current and the upper mid-ocean transport produce highly inconsistent fingerprints when using time periods shorter than 30 years. Therefore, several decades of RAPID observations will be necessary to determine the real impact of the AMOC on SSTs at monthly time scales.
Robust H(∞) control for spacecraft rendezvous with a noncooperative target.
Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang
2013-01-01
The robust H(∞) control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H(∞) performance and finite time performance are proposed, and a robust H(∞) controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.
Yang, Jun; Zolotas, Argyrios; Chen, Wen-Hua; Michail, Konstantinos; Li, Shihua
2011-07-01
Robust control of a class of uncertain systems that have disturbances and uncertainties not satisfying "matching" condition is investigated in this paper via a disturbance observer based control (DOBC) approach. In the context of this paper, "matched" disturbances/uncertainties stand for the disturbances/uncertainties entering the system through the same channels as control inputs. By properly designing a disturbance compensation gain, a novel composite controller is proposed to counteract the "mismatched" lumped disturbances from the output channels. The proposed method significantly extends the applicability of the DOBC methods. Rigorous stability analysis of the closed-loop system with the proposed method is established under mild assumptions. The proposed method is applied to a nonlinear MAGnetic LEViation (MAGLEV) suspension system. Simulation shows that compared to the widely used integral control method, the proposed method provides significantly improved disturbance rejection and robustness against load variation. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
A robust controller design method for feedback substitution schemes using genetic algorithms
Energy Technology Data Exchange (ETDEWEB)
Trujillo, Mirsha M; Hadjiloucas, Sillas; Becerra, Victor M, E-mail: s.hadjiloucas@reading.ac.uk [Cybernetics, School of Systems Engineering, University of Reading, RG6 6AY (United Kingdom)
2011-08-17
Controllers for feedback substitution schemes demonstrate a trade-off between noise power gain and normalized response time. Using as an example the design of a controller for a radiometric transduction process subjected to arbitrary noise power gain and robustness constraints, a Pareto-front of optimal controller solutions fulfilling a range of time-domain design objectives can be derived. In this work, we consider designs using a loop shaping design procedure (LSDP). The approach uses linear matrix inequalities to specify a range of objectives and a genetic algorithm (GA) to perform a multi-objective optimization for the controller weights (MOGA). A clonal selection algorithm is used to further provide a directed search of the GA towards the Pareto front. We demonstrate that with the proposed methodology, it is possible to design higher order controllers with superior performance in terms of response time, noise power gain and robustness.
Robust state feedback controller design of STATCOM using chaotic optimization algorithm
Directory of Open Access Journals (Sweden)
Safari Amin
2010-01-01
Full Text Available In this paper, a new design technique for the design of robust state feedback controller for static synchronous compensator (STATCOM using Chaotic Optimization Algorithm (COA is presented. The design is formulated as an optimization problem which is solved by the COA. Since chaotic planning enjoys reliability, ergodicity and stochastic feature, the proposed technique presents chaos mapping using Lozi map chaotic sequences which increases its convergence rate. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results reveal that the proposed controller has an excellent capability in damping power system low frequency oscillations and enhances greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions shows that the phase based controller is superior compare to the magnitude based controller.
Directory of Open Access Journals (Sweden)
Jian Ding
2014-01-01
Full Text Available This paper addresses the problem of P-type iterative learning control for a class of multiple-input multiple-output linear discrete-time systems, whose aim is to develop robust monotonically convergent control law design over a finite frequency range. It is shown that the 2 D iterative learning control processes can be taken as 1 D state space model regardless of relative degree. With the generalized Kalman-Yakubovich-Popov lemma applied, it is feasible to describe the monotonically convergent conditions with the help of linear matrix inequality technique and to develop formulas for the control gain matrices design. An extension to robust control law design against systems with structured and polytopic-type uncertainties is also considered. Two numerical examples are provided to validate the feasibility and effectiveness of the proposed method.
Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy
Directory of Open Access Journals (Sweden)
N. Ramos-Pedroza
2017-01-01
Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.
Designing a Robust Nonlinear Dynamic Inversion Controller for Spacecraft Formation Flying
Directory of Open Access Journals (Sweden)
Inseok Yang
2014-01-01
Full Text Available The robust nonlinear dynamic inversion (RNDI control technique is proposed to keep the relative position of spacecrafts while formation flying. The proposed RNDI control method is based on nonlinear dynamic inversion (NDI. NDI is nonlinear control method that replaces the original dynamics into the user-selected desired dynamics. Because NDI removes nonlinearities in the model by inverting the original dynamics directly, it also eliminates the need of designing suitable controllers for each equilibrium point; that is, NDI works as self-scheduled controller. Removing the original model also provides advantages of ease to satisfy the specific requirements by simply handling desired dynamics. Therefore, NDI is simple and has many similarities to classical control. In real applications, however, it is difficult to achieve perfect cancellation of the original dynamics due to uncertainties that lead to performance degradation and even make the system unstable. This paper proposes robustness assurance method for NDI. The proposed RNDI is designed by combining NDI and sliding mode control (SMC. SMC is inherently robust using high-speed switching inputs. This paper verifies similarities of NDI and SMC, firstly. And then RNDI control method is proposed. The performance of the proposed method is evaluated by simulations applied to spacecraft formation flying problem.
Distributed robust adaptive control of high order nonlinear multi agent systems.
Hashemi, Mahnaz; Shahgholian, Ghazanfar
2018-03-01
In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation
Directory of Open Access Journals (Sweden)
Jianyong Yao
2013-01-01
Full Text Available Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions. Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.
Robust control of a class of chaotic and hyperchaotic driven systems
Indian Academy of Sciences (India)
2016-12-05
Dec 5, 2016 ... are recently devoted to generate chaos and hyper- chaos dynamics by proposing new PWL systems [6,7]. However, very few results are published on chaos synchronization for such complex systems [8–10]. Over the past ten years, robust chaos synchroniza- tion via state feedback control has been widely ...
Energy Technology Data Exchange (ETDEWEB)
Wang, Fu-Cheng; Chen, Hsuan-Tsung [Department of Mechanical Engineering, National Taiwan University, No.1, Sec. 4, Roosevelt Road, 10617 Taipei (China)
2009-03-15
This paper applies fixed-order multivariable robust control strategies to a proton exchange membrane fuel cell (PEMFC) system, and implements the designed controllers on a microchip for system miniaturization. In previous studies, robust control was applied to guarantee system stability and to reduce hydrogen consumption for a PEMFC system. It was noted that for standard robust control design, the order of resulting H{sub {infinity}} controllers is dictated by the plants and weighting functions. However, for hardware implementation, controllers with lower orders are preferable in terms of computing efforts and cost. Therefore, in this paper the PEMFC is modeled as multivariable transfer matrices, then three fixed-order robust control algorithms are applied to design controllers with specified orders for a PEMFC. Finally, the designed controllers are implemented on a microchip to regulate the air and hydrogen flow rates. From the experimental results, fixed-order robust control is deemed effective in supplying steady power and reducing fuel consumption. (author)
Energy Technology Data Exchange (ETDEWEB)
Oshima, K [JATCO Corp., Shizuoka (Japan); Totsuka, H; Sanada, K; Kitagawa, A [Tokyo Institute of Technology, Tokyo (Japan)
1997-10-01
To effectively reduce shift shock of an Automatic Transmission, we designed a feed-back controller that manipulates the hydraulic pressure of a clutch and input torque, and also controls the turbine revolution and output torque. We used robust control theory to consider the fluctuation of hydraulic characteristics and friction elements, and verified the effect of the controller by simulation and experiment. 1 ref., 11 figs.
A Modified LQG Algorithm (MLQG for Robust Control of Nonlinear Multivariable Systems
Directory of Open Access Journals (Sweden)
Jens G. Balchen
1993-07-01
Full Text Available The original LQG algorithm is often characterized for its lack of robustness. This is because in the design of the estimator (Kalman filter the process disturbance is assumed to be white noise. If the estimator is to give good estimates, the Kalman gain is increased which means that the estimator fails to become robust. A solution to this problem is to replace the proportional Kalman gain matrix by a dynamic PI algorithm and the proportional LQ feedback gain matrix by a PI algorithm. A tuning method is developed which facilitates the tuning of a modified LQG control system (MLQG by only two tuning parameters.
Application of H∞ Robust Control on a Scaled Offshore Oil and Gas De-Oiling Facility
DEFF Research Database (Denmark)
Løhndorf, Petar Durdevic; Yang, Zhenyu
2018-01-01
The offshore de-oiling process is a vital part of current oil recovery, as it separates the profitable oil from water and ensures that the discharged water contains as little of the polluting oil as possible. With the passage of time, there is an increase in the water fraction in reservoirs...... are inefficient in handling fluctuating inflows or complicated operating conditions. This work introduces a model-based robust H ∞ control solution that handles the entire de-oiling system and improves the system’s robustness towards fluctuating flow thereby improving the oil recovery and reducing...
Directory of Open Access Journals (Sweden)
Mohammadtaghi Hamidi Beheshti
2010-01-01
Full Text Available We propose a fractional-order controller to stabilize unstable fractional-order open-loop systems with interval uncertainty whereas one does not need to change the poles of the closed-loop system in the proposed method. For this, we will use the robust stability theory of Fractional-Order Linear Time Invariant (FO-LTI systems. To determine the control parameters, one needs only a little knowledge about the plant and therefore, the proposed controller is a suitable choice in the control of interval nonlinear systems and especially in fractional-order chaotic systems. Finally numerical simulations are presented to show the effectiveness of the proposed controller.
Control of temperature distribution in a supercritical gas extraction tower
International Nuclear Information System (INIS)
Yoshida, M.; Matsumoto, S.; Honda, G.; Iwama, T.; Suzuki, Y.; Odagiri, S.
1989-01-01
A control scheme recently proposed by the authors is applied to the control of axial temperature distribution in a bench-scale supercritical-gas extractor. The extraction unit is constructed from a packed column 3 m long covered by a coaxial cylindrical casing. Although the actual structure of the extractor is very complicated, it is modeled by a simple double-pipe and therefore its mathematical model can be described by a pair of partial differential equations. The models are reduced to a lumped parameter system with a finite dimension by use of the finite Fourier transform technique. The controller is designed on the basis of the reduced model. An extended Kalman filter is used to estimate simultaneously the state variables and the unknown parameters. The results demonstrate that both the state estimation and the controller performance are satisfactory. This implies that the control scheme is very robust in spite of the incompleteness of the model used
Robust multi-objective control of hybrid renewable microgeneration systems with energy storage
International Nuclear Information System (INIS)
Allison, John
2017-01-01
Highlights: • A hybrid energy system of micro-CHP, solar PV, and battery storage is presented. • Possible to exploit synergy of systems to fulfil the thermal and electrical demands. • Can control to minimise the interaction with the local electrical network. • Three different control approaches were compared. • The nonlinear inversion-based control strategy exhibits optimum performance. - Abstract: Microgeneration technologies are positioned to address future building energy efficiency requirements and facilitate the integration of renewables into buildings to ensure a sustainable, energy-secure future. This paper explores the development of a robust multi-input multi-output (MIMO) controller applicable to the control of hybrid renewable microgeneration systems with the objective of minimising the electrical grid utilisation of a building while fulfilling the thermal demands. The controller employs the inverse dynamics of the building, servicing systems, and energy storage with a robust control methodology. These inverse dynamics provides the control system with knowledge of the complex cause and effect relationships between the system, the controlled inputs, and the external disturbances, while an outer-loop control ensures robust, stable control in the presence of modelling deficiencies/uncertainty and unknown disturbances. Variable structure control compensates for the physical limitations of the systems whereby the control strategy employed switches depending on the current utilisation and availability of the energy supplies. Preliminary results presented for a system consisting of a micro-CHP unit, solar PV, and battery storage indicate that the control strategy is effective in minimising the interaction with the local electrical network and maximising the utilisation of the available renewable energy.
Robust multi-model control of an autonomous wind power system
Energy Technology Data Exchange (ETDEWEB)
Cutululis, Nicolas Antonio; Hansen, Anca Daniela; Soerensen, Poul [Risoe National Lab., Wind Energy Dept., Roskilde (Denmark); Ceanga, Emil [' Dunarea de Jos' Univ., Faculty of Electrical Engineering, Galati (Romania)
2006-07-01
This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. (Author)
Robust multi-model control of an autonomous wind power system
Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul
2006-09-01
This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright
Robust H∞ Control of Neutral System with Time-Delay for Dynamic Positioning Ships
Directory of Open Access Journals (Sweden)
Dawei Zhao
2015-01-01
Full Text Available Due to the input time-delay existing in most thrust systems of the ships, the robust H∞ controller is designed for the ship dynamic positioning (DP system with time-delay. The input delay system is turned to a neutral time-delay system by a state-derivative control law. The less conservative result is derived for the neutral system with state-derivative feedback by the delay-decomposition approach and linear matrix inequality (LMI. Finally, the numerical simulations demonstrate the asymptotic stability and robustness of the controller and verify that the designed DP controller is effective in the varying environment disturbances of wind, waves, and ocean currents.
Towards Robust Predictive Fault–Tolerant Control for a Battery Assembly System
Directory of Open Access Journals (Sweden)
Seybold Lothar
2015-12-01
Full Text Available The paper deals with the modeling and fault-tolerant control of a real battery assembly system which is under implementation at the RAFI GmbH company (one of the leading electronic manufacturing service providers in Germany. To model and control the battery assembly system, a unified max-plus algebra and model predictive control framework is introduced. Subsequently, the control strategy is enhanced with fault-tolerance features that increase the overall performance of the production system being considered. In particular, it enables tolerating (up to some degree mobile robot, processing and transportation faults. The paper discusses also robustness issues, which are inevitable in real production systems. As a result, a novel robust predictive fault-tolerant strategy is developed that is applied to the battery assembly system. The last part of the paper shows illustrative examples, which clearly exhibit the performance of the proposed approach.
Controlling LPG temperature for SI engine applications
International Nuclear Information System (INIS)
Ceviz, Mehmet Akif; Kaleli, Alirıza; Güner, Erdoğan
2015-01-01
In this study, the effects of the LPG temperature on the engine performance and the exhaust emission characteristics have been investigated experimentally on an SI engine. In conventional injection systems, the LPG temperature increases excessively during the phase change in pressure regulator, and reduces the engine volumetric efficiency. According to the test results, engine performance and NO emission characteristics can be improved by controlling the LPG temperature before injecting to the engine intake manifold. A new control system taking into account the results of the study has been developed and tested. In order to control the LPG temperature, the coolant flow rate in pressure regulator circuit was arranged by using a control valve activated by a PID controller unit. Results of the study showed that the engine brake power loss can be increased by about 1.85% and NO emissions can be decreased by about 2% as compared to the operation with the original LPG injection system. - Highlights: • Effects of the LPG temperature have been examined. • Engine performance characteristics and exhaust emissions have been studied. • Results reveal that the LPG temperature should be kept in a range. • A prototype LPG temperature control system has been successfully developed
A Reconfigurable Buck, Boost, and Buck-Boost Converter: Unified Model and Robust Controller
Directory of Open Access Journals (Sweden)
Martín Antonio Rodríguez Licea
2018-01-01
Full Text Available The need for reconfigurable, high power density, and low-cost configurations of DC-DC power electronic converters (PEC in areas such as the transport electrification and the use of renewable energy has spread out the requirement to incorporate in a single circuit several topologies, which generally result in an increment of complexity about the modeling, control, and stability analyses. In this paper, a reconfigurable topology is presented which can be applied in alterative/changing power conversion scenarios and consists of a reconfigurable Buck, Boost, and Buck-Boost DC-DC converter (RBBC. A unified averaged model of the RBBC is obtained, a robust controller is designed through a polytopic representation, and a Lyapunov based switched stability analysis of the closed-loop system is presented. The reported RBBC provides a wide range of voltage operation, theoretically from -∞ to ∞ volts with a single power source. Robust stability, even under arbitrarily fast (bounded parameter variations and reconfiguration changes, is reported including numerical and experimental results. The main advantages of the converter and the robust controller proposed are simple design, robustness against abrupt changes in the parameters, and low cost.
Robust H2/H∞ Control for the Electrohydraulic Steering System of a Four-Wheel Vehicle
Directory of Open Access Journals (Sweden)
Min Ye
2014-01-01
Full Text Available To shorten the steer diameter and to improve the maneuverability flexibility of a construction vehicle, four wheels’ steering system is presented. This steering system consists of mechanical-electrical-hydraulic assemblies. Its diagram and principle are depicted in detail. Then the mathematical models are derived step by step, including the whole vehicle model and the hydraulic route model. Considering the nonlinear and time-varying uncertainty of the steering system, robust H2/H∞ controller is put forward to guarantee both the system performance and the robust stability. The H∞ norm of the sensitive function from the parameter perturbation of the hydraulic system to the yaw velocity of the vehicle is taken as the evaluating index of the robustness and the H2 norm of the transfer function from the external disturbance to the steering angle of the wheel as the index of linear quadratic Gaussian. The experimental results showed that the proposed scheme was superior to classical PID controller and can guarantee both the control performance and the robustness of the steering system.
Belmiloudi, Aziz
2006-01-01
We formulate and study robust control problems for a two-dimensional time-dependent Ginzburg-Landau model with Robin boundary conditions on phase-field parameter, which describes the phase transitions taking place in superconductor films with variable thickness. The objective of such study is to control the motion of vortices in the superconductor films by taking into account the influence of noises in data. Firstly, we introduce the perturbation problem of the nonlinear ...
Tools for Trustworthy Autonomy: Robust Predictions, Intuitive Control, and Optimized Interaction
Driggs Campbell, Katherine Rose
2017-01-01
In the near future, robotics will impact nearly every aspect of life. Yet for technology to smoothly integrate into society, we need interactive systems to be well modeled and predictable; have robust decision making and control; and be trustworthy to improve cooperation and interaction. To achieve these goals, we propose taking a human-centered approach to ease the transition into human-dominated fields. In this work, our modeling methods and control schemes are validated through user stu...
Fengjiao Wu; Guitao Zhang; Zhengzhong Wang
2016-01-01
The robust fuzzy control for fractional-order hydroturbine regulating system is studied in this paper. First, the more practical fractional-order hydroturbine regulating system with uncertain parameters and random disturbances is presented. Then, on the basis of interval matrix theory and fractional-order stability theorem, a fuzzy control method is proposed for fractional-order hydroturbine regulating system, and the stability condition is expressed as a group of linear matrix inequalities. ...
Senkel, Luise
2016-01-01
This edited book aims at presenting current research activities in the field of robust variable-structure systems. The scope equally comprises highlighting novel methodological aspects as well as presenting the use of variable-structure techniques in industrial applications including their efficient implementation on hardware for real-time control. The target audience primarily comprises research experts in the field of control theory and nonlinear dynamics but the book may also be beneficial for graduate students.
Temperature Control Diagnostics for Sample Environments
International Nuclear Information System (INIS)
Santodonato, Louis J.; Walker, Lakeisha M.H.; Church, Andrew J.; Redmon, Christopher Mckenzie
2010-01-01
In a scientific laboratory setting, standard equipment such as cryocoolers are often used as part of a custom sample environment system designed to regulate temperature over a wide range. The end user may be more concerned with precise sample temperature control than with base temperature. But cryogenic systems tend to be specified mainly in terms of cooling capacity and base temperature. Technical staff at scientific user facilities (and perhaps elsewhere) often wonder how to best specify and evaluate temperature control capabilities. Here we describe test methods and give results obtained at a user facility that operates a large sample environment inventory. Although this inventory includes a wide variety of temperature, pressure, and magnetic field devices, the present work focuses on cryocooler-based systems.
International Nuclear Information System (INIS)
Jiang, Jian-ping; Li, Dong-xu
2010-01-01
The decentralized robust vibration control with collocated piezoelectric actuator and strain sensor pairs is considered in this paper for spacecraft solar panel structures. Each actuator is driven individually by the output of the corresponding sensor so that only local feedback control is implemented, with each actuator, sensor and controller operating independently. Firstly, an optimal placement method for the location of the collocated piezoelectric actuator and strain gauge sensor pairs is developed based on the degree of observability and controllability indices for solar panel structures. Secondly, a decentralized robust H ∞ controller is designed to suppress the vibration induced by external disturbance. Finally, a numerical comparison between centralized and decentralized control systems is performed in order to investigate their effectiveness to suppress vibration of the smart solar panel. The simulation results show that the vibration can be significantly suppressed with permitted actuator voltages by the controllers. The decentralized control system almost has the same disturbance attenuation level as the centralized control system with a bit higher control voltages. More importantly, the decentralized controller composed of four three-order systems is a better practical implementation than a high-order centralized controller is
Robust control of chaos in Chua's circuit based on internal model principle
International Nuclear Information System (INIS)
Lee, Keum W.; Singh, Sahjendra N.
2007-01-01
The paper treats the question of robust control of chaos in Chua's circuit based on the internal model principle. The Chua's diode has polynomial non-linearity and it is assumed that the parameters of the circuit are not known. A robust control law for the asymptotic regulation of the output (node voltage) along constant and sinusoidal reference trajectories is derived. For the derivation of the control law, the non-linear regulator equations are solved to obtain a manifold in the state space on which the output error is zero and an internal model of the k-fold exosystem (k = 3 here) is constructed. Then a feedback control law using the optimal control theory or pole placement technique for the stabilization of the augmented system including the Chua's circuit and the internal model is derived. In the closed-loop system, robust output node voltage trajectory tracking of sinusoidal and constant reference trajectories are accomplished and in the steady state, the remaining state variables converge to periodic and constant trajectories, respectively. Simulation results are presented which show that in the closed-loop system, asymptotic trajectory control, disturbance rejection and suppression of chaotic motion in spite of uncertainties in the system are accomplished
Robust control of chaos in Chua's circuit based on internal model principle
Energy Technology Data Exchange (ETDEWEB)
Lee, Keum W. [Department of Electrical and Computer Engineering, University of Nevada Las Vegas, 4505 Maryland Parkway, Las Vegas, NV, 89154-4026 (United States); Singh, Sahjendra N. [Department of Electrical and Computer Engineering, University of Nevada Las Vegas, 4505 Maryland Parkway, Las Vegas, NV, 89154-4026 (United States)]. E-mail: sahaj@ee.unlv.edu
2007-03-15
The paper treats the question of robust control of chaos in Chua's circuit based on the internal model principle. The Chua's diode has polynomial non-linearity and it is assumed that the parameters of the circuit are not known. A robust control law for the asymptotic regulation of the output (node voltage) along constant and sinusoidal reference trajectories is derived. For the derivation of the control law, the non-linear regulator equations are solved to obtain a manifold in the state space on which the output error is zero and an internal model of the k-fold exosystem (k = 3 here) is constructed. Then a feedback control law using the optimal control theory or pole placement technique for the stabilization of the augmented system including the Chua's circuit and the internal model is derived. In the closed-loop system, robust output node voltage trajectory tracking of sinusoidal and constant reference trajectories are accomplished and in the steady state, the remaining state variables converge to periodic and constant trajectories, respectively. Simulation results are presented which show that in the closed-loop system, asymptotic trajectory control, disturbance rejection and suppression of chaotic motion in spite of uncertainties in the system are accomplished.
Directory of Open Access Journals (Sweden)
Zhonghua Wu
2017-02-01
Full Text Available A robust adaptive neural control scheme based on a back-stepping technique is developed for the longitudinal dynamics of a flexible hypersonic flight vehicle, which is able to ensure the state tracking error being confined in the prescribed bounds, in spite of the existing model uncertainties and actuator constraints. Minimal learning parameter technique–based neural networks are used to estimate the model uncertainties; thus, the amount of online updated parameters is largely lessened, and the prior information of the aerodynamic parameters is dispensable. With the utilization of an assistant compensation system, the problem of actuator constraint is overcome. By combining the prescribed performance function and sliding mode differentiator into the neural back-stepping control design procedure, a composite state tracking error constrained adaptive neural control approach is presented, and a new type of adaptive law is constructed. As compared with other adaptive neural control designs for hypersonic flight vehicle, the proposed composite control scheme exhibits not only low-computation property but also strong robustness. Finally, two comparative simulations are performed to demonstrate the robustness of this neural prescribed performance controller.
Robust Predictive Functional Control for Flight Vehicles Based on Nonlinear Disturbance Observer
Directory of Open Access Journals (Sweden)
Yinhui Zhang
2015-01-01
Full Text Available A novel robust predictive functional control based on nonlinear disturbance observer is investigated in order to address the control system design for flight vehicles with significant uncertainties, external disturbances, and measurement noise. Firstly, the nonlinear longitudinal dynamics of the flight vehicle are transformed into linear-like state-space equations with state-dependent coefficient matrices. And then the lumped disturbances are considered in the linear structure predictive model of the predictive functional control to increase the precision of the predictive output and resolve the intractable mismatched disturbance problem. As the lumped disturbances cannot be derived or measured directly, the nonlinear disturbance observer is applied to estimate the lumped disturbances, which are then introduced to the predictive functional control to replace the unknown actual lumped disturbances. Consequently, the robust predictive functional control for the flight vehicle is proposed. Compared with the existing designs, the effectiveness and robustness of the proposed flight control are illustrated and validated in various simulation conditions.
Automated Greenhouse : Temperature and soil moisture control
Attalla, Daniela; Tannfelt Wu, Jennifer
2015-01-01
In this thesis an automated greenhouse was built with the purpose of investigating the watering system’s reliability and if a desired range of temperatures can be maintained. The microcontroller used to create the automated greenhouse was an Arduino UNO. This project utilizes two different sensors, a soil moisture sensor and a temperature sensor. The sensors are controlling the two actuators which are a heating fan and a pump. The heating fan is used to change the temperature and the pump is ...
A new cryostat for precise temperature control
Dong, B.; Zhou, G.; Liu, L. Q.; Zhang, X.; Xiong, L. Y.; Li, Q.
2013-09-01
Gifford-McMahon (GM) cryocoolers are often used in cryostat as cold sources. It has advantages of simple structure and low operating cost as well as disadvantages of vibration and temperature oscillation, which are fatal for some applications that are very sensitive to temperature stability at low temperature. To solve the problem, a thermal analysis model which is used to simulate heat transfer in the cryostat is built and discussed. According to the analysis results, a cryostat that can provide variable temperature (4-20 K) for the accurate temperature control experiments is designed and manufactured. In this cryostat, a polytetrafluoroethylene (PTFE) sheet is used as a thermal damper to reduce the temperature oscillation, with which, the temperature oscillation of the sample cooling holder is less than 4 mK at the 20 K region.
Internal Temperature Control For Vibration Testers
Dean, Richard J.
1996-01-01
Vibration test fixtures with internal thermal-transfer capabilities developed. Made of aluminum for rapid thermal transfer. Small size gives rapid response to changing temperatures, with better thermal control. Setup quicker and internal ducting facilitates access to parts being tested. In addition, internal flows smaller, so less energy consumed in maintaining desired temperature settings.
Directory of Open Access Journals (Sweden)
Hamid Reza Karimi
2012-01-01
Full Text Available This paper is concerned with the robust control problems for the synchronization of master-slave chaotic systems with disturbance input. By constructing a series of Lyapunov functions, novel H-Infinity robust synchronization controllers are designed, whose control regulation possess the characteristic of simpleness and explicitness. Finally, numerical simulations are provided to demonstrate the effectiveness of the proposed techniques.
Robust nonlinear control design with application to a marine cooling system
DEFF Research Database (Denmark)
Hansen, Michael; Stoustrup, Jakob; Bendtsen, Jan Dimon
2012-01-01
. In this context, we apply a bilinear transformation to obtain a well-posed H-inf problem. The design procedure is applied to a marine cooling system with flow dependent delays and performance of the resulting control design is evaluated through a simulation example where a comparison is made to a linear control......In this paper we consider design of control laws for a class of nonlinear systems with time-varying state delays by use of principles from feedback linearization. To deal with model uncertainties and delay mismatches, a robust linear H-inf controller is designed for the feedback linearized system...
Robust D-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle
Directory of Open Access Journals (Sweden)
Xiao-lu Ren
2014-01-01
Full Text Available This paper deals with the aerodynamic modeling of a small ducted fan UAV and the problem of attitude stabilization when the parameter of the vehicle is varied. The main aerodynamic model of the hovering flight UAV is first presented. Then, an attitude control is designed from a linearization of the dynamic model around the hovering flight, which is based on the H∞ output feedback control theory with D-stability. Simulation results show that such method has good robustness to the attitude system. They can meet the requirements of attitude control and verify further the feasibility of such a control strategy.
Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach
Directory of Open Access Journals (Sweden)
Sami ud Din
2016-01-01
Full Text Available This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.
On robust control of uncertain chaotic systems: a sliding-mode synthesis via chaotic optimization
International Nuclear Information System (INIS)
Lu Zhao; Shieh Leangsan; Chen GuanRong
2003-01-01
This paper presents a novel Lyapunov-based control approach which utilizes a Lyapunov function of the nominal plant for robust tracking control of general multi-input uncertain nonlinear systems. The difficulty of constructing a control Lyapunov function is alleviated by means of predefining an optimal sliding mode. The conventional schemes for constructing sliding modes of nonlinear systems stipulate that the system of interest is canonical-transformable or feedback-linearizable. An innovative approach that exploits a chaotic optimizing algorithm is developed thereby obtaining the optimal sliding manifold for the control purpose. Simulations on the uncertain chaotic Chen's system illustrate the effectiveness of the proposed approach
Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer
Directory of Open Access Journals (Sweden)
Pengchao Zhang
2018-01-01
Full Text Available This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV. It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.
International Nuclear Information System (INIS)
Han, Seong Ik; Jeong, Chan Se; Yang, Soon Yong
2012-01-01
A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme
A robust control strategy for a class of distributed network with transmission delays
DEFF Research Database (Denmark)
Vahid Naghavi, S.; A. Safavi, A.; Khooban, Mohammad Hassan
2016-01-01
Purpose The purpose of this paper is to concern the design of a robust model predictive controller for distributed networked systems with transmission delays. Design/methodology/approach The overall system is composed of a number of interconnected nonlinear subsystems with time-varying transmission...... as an optimization problem of a “worst-case” objective function over an infinite moving horizon. Findings The aim is to propose control synthesis approach that depends on nonlinearity and time varying delay characteristics. The MPC problem is represented in a time varying delayed state feedback structure....... Then the synthesis sufficient condition is provided in the form of a linear matrix inequality (LMI) optimization and is solved online at each time instant. In the rest, an LMI-based decentralized observer-based robust model predictive control strategy is proposed. Originality/value The authors develop RMPC...
Directory of Open Access Journals (Sweden)
Mariana Santos Matos Cavalca
2012-01-01
Full Text Available One of the main advantages of predictive control approaches is the capability of dealing explicitly with constraints on the manipulated and output variables. However, if the predictive control formulation does not consider model uncertainties, then the constraint satisfaction may be compromised. A solution for this inconvenience is to use robust model predictive control (RMPC strategies based on linear matrix inequalities (LMIs. However, LMI-based RMPC formulations typically consider only symmetric constraints. This paper proposes a method based on pseudoreferences to treat asymmetric output constraints in integrating SISO systems. Such technique guarantees robust constraint satisfaction and convergence of the state to the desired equilibrium point. A case study using numerical simulation indicates that satisfactory results can be achieved.
A Data-Driven Frequency-Domain Approach for Robust Controller Design via Convex Optimization
AUTHOR|(CDS)2092751; Martino, Michele
The objective of this dissertation is to develop data-driven frequency-domain methods for designing robust controllers through the use of convex optimization algorithms. Many of today's industrial processes are becoming more complex, and modeling accurate physical models for these plants using first principles may be impossible. Albeit a model may be available; however, such a model may be too complex to consider for an appropriate controller design. With the increased developments in the computing world, large amounts of measured data can be easily collected and stored for processing purposes. Data can also be collected and used in an on-line fashion. Thus it would be very sensible to make full use of this data for controller design, performance evaluation, and stability analysis. The design methods imposed in this work ensure that the dynamics of a system are captured in an experiment and avoids the problem of unmodeled dynamics associated with parametric models. The devised methods consider robust designs...
Energy Technology Data Exchange (ETDEWEB)
Han, Seong Ik [Pusan National University, Busan (Korea, Republic of); Jeong, Chan Se; Yang, Soon Yong [University of Ulsan, Ulsan (Korea, Republic of)
2012-04-15
A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme.
Characteristic Model-Based Robust Model Predictive Control for Hypersonic Vehicles with Constraints
Directory of Open Access Journals (Sweden)
Jun Zhang
2017-06-01
Full Text Available Designing robust control for hypersonic vehicles in reentry is difficult, due to the features of the vehicles including strong coupling, non-linearity, and multiple constraints. This paper proposed a characteristic model-based robust model predictive control (MPC for hypersonic vehicles with reentry constraints. First, the hypersonic vehicle is modeled by a characteristic model composed of a linear time-varying system and a lumped disturbance. Then, the identification data are regenerated by the accumulative sum idea in the gray theory, which weakens effects of the random noises and strengthens regularity of the identification data. Based on the regenerated data, the time-varying parameters and the disturbance are online estimated according to the gray identification. At last, the mixed H2/H∞ robust predictive control law is proposed based on linear matrix inequalities (LMIs and receding horizon optimization techniques. Using active tackling system constraints of MPC, the input and state constraints are satisfied in the closed-loop control system. The validity of the proposed control is verified theoretically according to Lyapunov theory and illustrated by simulation results.
Shrinkage Estimators for Robust and Efficient Inference in Haplotype-Based Case-Control Studies
Chen, Yi-Hau
2009-03-01
Case-control association studies often aim to investigate the role of genes and gene-environment interactions in terms of the underlying haplotypes (i.e., the combinations of alleles at multiple genetic loci along chromosomal regions). The goal of this article is to develop robust but efficient approaches to the estimation of disease odds-ratio parameters associated with haplotypes and haplotype-environment interactions. We consider "shrinkage" estimation techniques that can adaptively relax the model assumptions of Hardy-Weinberg-Equilibrium and gene-environment independence required by recently proposed efficient "retrospective" methods. Our proposal involves first development of a novel retrospective approach to the analysis of case-control data, one that is robust to the nature of the gene-environment distribution in the underlying population. Next, it involves shrinkage of the robust retrospective estimator toward a more precise, but model-dependent, retrospective estimator using novel empirical Bayes and penalized regression techniques. Methods for variance estimation are proposed based on asymptotic theories. Simulations and two data examples illustrate both the robustness and efficiency of the proposed methods.
Shrinkage Estimators for Robust and Efficient Inference in Haplotype-Based Case-Control Studies
Chen, Yi-Hau; Chatterjee, Nilanjan; Carroll, Raymond J.
2009-01-01
Case-control association studies often aim to investigate the role of genes and gene-environment interactions in terms of the underlying haplotypes (i.e., the combinations of alleles at multiple genetic loci along chromosomal regions). The goal of this article is to develop robust but efficient approaches to the estimation of disease odds-ratio parameters associated with haplotypes and haplotype-environment interactions. We consider "shrinkage" estimation techniques that can adaptively relax the model assumptions of Hardy-Weinberg-Equilibrium and gene-environment independence required by recently proposed efficient "retrospective" methods. Our proposal involves first development of a novel retrospective approach to the analysis of case-control data, one that is robust to the nature of the gene-environment distribution in the underlying population. Next, it involves shrinkage of the robust retrospective estimator toward a more precise, but model-dependent, retrospective estimator using novel empirical Bayes and penalized regression techniques. Methods for variance estimation are proposed based on asymptotic theories. Simulations and two data examples illustrate both the robustness and efficiency of the proposed methods.
On the temperature control in self-controlling hyperthermia therapy
Energy Technology Data Exchange (ETDEWEB)
Ebrahimi, Mahyar, E-mail: ebrahimi_m@mehr.sharif.ir
2016-10-15
In self-controlling hyperthermia therapy, once the desired temperature is reached, the heat generation ceases and overheating is prevented. In order to design a system that generates sufficient heat without thermal ablation of surrounding healthy tissue, a good understanding of temperature distribution and its change with time is imperative. This study is conducted to extend our understanding about the heat generation and transfer, temperature distribution and temperature rise pattern in the tumor and surrounding tissue during self-controlling magnetic hyperthermia. A model consisting of two concentric spheres that represents the tumor and its surrounding tissue is considered and temperature change pattern and temperature distribution in tumor and surrounding tissue are studied. After describing the model and its governing equations and constants precisely, a typical numerical solution of the model is presented. Then it is showed that how different parameters like Curie temperature of nanoparticles, magnetic field amplitude and nanoparticles concentration can affect the temperature change pattern during self-controlling magnetic hyperthermia. The model system herein discussed can be useful to gain insight on the self-controlling magnetic hyperthermia while applied to cancer treatment in real scenario and can be useful for treatment strategy determination. - Highlights: • Temperature change pattern in tumor and surrounding tissue are studied. • The model system herein can be useful for treatment strategy determination. • In the work described herein, emphasis is on the effect of low Curie temperature. • If the equilibrium temperature can be tuned appropriately, the stay time will be infinite.
On the temperature control in self-controlling hyperthermia therapy
International Nuclear Information System (INIS)
Ebrahimi, Mahyar
2016-01-01
In self-controlling hyperthermia therapy, once the desired temperature is reached, the heat generation ceases and overheating is prevented. In order to design a system that generates sufficient heat without thermal ablation of surrounding healthy tissue, a good understanding of temperature distribution and its change with time is imperative. This study is conducted to extend our understanding about the heat generation and transfer, temperature distribution and temperature rise pattern in the tumor and surrounding tissue during self-controlling magnetic hyperthermia. A model consisting of two concentric spheres that represents the tumor and its surrounding tissue is considered and temperature change pattern and temperature distribution in tumor and surrounding tissue are studied. After describing the model and its governing equations and constants precisely, a typical numerical solution of the model is presented. Then it is showed that how different parameters like Curie temperature of nanoparticles, magnetic field amplitude and nanoparticles concentration can affect the temperature change pattern during self-controlling magnetic hyperthermia. The model system herein discussed can be useful to gain insight on the self-controlling magnetic hyperthermia while applied to cancer treatment in real scenario and can be useful for treatment strategy determination. - Highlights: • Temperature change pattern in tumor and surrounding tissue are studied. • The model system herein can be useful for treatment strategy determination. • In the work described herein, emphasis is on the effect of low Curie temperature. • If the equilibrium temperature can be tuned appropriately, the stay time will be infinite.
Whorton, M. S.
1998-01-01
Many spacecraft systems have ambitious objectives that place stringent requirements on control systems. Achievable performance is often limited because of difficulty of obtaining accurate models for flexible space structures. To achieve sufficiently high performance to accomplish mission objectives may require the ability to refine the control design model based on closed-loop test data and tune the controller based on the refined model. A control system design procedure is developed based on mixed H2/H(infinity) optimization to synthesize a set of controllers explicitly trading between nominal performance and robust stability. A homotopy algorithm is presented which generates a trajectory of gains that may be implemented to determine maximum achievable performance for a given model error bound. Examples show that a better balance between robustness and performance is obtained using the mixed H2/H(infinity) design method than either H2 or mu-synthesis control design. A second contribution is a new procedure for closed-loop system identification which refines parameters of a control design model in a canonical realization. Examples demonstrate convergence of the parameter estimation and improved performance realized by using the refined model for controller redesign. These developments result in an effective mechanism for achieving high-performance control of flexible space structures.
Temperature Control System for Mushroom Dryer
Wibowo, I. A.; Indah, Nur; Sebayang, D.; Adam, N. H.
2018-03-01
The main problem in mushroom cultivation is the handling after the harvest. Drying is one technique to preserve the mushrooms. Traditionally, mushrooms are dried by sunshine which depends on the weather. This affects the quality of the dried mushrooms. Therefore, this paper proposes a system to provide an artificial drying for mushrooms in order to maintain their quality. The objective of the system is to control the mushroom drying process to be faster compared to the natural drying at an accurate and right temperature. A model of the mushroom dryer has been designed, built, and tested. The system comprises a chamber, heater, blower, temperature sensor and electronic control circuit. A microcontroller is used as the controller which is programmed to implement a bang-bang control that regulates the temperature of the chamber. A desired temperature is inputted as a set point of the control system. Temperature of 45 °C is chosen as the operational drying temperature. Several tests have been carried out to examine the performance of the system including drying speed, the effects of ambient conditions, and the effects of mushroom size. The results show that the system can satisfy the objective.
Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach
Pei, Jing; Newsome, Jerry R.
2015-01-01
Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.
Study of the intelligent control robustness with respect to radiations induced faults
International Nuclear Information System (INIS)
Cheynet, Ph.
1999-01-01
The so-called intelligent control techniques, such as Artificial Neural Networks and Fuzzy Logic, are considered as being potentially robust. Their digital implementation gives compact and powerful solutions to some problems difficult to be tackled by classical techniques. Such approaches might be used for applications working in harsh environment (nuclear and space). The aim of this thesis is to study the robustness of artificial neural networks and fuzzy logic against Single Event Upset faults, in order to evaluate their viability and their efficiency for onboard spacecraft processes. A set of experiments have been performed on a neural network and a fuzzy controller, both implementing real space applications: texture analysis from satellite images and wheel control of a martian rover. An original method, allowing to increase the recognition rate of any artificial neural network has been developed and used on the studied network. Digital architectures implementing the two studied techniques in this thesis, have been boarded on two scientific satellites. One is in flight since one year, the other will be launched in the end of 1999. Obtained results, both from software simulations, hardware fault injections or particle accelerator tests, show that intelligent control techniques have a significant robustness against Single Event Upset faults. Data issued from the flight experiment confirm these properties, showing that some onboard spacecraft processes can be reliably executed by digital artificial neural networks. (author)
Adaptive Robust Online Constructive Fuzzy Control of a Complex Surface Vehicle System.
Wang, Ning; Er, Meng Joo; Sun, Jing-Chao; Liu, Yan-Cheng
2016-07-01
In this paper, a novel adaptive robust online constructive fuzzy control (AR-OCFC) scheme, employing an online constructive fuzzy approximator (OCFA), to deal with tracking surface vehicles with uncertainties and unknown disturbances is proposed. Significant contributions of this paper are as follows: 1) unlike previous self-organizing fuzzy neural networks, the OCFA employs decoupled distance measure to dynamically allocate discriminable and sparse fuzzy sets in each dimension and is able to parsimoniously self-construct high interpretable T-S fuzzy rules; 2) an OCFA-based dominant adaptive controller (DAC) is designed by employing the improved projection-based adaptive laws derived from the Lyapunov synthesis which can guarantee reasonable fuzzy partitions; 3) closed-loop system stability and robustness are ensured by stable cancelation and decoupled adaptive compensation, respectively, thereby contributing to an auxiliary robust controller (ARC); and 4) global asymptotic closed-loop system can be guaranteed by AR-OCFC consisting of DAC and ARC and all signals are bounded. Simulation studies and comprehensive comparisons with state-of-the-arts fixed- and dynamic-structure adaptive control schemes demonstrate superior performance of the AR-OCFC in terms of tracking and approximation accuracy.
A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays
Directory of Open Access Journals (Sweden)
Na Chen
2018-01-01
Full Text Available Automated vehicles are designed to free drivers from driving tasks and are expected to improve traffic safety and efficiency when connected via vehicle-to-vehicle communication, that is, connected automated vehicles (CAVs. The time delays and model uncertainties in vehicle control systems pose challenges for automated driving in real world. Ignoring them may render the performance of cooperative driving systems unsatisfactory or even unstable. This paper aims to design a robust and flexible platooning control strategy for CAVs. A centralized control method is presented, where the leader of a CAV platoon collects information from followers, computes the desired accelerations of all controlled vehicles, and broadcasts the desired accelerations to followers. The robust platooning is formulated as a Min-Max Model Predictive Control (MM-MPC problem, where optimal accelerations are generated to minimize the cost function under the worst case, where the worst case is taken over the possible models. The proposed method is flexible in such a way that it can be applied to both homogeneous platoon and heterogeneous platoon with mixed human-driven and automated controlled vehicles. A third-order linear vehicle model with fixed feedback delay and stochastic actuator lag is used to predict the platoon behavior. Actuator lag is assumed to vary randomly with unknown distributions but a known upper bound. The controller regulates platoon accelerations over a time horizon to minimize a cost function representing driving safety, efficiency, and ride comfort, subject to speed limits, plausible acceleration range, and minimal net spacing. The designed strategy is tested by simulating homogeneous and heterogeneous platoons in a number of typical and extreme scenarios to assess the system stability and performance. The test results demonstrate that the designed control strategy for CAV can ensure the robustness of stability and performance against model uncertainties
Quantum control of isomerization by robust navigation in the energy spectrum
Energy Technology Data Exchange (ETDEWEB)
Murgida, G. E., E-mail: murgida@tandar.cnea.gov.ar [Centro Atómico Constituyentes, GIyA, CNEA, San Martín, and Consejo Nacional de Investigaciones Científicas y Técnicas, C1033AAJ Buenos Aires (Argentina); Arranz, F. J., E-mail: fj.arranz@upm.es [Grupo de Sistemas Complejos, Universidad Politécnica de Madrid, 28040 Madrid (Spain); Borondo, F., E-mail: f.borondo@uam.es [Departamento de Química, Universidad Autónoma de Madrid, Cantoblanco, 28049 Madrid (Spain); Instituto de Ciencias Matemáticas (ICMAT), Cantoblanco, 28049 Madrid (Spain)
2015-12-07
In this paper, we present a detailed study on the application of the quantum control technique of navigation in the energy spectrum to chemical isomerization processes, namely, CN–Li⇆ Li–CN. This technique is based on the controlled time variation of a Hamiltonian parameter, an external uniform electric field in our case. The main result of our work establishes that the navigation involved in the method is robust, in the sense that quite sizable deviations from a pre-established control parameter time profile can be introduced and still get good final results. This is specially relevant thinking of a experimental implementation of the method.
Wang, Qian; Xue, Anke
2018-06-01
This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.
Automatic temperature control method of shipping can
International Nuclear Information System (INIS)
Nishikawa, Kaoru.
1992-01-01
The present invention provides a method of rapidly and accurately controlling the temperature of a shipping can, which is used upon shipping inspection for a nuclear fuel assembly. That is, a measured temperature value of the shipping can is converted to a gas pressure setting value in a jacket of the shipping can by conducting a predetermined logic calculation by using a fuzzy logic. A gas pressure control section compares the pressure setting value of a fuzzy estimation section and the measured value of the gas pressure in the jacket of the shipping can, and conducts air supply or exhaustion of the jacket gas so as to adjust the measured value with the setting value. These fuzzy estimation section and gas pressure control section control the gas pressure in the jacket of the shipping can to control the water level in the jacket. As a result, the temperature of the shipping can is controlled. With such procedures, since the water level in the jacket can be controlled directly and finely, temperature of the shipping can is automatically controlled rapidly and accurately compared with a conventional case. (I.S.)
Large Signal Stabilization of Hybrid AC/DC Micro-Grids Using Nonlinear Robust Controller
Directory of Open Access Journals (Sweden)
Reza Pejmanfar
2017-12-01
Full Text Available This paper presents a robust nonlinear integrated controller to improve stability of hybrid AC/DC micro-grids under islanding mode. The proposed controller includes two independent controllers where each one is responsible to control one part of the system. First controller will improve the stability of input DC/DC converter. Using this controller, the voltage of DC bus is fully stabilized such that when a large disturbance occurs, its voltage will become constant without any significant dynamic. The necessity of DC bus regulation which has not been considered in previous studies, is imminent as it not only improves voltage stability of the micro-grid but also protects consumers which are directly connected to the DC bus, against voltage variations. Frequency stability of the micro-grid is provided by the second proposed controller which is applied to output DC/AC converter of the micro-grid. Adaptive method is used to make the controllers proposed in this paper, robust. Duty cycle of converters switches are adjusted such that voltage and frequency of the micro-grid are set on the desired value in minimum possible time under transient disturbances and uncertainty of the loads as well as micro-sources characteristics.
Directory of Open Access Journals (Sweden)
Nitish Katal
2016-01-01
Full Text Available Automation of the robust control system synthesis for uncertain systems is of great practical interest. In this paper, the loop shaping step for synthesizing quantitative feedback theory (QFT based controller for a two-phase permanent magnet stepper motor (PMSM has been automated using teaching learning-based optimization (TLBO algorithm. The QFT controller design problem has been posed as an optimization problem and TLBO algorithm has been used to minimize the proposed cost function. This facilitates designing low-order fixed-structure controller, eliminates the need of manual loop shaping step on the Nichols charts, and prevents the overdesign of the controller. A performance comparison of the designed controller has been made with the classical PID tuning method of Ziegler-Nichols and QFT controller tuned using other optimization algorithms. The simulation results show that the designed QFT controller using TLBO offers robust stability, disturbance rejection, and proper reference tracking over a range of PMSM’s parametric uncertainties as compared to the classical design techniques.
Robust Power Management Control for Stand-Alone Hybrid Power Generation System
International Nuclear Information System (INIS)
Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa
2017-01-01
This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method. (paper)
Fuzzy adaptive robust control for space robot considering the effect of the gravity
Directory of Open Access Journals (Sweden)
Qin Li
2014-12-01
Full Text Available Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control (FARC strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative (PD controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.
Efimov, Denis; Schiffer, Johannes; Ortega, Romeo
2016-05-01
Motivated by the problem of phase-locking in droop-controlled inverter-based microgrids with delays, the recently developed theory of input-to-state stability (ISS) for multistable systems is extended to the case of multistable systems with delayed dynamics. Sufficient conditions for ISS of delayed systems are presented using Lyapunov-Razumikhin functions. It is shown that ISS multistable systems are robust with respect to delays in a feedback. The derived theory is applied to two examples. First, the ISS property is established for the model of a nonlinear pendulum and delay-dependent robustness conditions are derived. Second, it is shown that, under certain assumptions, the problem of phase-locking analysis in droop-controlled inverter-based microgrids with delays can be reduced to the stability investigation of the nonlinear pendulum. For this case, corresponding delay-dependent conditions for asymptotic phase-locking are given.
DEFF Research Database (Denmark)
Ahmadi, Mohamadreza; Mojallali, Hamed; Wisniewski, Rafal
2012-01-01
This paper addresses the robust stability and control problem of uncertain piecewise linear switched systems where, instead of the conventional Carathe ́odory solutions, we allow for Filippov solutions. In other words, in contrast to the previous studies, solutions with infinite switching in fini...... algorithm is proposed to surmount the aforementioned matrix inequality conditions....... time along the facets and on faces of arbitrary dimensions are also taken into account. Firstly, based on earlier results, the stability problem of piecewise linear systems with Filippov solutions is translated into a number of linear matrix inequality feasibility tests. Subsequently, a set of matrix...... inequalities are brought forward, which determines the asymptotic stability of the Filippov solutions of a given uncertain piecewise linear system. Afterwards, bilinear matrix inequality conditions for synthesizing a robust controller with a guaranteed H∞ per- formance are formulated. Finally, a V-K iteration...
Directory of Open Access Journals (Sweden)
Yun Li
2013-01-01
Full Text Available A fault detection approach based on nonlinear robust observer is designed for the networked suspension control system of Maglev train with random induced time delay. First, considering random bounded time-delay and external disturbance, the nonlinear model of the networked suspension control system is established. Then, a nonlinear robust observer is designed using the input of the suspension gap. And the estimate error is proved to be bounded with arbitrary precision by adopting an appropriate parameter. When sensor faults happen, the residual between the real states and the observer outputs indicates which kind of sensor failures occurs. Finally, simulation results using the actual parameters of CMS-04 maglev train indicate that the proposed method is effective for maglev train.
Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles
Directory of Open Access Journals (Sweden)
Martín Antonio Rodríguez Licea
2014-01-01
Full Text Available The aim of this paper is to propose a differential braking rollover mitigation strategy for wheeled vehicles. The strategy makes use of a polytopic (piecewise linear description of the vehicle and includes translational and rotational dynamics, as well as suspension effects. The braking controller is robust and the system states are predicted to estimate the rollover risk up to a given time horizon. In contrast to existing works, the switched predictive nature of the control allows it to be applied only when risk of rollover is foreseen, interfering a minimum with driver’s actions. The stability of the strategy is analyzed and its robustness is illustrated via numerical simulations using CarSim for a variety of vehicles.
Robust output feedback cruise control for high-speed train movement with uncertain parameters
International Nuclear Information System (INIS)
Li Shu-Kai; Yang Li-Xing; Li Ke-Ping
2015-01-01
In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov’s stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities (LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H ∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods. (paper)
Control design and robustness analysis of a ball and plate system by using polynomial chaos
Energy Technology Data Exchange (ETDEWEB)
Colón, Diego [University of São Paulo, Polytechnic School, LAC -PTC, São Paulo (Brazil); Balthazar, José M. [São Paulo State University - Rio Claro Campus, Rio Claro (Brazil); Reis, Célia A. dos [São Paulo State University - Bauru Campus, Bauru (Brazil); Bueno, Átila M.; Diniz, Ivando S. [São Paulo State University - Sorocaba Campus, Sorocaba (Brazil); Rosa, Suelia de S. R. F. [University of Brasilia, Brasilia (Brazil)
2014-12-10
In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.
Robust control of uncertain dynamic systems a linear state space approach
Yedavalli, Rama K
2014-01-01
This textbook aims to provide a clear understanding of the various tools of analysis and design for robust stability and performance of uncertain dynamic systems. In model-based control design and analysis, mathematical models can never completely represent the “real world” system that is being modeled, and thus it is imperative to incorporate and accommodate a level of uncertainty into the models. This book directly addresses these issues from a deterministic uncertainty viewpoint and focuses on the interval parameter characterization of uncertain systems. Various tools of analysis and design are presented in a consolidated manner. This volume fills a current gap in published works by explicitly addressing the subject of control of dynamic systems from linear state space framework, namely using a time-domain, matrix-theory based approach. This book also: Presents and formulates the robustness problem in a linear state space model framework Illustrates various systems level methodologies with examples and...
DEFF Research Database (Denmark)
Mirzaei, Mahmood; Poulsen, Niels Kjølstad; Niemann, Hans Henrik
2012-01-01
Robust model predictive control (RMPC) of a class of nonlinear systems is considered in this paper. We will use Linear Parameter Varying (LPV) model of the nonlinear system. By taking the advantage of having future values of the scheduling variable, we will simplify state prediction. Because...... of the special structure of the problem, uncertainty is only in the B matrix (gain) of the state space model. Therefore by taking advantage of this structure, we formulate a tractable minimax optimization problem to solve robust model predictive control problem. Wind turbine is chosen as the case study and we...... choose wind speed as the scheduling variable. Wind speed is measurable ahead of the turbine, therefore the scheduling variable is known for the entire prediction horizon....
Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.
Guo, Qing; Yu, Tian; Jiang, Dan
2015-11-01
In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Biologically inspired control of humanoid robot arms robust and adaptive approaches
Spiers, Adam; Herrmann, Guido
2016-01-01
This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...
Robust control design for active driver assistance systems a linear-parameter-varying approach
Gáspár, Péter; Bokor, József; Nemeth, Balazs
2017-01-01
This monograph focuses on control methods that influence vehicle dynamics to assist the driver in enhancing passenger comfort, road holding, efficiency and safety of transport, etc., while maintaining the driver’s ability to override that assistance. On individual-vehicle-component level the control problem is formulated and solved by a unified modelling and design method provided by the linear parameter varying (LPV) framework. The global behaviour desired is achieved by a judicious interplay between the individual components, guaranteed by an integrated control mechanism. The integrated control problem is also formalized and solved in the LPV framework. Most important among the ideas expounded in the book are: application of the LPV paradigm in the modelling and control design methodology; application of the robust LPV design as a unified framework for setting control tasks related to active driver assistance; formulation and solution proposals for the integrated vehicle control problem; proposal for a re...
ROBUST CONTROL OF END-TIDAL CO2 USING THE H∞ LOOP-SHAPING APPROACH
Directory of Open Access Journals (Sweden)
Anake Pomprapa
2013-12-01
Full Text Available Mechanically ventilated patients require appropriate settings of respiratory control variables to maintain acceptable gas exchange. To control the carbon dioxide (CO2 level effectively and automatically, system identification based on a human subject was performed using a linear affine model and a nonlinear Hammerstein structure. Subsequently, a robust controller was designed using the H∞ loop-shaping approach, which synthesizes the optimal controller based on a specific objective by achieving stability with guaranteed performance. For demonstration purposes, the closed-loop control ventilation system was successfully tested in a human volunteer. The experimental results indicate that the blood CO2 level may indeed be controlled noninvasively by measuring end-tidal CO2 from expired air. Keeping the limited amount of experimental data in mind, we conclude that H∞ loop-shaping may be a promising technique for control of mechanical ventilation in patients with respiratory insufficiency.
Feedback control linear, nonlinear and robust techniques and design with industrial applications
Dodds, Stephen J
2015-01-01
This book develops the understanding and skills needed to be able to tackle original control problems. The general approach to a given control problem is to try the simplest tentative solution first and, when this is insufficient, to explain why and use a more sophisticated alternative to remedy the deficiency and achieve satisfactory performance. This pattern of working gives readers a full understanding of different controllers and teaches them to make an informed choice between traditional controllers and more advanced modern alternatives in meeting the needs of a particular plant. Attention is focused on the time domain, covering model-based linear and nonlinear forms of control together with robust control based on sliding modes and the use of state observers such as disturbance estimation. Feedback Control is self-contained, paying much attention to explanations of underlying concepts, with detailed mathematical derivations being employed where necessary. Ample use is made of diagrams to aid these conce...
Uranium casting furnace automatic temperature control development
International Nuclear Information System (INIS)
Lind, R.F.
1992-01-01
Development of an automatic molten uranium temperature control system for use on batch-type induction casting furnaces is described. Implementation of a two-color optical pyrometer, development of an optical scanner for the pyrometer, determination of furnace thermal dynamics, and design of control systems are addressed. The optical scanning system is shown to greatly improve pyrometer measurement repeatability, particularly where heavy floating slag accumulations cause surface temperature gradients. Thermal dynamics of the furnaces were determined by applying least-squares system identification techniques to actual production data. A unity feedback control system utilizing a proportional-integral-derivative compensator is designed by using frequency-domain techniques. 14 refs
Robust Stability Clearance of Flight Control Law Based on Global Sensitivity Analysis
Ou, Liuli; Liu, Lei; Dong, Shuai; Wang, Yongji
2014-01-01
To validate the robust stability of the flight control system of hypersonic flight vehicle, which suffers from a large number of parametrical uncertainties, a new clearance framework based on structural singular value ( $\\mu $ ) theory and global uncertainty sensitivity analysis (SA) is proposed. In this framework, SA serves as the preprocess of uncertain model to be analysed to help engineers to determine which uncertainties affect the stability of the closed loop system more slightly. By ig...
Temperature control in interstitial laser cancer immunotherapy
Bandyopadhyay, Pradip K.; Holmes, Kyland; Burnett, Corinthius; Zharov, Vladimir P.
2003-07-01
Positive results of Laser-Assisted Cancer Immunotherapy (LACI) have been reported previously in the irradiation of superficial tumors. This paper reports the effect of LACI using laser interstitial therapy approach. We hypothesize that the maximum immuno response depends on laser induced tumor temperature. The measurement of tumor temperature is crucial to ensure necrosis by thermal damage and immuno response. Wister Furth female rats in this study were inoculated with 13762 MAT B III rat mammary adinocarcinoma. LACI started seven to ten days following inoculation. Contrary to surface irradation, we applied laser interstitial irradiation of tumor volume to maximize the energy deposition. A diode laser with a wavelength of 805 nm was used for tumor irradiation. The laser energy was delivered inside the tumor through a quartz fiber. Tumor temperature was measured with a micro thermocouple (interstitial), while the tumor surface temperature was controlled with an IR detector. The temperature feedback demonstrates that it is possible to maintain the average tumor temperature at the same level with reasonable accuracy in the desired range from 65°C-85°C. In some experiments we used microwave thermometry to control average temperature in deep tissue for considerable period of time, to cause maximum thermal damage to the tumor. The experimental set-up and the different temperature measurement techniques are reported in detail, including the advantages and disadvantages for each method.
Robustness of a rhythmic circuit to short- and long-term temperature changes.
Tang, Lamont S; Taylor, Adam L; Rinberg, Anatoly; Marder, Eve
2012-07-18
Recent computational and experimental work has shown that similar network performance can result from variable sets of synaptic and intrinsic properties. Because temperature is a global perturbation that differentially influences every biological process within the nervous system, one might therefore expect that individual animals would respond differently to temperature. Nonetheless, the phase relationships of the pyloric rhythm of the stomatogastric ganglion (STG) of the crab, Cancer borealis, are remarkably invariant between 7 and 23°C (Tang et al., 2010). Here, we report that, when isolated STG preparations were exposed to more extreme temperature ranges, their networks became nonrhythmic, or "crashed", in a reversible fashion. Animals were acclimated for at least 3 weeks at 7, 11, or 19°C. When networks from the acclimated animals were perturbed by acute physiologically relevant temperature ramps (11-23°C), the network frequency and phase relationships were independent of the acclimation group. At high acute temperatures (>23°C), circuits from the cold-acclimated animals produced less-regular pyloric rhythms than those from warm-acclimated animals. At high acute temperatures, phase relationships between pyloric neurons were more variable from animal to animal than at moderate acute temperatures, suggesting that individual differences across animals in intrinsic circuit parameters are revealed at high temperatures. This shows that individual and variable neuronal circuits can behave similarly in normal conditions, but their behavior may diverge when confronted with extreme external perturbations.
Extreme temperature robust optical sensor designs and fault-tolerant signal processing
Riza, Nabeel Agha [Oviedo, FL; Perez, Frank [Tujunga, CA
2012-01-17
Silicon Carbide (SiC) probe designs for extreme temperature and pressure sensing uses a single crystal SiC optical chip encased in a sintered SiC material probe. The SiC chip may be protected for high temperature only use or exposed for both temperature and pressure sensing. Hybrid signal processing techniques allow fault-tolerant extreme temperature sensing. Wavelength peak-to-peak (or null-to-null) collective spectrum spread measurement to detect wavelength peak/null shift measurement forms a coarse-fine temperature measurement using broadband spectrum monitoring. The SiC probe frontend acts as a stable emissivity Black-body radiator and monitoring the shift in radiation spectrum enables a pyrometer. This application combines all-SiC pyrometry with thick SiC etalon laser interferometry within a free-spectral range to form a coarse-fine temperature measurement sensor. RF notch filtering techniques improve the sensitivity of the temperature measurement where fine spectral shift or spectrum measurements are needed to deduce temperature.
Musthofa, M.W.; Salmah, S.; Engwerda, Jacob; Suparwanto, A.
This paper studies the robust optimal control problem for descriptor systems. We applied differential game theory to solve the disturbance attenuation problem. The robust control problem was converted into a reduced ordinary zero-sum game. Within a linear quadratic setting, we solved the problem for
Birds achieve high robustness in uneven terrain through active control of landing conditions.
Birn-Jeffery, Aleksandra V; Daley, Monica A
2012-06-15
We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust stability, and address whether strategies vary with obstacle height. We found that control of landing conditions was crucial for minimising fluctuations in stance leg loading and work in uneven terrain. Variation in touchdown leg angle (θ(TD)) was correlated with the orientation of ground force during stance, and the angle between the leg and body velocity vector at touchdown (β(TD)) was correlated with net limb work. Pheasants actively targeted obstacles to control body velocity and leg posture at touchdown to achieve nearly steady dynamics on the obstacle step. In the approach step to an obstacle, the birds produced net positive limb work to launch themselves upward. On the obstacle, body dynamics were similar to uniform terrain. Pheasants also increased swing leg retraction velocity during obstacle negotiation, which we suggest is an active strategy to minimise fluctuations in peak force and leg posture in uneven terrain. Thus, pheasants appear to achieve robustly stable locomotion through a combination of path planning using visual feedback and active adjustment of leg swing dynamics to control landing conditions. We suggest that strategies for robust stability are context specific, depending on the quality of sensory feedback available, especially visual input.
Context-dependent adaptation improves robustness of myoelectric control for upper-limb prostheses
Patel, Gauravkumar K.; Hahne, Janne M.; Castellini, Claudio; Farina, Dario; Dosen, Strahinja
2017-10-01
Objective. Dexterous upper-limb prostheses are available today to restore grasping, but an effective and reliable feed-forward control is still missing. The aim of this work was to improve the robustness and reliability of myoelectric control by using context information from sensors embedded within the prosthesis. Approach. We developed a context-driven myoelectric control scheme (cxMYO) that incorporates the inference of context information from proprioception (inertial measurement unit) and exteroception (force and grip aperture) sensors to modulate the outputs of myoelectric control. Further, a realistic evaluation of the cxMYO was performed online in able-bodied subjects using three functional tasks, during which the cxMYO was compared to a purely machine-learning-based myoelectric control (MYO). Main results. The results demonstrated that utilizing context information decreased the number of unwanted commands, improving the performance (success rate and dropped objects) in all three functional tasks. Specifically, the median number of objects dropped per round with cxMYO was zero in all three tasks and a significant increase in the number of successful transfers was seen in two out of three functional tasks. Additionally, the subjects reported better user experience. Significance. This is the first online evaluation of a method integrating information from multiple on-board prosthesis sensors to modulate the output of a machine-learning-based myoelectric controller. The proposed scheme is general and presents a simple, non-invasive and cost-effective approach for improving the robustness of myoelectric control.
Control of xenon spatial oscillations during load follow of nuclear reactor via robust servo systems
International Nuclear Information System (INIS)
Ukai, Hiroyuki; Yada, Yukihiro; Iwazumi, Tetsuo; Morita, Yoshifumi.
1990-01-01
This paper investigates the control problem of xenon spatial oscillations in the axial direction during load following operations of a nuclear reactor. The system model is described by a one-group diffusion equation with xenon and power feedbacks and iodine-xenon dynamic equations and controlled by full-length and part-length control rods. In order to achieve the control purpose we formulate the control model as the design problem of robust servo systems for distributed parameter reactor systems. Hence the total thermal power and the axial offset are chosen as outputs to be controlled. The control law is designed based upon finite-dimensional systems which are constructed by linearizing around steady states, approximating by the Galerkin approximate method and reducing dimensions via the singular perturbation method. From a computational point of view a simple computational algorithm to obtain an approximate solution of the steady state neutron balance is developed via the perturbation method. Some results of numerical simulations are represented to show effectiveness of the theory developed in this paper. Particularly it is shown that the designed servo systems are robust against model errors with the linearization and the model truncation. (author)
ESBWR power maneuvering via feedwater temperature control
International Nuclear Information System (INIS)
Saha, P.; Marquino, W.; Tucker, L. J.
2008-01-01
The ESBWR is a Generation III+ Boiling Water Reactor (BWR) driven by natural circulation. For a given geometry/hardware, system pressure, downcomer water level and feedwater temperature, the core flow rate in the ESBWR is only a function of reactor power, controlled through the control blade movement. In order to provide operational flexibility, another method of core-wide or global power maneuvering via feedwater temperature control has been developed. This is independent of power maneuvering via control blade movement, and it lowers the linear heat generation rate (LHGR) changes near the tip of control blades, which improves fuel reliability. All required stability, anticipated operational occurrences (AOOs), infrequent events, special events including anticipated transients without scram (ATWS), and loss-of-coolant accident (LOCA) analyses have been performed for the 4500 MWt ESBWR. Based on the results of these analyses at 'high', nominal and 'low' feedwater temperatures, a safe Power - Feedwater Temperature operating domain has been developed. This paper summarizes the results of these analyses and presents the ESBWR Power - Feedwater Temperature operating domain or map. (authors)
International Nuclear Information System (INIS)
Gavel, D.T.; Pittenger, L.C.; McDonald, J.S.; Cramer, P.G.; Herget, C.J.
1985-01-01
A robust control system has been designed to regulate temperature in a vacuum vessel. The thermodynamic process is modeled by a set of nonlinear, implicit differential equations. The control design and analysis task exercised many of the computer-aided control systems design software packages, including MATLAB, DELIGHT, and LSAP. The working environment is a VAX computer. Advantages and limitations of the software and environment, and the impact on final controller design is discussed
Gavel, D. T.; Pittenger, L. C.; McDonald, J. S.; Cramer, P. G.; Herget, C. J.
A robust control system has been designed to regulate temperature in a vacuum vessel. The thermodynamic process is modeled by a set of nonlinear, implicit differential equations. The control design and analysis task exercised many of the computer-aided control systems design software packages, including MATLAB, DELIGHT, AND LSAP. The working environment is a VAX computer. Advantages and limitations of the software and environment, and the impact on final controller design is discussed.
Two wheel speed robust sliding mode control for electric vehicle drive
Directory of Open Access Journals (Sweden)
Abdelfatah Nasri
2008-01-01
Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.
Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives
DEFF Research Database (Denmark)
Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.
2013-01-01
This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load...... extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow......- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when...
A Uniform Voltage Gain Control for Alignment Robustness in Wireless EV Charging
Directory of Open Access Journals (Sweden)
Yabiao Gao
2015-08-01
Full Text Available The efficiency of wireless power transfer is sensitive to the horizontal and vertical distances between the transmitter and receiver coils due to the magnetic coupling change. To address the output voltage variation and efficiency drop caused by misalignment, a uniform voltage gain frequency control is implemented to improve the power delivery and efficiency of wireless power transfer under misalignment. The frequency is tuned according to the amplitude and phase-frequency characteristics of coupling variations in order to maintain a uniform output voltage in the receiver coil. Experimental comparison of three control methods, including fixed frequency control, resonant frequency control, and the proposed uniform gain control was conducted and demonstrated that the uniform voltage gain control is the most robust method for managing misalignment in wireless charging applications.
Robust independent modal space control of a coupled nano-positioning piezo-stage
Zhu, Wei; Yang, Fufeng; Rui, Xiaoting
2018-06-01
In order to accurately control a coupled 3-DOF nano-positioning piezo-stage, this paper designs a hybrid controller. In this controller, a hysteresis observer based on a Bouc-Wen model is established to compensate the hysteresis nonlinearity of the piezoelectric actuator first. Compared to hysteresis compensations using Preisach model and Prandt-Ishlinskii model, the compensation method using the hysteresis observer is computationally lighter. Then, based on the proposed dynamics model, by constructing the modal filter, a robust H∞ independent modal space controller is designed and utilized to decouple the piezo-stage and deal with the unmodeled dynamics, disturbance, and hysteresis compensation error. The effectiveness of the proposed controller is demonstrated experimentally. The experimental results show that the proposed controller can significantly achieve the high-precision positioning.
Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.
Jarrett, C; McDaid, A J
2017-07-01
A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.
Nonlinear Robust Control of a Hypersonic Flight Vehicle Using Fuzzy Disturbance Observer
Directory of Open Access Journals (Sweden)
Lei Zhengdong
2013-01-01
Full Text Available This paper is concerned with a novel tracking controller design for a hypersonic flight vehicle in complex and volatile environment. The attitude control model is challengingly constructed with multivariate uncertainties and external disturbances, such as structure dynamic and stochastic wind disturbance. In order to resist the influence of uncertainties and disturbances on the flight control system, nonlinear disturbance observer is introduced to estimate them. Moreover, for the sake of high accuracy and sensitivity, fuzzy theory is adopted to improve the performance of the nonlinear disturbance observer. After the total disturbance is eliminated by dynamic inversion method, a cascade system is obtained and then stabilized by a sliding-mode controller. Finally, simulation results show that the strong robust controller achieves excellent performance when the closed-loop control system is influenced by mass uncertainties and external disturbances.
Robust Longitudinal Aircraft- Control Based on an Adaptive Fuzzy-Logic Algorithm
Directory of Open Access Journals (Sweden)
Abdel- Latif Elshafei
2002-06-01
Full Text Available To study the aircraft response to a fast pull-up manoeuvre, a short period approximation of the longitudinal model is considered. The model is highly nonlinear and includes parametric uncertainties. To cope with a wide range of command signals, a robust adaptive fuzzy logic controller is proposed. The proposed controller adopts a dynamic inversion approach. Since feedback linearization is practically imperfect, robustifying and adaptive components are included in the control law to compensate for modeling errors and achieve acceptable tracking errors. Two fuzzy systems are implemented. The first system models the nominal values of the system’s nonlinearity. The second system is an adaptive one that compensates for modeling errors. The derivation of the control law based on a dynamic game approach is given in detail. Stability of the closed-loop control system is also verified. Simulation results based on an F16-model illustrate a successful tracking performance of the proposed controller.
Robust Control of Welding Robot for Tracking a Rectangular Welding Line
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Manh Dung Ngo
2008-11-01
Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.
Robust Control of Welding Robot for Tracking a Rectangular Welding Line
Directory of Open Access Journals (Sweden)
Manh Dung Ngo
2006-09-01
Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.
Thermoelectric Control Of Temperatures Of Pressure Sensors
Burkett, Cecil G., Jr.; West, James W.; Hutchinson, Mark A.; Lawrence, Robert M.; Crum, James R.
1995-01-01
Prototype controlled-temperature enclosure containing thermoelectric devices developed to house electronically scanned array of pressure sensors. Enclosure needed because (1) temperatures of transducers in sensors must be maintained at specified set point to ensure proper operation and calibration and (2) sensors sometimes used to measure pressure in hostile environments (wind tunnels in original application) that are hotter or colder than set point. Thus, depending on temperature of pressure-measurement environment, thermoelectric devices in enclosure used to heat or cool transducers to keep them at set point.
International Nuclear Information System (INIS)
Park, Moon Ghu; Cho, Nam Zin
1993-01-01
A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods. (Author)
A robust internal control for high-precision DNA methylation analyses by droplet digital PCR.
Pharo, Heidi D; Andresen, Kim; Berg, Kaja C G; Lothe, Ragnhild A; Jeanmougin, Marine; Lind, Guro E
2018-01-01
Droplet digital PCR (ddPCR) allows absolute quantification of nucleic acids and has potential for improved non-invasive detection of DNA methylation. For increased precision of the methylation analysis, we aimed to develop a robust internal control for use in methylation-specific ddPCR. Two control design approaches were tested: (a) targeting a genomic region shared across members of a gene family and (b) combining multiple assays targeting different pericentromeric loci on different chromosomes. Through analyses of 34 colorectal cancer cell lines, the performance of the control assay candidates was optimized and evaluated, both individually and in various combinations, using the QX200™ droplet digital PCR platform (Bio-Rad). The best-performing control was tested in combination with assays targeting methylated CDO1 , SEPT9 , and VIM . A 4Plex panel consisting of EPHA3 , KBTBD4 , PLEKHF1 , and SYT10 was identified as the best-performing control. The use of the 4Plex for normalization reduced the variability in methylation values, corrected for differences in template amount, and diminished the effect of chromosomal aberrations. Positive Droplet Calling (PoDCall), an R-based algorithm for standardized threshold determination, was developed, ensuring consistency of the ddPCR results. Implementation of a robust internal control, i.e., the 4Plex, and an algorithm for automated threshold determination, PoDCall, in methylation-specific ddPCR increase the precision of DNA methylation analysis.
Robust Switching Control and Subspace Identification for Flutter of Flexible Wing
Directory of Open Access Journals (Sweden)
Yizhe Wang
2018-01-01
Full Text Available Active flutter suppression and subspace identification for a flexible wing model using micro fiber composite actuator were experimentally studied in a low speed wind tunnel. NACA0006 thin airfoil model was used for the experimental object to verify the performance of identification algorithm and designed controller. The equation of the fluid, vibration, and piezoelectric coupled motion was theoretically analyzed and experimentally identified under the open-loop and closed-loop condition by subspace method for controller design. A robust pole placement algorithm in terms of linear matrix inequality that accommodates the model uncertainty caused by identification deviation and flow speed variation was utilized to stabilize the divergent aeroelastic system. For further enlarging the flutter envelope, additional controllers were designed subject to the models beyond the flutter speed. Wind speed was measured online as the decision parameter of switching between the controllers. To ensure the stability of arbitrary switching, Common Lyapunov function method was applied to design the robust pole placement controllers for different models to ensure that the closed-loop system shared a common Lyapunov function. Wind tunnel result showed that the designed controllers could stabilize the time varying aeroelastic system over a wide range under arbitrary switching.
A New Robust Tracking Control Design for Turbofan Engines: H∞/Leitmann Approach
Directory of Open Access Journals (Sweden)
Muxuan Pan
2017-04-01
Full Text Available In this paper, a H ∞ /Leitmann approach to the robust tracking control design is presented for an uncertain dynamic system. This new method is developed in the following two steps. Firstly, a tracking dynamic system with simultaneous consideration of parameter uncertainty and noise is modeled based on a linear system and a reference model. Accordingly, a “nominal system” from the tracking system is defined and controlled by a H ∞ control to obtain the asymptotical stability and noise resistance. Secondly, by making use of a Lyapunov function and the norm boundedness, a new robust control with the “Leitmann approach” is designed to cope with the uncertainty. The two controls collaborate with each other to achieve “uniform tracking boundedness” and “uniform ultimate tracking boundedness”. The new approach is then applied to an aircraft turbofan control design, and the numerical simulation results show the prescribed performances of the closed-loop system and the advantage of the developed approach.
International Nuclear Information System (INIS)
Lee, Jung Pil; Kim, Han Gun
2012-01-01
In this paper, the robust superconductor flywheel energy storage system(SFESS) controller using H control theory was designed to damp low frequency oscillation of power system. The main advantage of the controller is that uncertainties of power system can be included at the stage of controller design. Both disturbance attenuation and robust stability for the power system were treated simultaneously by using mixed sensitivity problem. The robust stability and the performance for uncertainties of power system were represented by frequency weighted transfer function. To verify control performance of proposed SFESS controller using control, the closed loop eigenvalue and the damping ratio in dominant oscillation mode of power system were analyzed and nonlinear simulation for one-machine infinite bus system was performed under disturbance for various operating conditions. The results showed that the proposed SFESS controller was more robust than conventional power system stabilizer (PSS).
Audit, Control and Monitoring Design Patterns (ACMDP for Autonomous Robust Systems (ARS
Directory of Open Access Journals (Sweden)
C. Trad
2008-11-01
Full Text Available This paper proposes the Audit, Control and Monitoring Design Patterns (ACMDP for building Autonomous and Robust Systems (ARS such as Mobile Robot Systems (MRS. These patterns are also applicable to other Mission Critical and Complex Systems (MCCS. This paper presents a proposal which will help ARS project managers and engineers design, build and estimate the probability that an ARS will succeed or fail. Furthermore, this proposal offers the possibility to ARS problems with the help of audit, monitoring and controlling components, adjust the project management pathways, and define the problem sources as well as their possible solutions, in order to deliver an ARS or an MRS.
New Results on Robust Model Predictive Control for Time-Delay Systems with Input Constraints
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Qing Lu
2014-01-01
Full Text Available This paper investigates the problem of model predictive control for a class of nonlinear systems subject to state delays and input constraints. The time-varying delay is considered with both upper and lower bounds. A new model is proposed to approximate the delay. And the uncertainty is polytopic type. For the state-feedback MPC design objective, we formulate an optimization problem. Under model transformation, a new model predictive controller is designed such that the robust asymptotical stability of the closed-loop system can be guaranteed. Finally, the applicability of the presented results are demonstrated by a practical example.
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. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Self-organization principles result in robust control of flexible manufacturing systems
DEFF Research Database (Denmark)
Nature shows us in our daily life how robust, flexible and optimal self-organized modular constructions work in complex physical, chemical and biological systems, which successfully adapt to new and unexpected situations. A promising strategy is therefore to use such self-organization and pattern...... problems with several autonomous robots and several targets are considered as model of flexible manufacturing systems. Each manufacturing target has to be served in a given time interval by one and only one robot and the total working costs have to be minimized (or total winnings maximized). A specifically...... constructed dynamical system approach (coupled selection equations) is used which is based on pattern formation principles and results in fault resistant and robust behaviour. An important feature is that this type of control also guarantees feasiblitiy of the assignment solutions. In previous work...
Directory of Open Access Journals (Sweden)
Wei Jiang
2016-01-01
Full Text Available This study investigates the problem of asymptotic stabilization for a class of discrete-time linear uncertain time-delayed systems with input constraints. Parametric uncertainty is assumed to be structured, and delay is assumed to be known. In Lyapunov stability theory framework, two synthesis schemes of designing nonfragile robust model predictive control (RMPC with time-delay compensation are put forward, where the additive and the multiplicative gain perturbations are, respectively, considered. First, by designing appropriate Lyapunov-Krasovskii (L-K functions, the robust performance index is defined as optimization problems that minimize upper bounds of infinite horizon cost function. Then, to guarantee closed-loop stability, the sufficient conditions for the existence of desired nonfragile RMPC are obtained in terms of linear matrix inequalities (LMIs. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed approaches.
An Improved Generalized Predictive Control in a Robust Dynamic Partial Least Square Framework
Directory of Open Access Journals (Sweden)
Jin Xin
2015-01-01
Full Text Available To tackle the sensitivity to outliers in system identification, a new robust dynamic partial least squares (PLS model based on an outliers detection method is proposed in this paper. An improved radial basis function network (RBFN is adopted to construct the predictive model from inputs and outputs dataset, and a hidden Markov model (HMM is applied to detect the outliers. After outliers are removed away, a more robust dynamic PLS model is obtained. In addition, an improved generalized predictive control (GPC with the tuning weights under dynamic PLS framework is proposed to deal with the interaction which is caused by the model mismatch. The results of two simulations demonstrate the effectiveness of proposed method.
Switched Two-Level H∞ and Robust Fuzzy Learning Control of an Overhead Crane
Directory of Open Access Journals (Sweden)
Kao-Ting Hung
2013-01-01
Full Text Available Overhead cranes are typical dynamic systems which can be modeled as a combination of a nominal linear part and a highly nonlinear part. For such kind of systems, we propose a control scheme that deals with each part separately, yet ensures global Lyapunov stability. The former part is readily controllable by the H∞ PDC techniques, and the latter part is compensated by fuzzy mixture of affine constants, leaving the remaining unmodeled dynamics or modeling error under robust learning control using the Nelder-Mead simplex algorithm. Comparison with the adaptive fuzzy control method is given via simulation studies, and the validity of the proposed control scheme is demonstrated by experiments on a prototype crane system.
Nonlinear Robust Disturbance Attenuation Control Design for Static Var Compensator in Power System
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Ting Liu
2013-01-01
Full Text Available The problem of designing an adaptive backstepping controller for nonlinear static var compensator (SVC system is addressed adopting two perspectives. First, instead of artificially assuming an upper bound or inequality scaling, the minimax theory is used to treat the external unknown disturbances. The system is insensitive to effects of large disturbances due to taking into account the worst case disturbance. Second, a parameter projection mechanism is introduced in adaptive control to force the parameter estimate within a prior specified interval. The proposed controller handles the nonlinear parameterization without compromising control smoothness and at the same time the parameter estimate speed is improved and the robustness of system is strengthened. Considering the short-circuit ground fault and mechanical power perturbation, a simulation study is carried out. The results show the effectiveness of the proposed control method.
Simba, Kenneth Renny; Bui, Ba Dinh; Msukwa, Mathew Renny; Uchiyama, Naoki
2018-04-01
In feed drive systems, particularly machine tools, a contour error is more significant than the individual axial tracking errors from the view point of enhancing precision in manufacturing and production systems. The contour error must be within the permissible tolerance of given products. In machining complex or sharp-corner products, large contour errors occur mainly owing to discontinuous trajectories and the existence of nonlinear uncertainties. Therefore, it is indispensable to design robust controllers that can enhance the tracking ability of feed drive systems. In this study, an iterative learning contouring controller consisting of a classical Proportional-Derivative (PD) controller and disturbance observer is proposed. The proposed controller was evaluated experimentally by using a typical sharp-corner trajectory, and its performance was compared with that of conventional controllers. The results revealed that the maximum contour error can be reduced by about 37% on average. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.