This report presents the stability and the control of the Large Hadron Collider's (LHC) two beam orbits and their particle momenta using beam-based feedback systems. The aim of this report is to contribute to a safe and reliable LHC commissioning and machine operation. The first part of the analysis gives an estimate of the expected sources of orbit and energy perturbations that can be grouped into environmental sources, machine-inherent sources and machine element failures: the slowest perturbation due to ground motion, tides, temperature fluctuations of the tunnel and other environmental influences are described in this report by a propagation model that is both qualitatively and quantitatively supported by geophone and beam motion measurements at LEP and other CERN accelerators. The second part of this analysis deals with the control of the two LHC beams' orbit and energy through automated feedback systems. Based on the reading of the more than 1056 beam position monitors (BPMs) that are distributed over the machine, a central global feedback controller calculates new deflection strengths for the more than 1060 orbit corrector magnets (CODs) that are suitable to correct the orbit and momentum around their references. this report provides an analysis of the BPMs and CODs involved in the orbit and energy feedback. The BPMs are based on a wide-band time normaliser circuit that converts the transverse beam position reading of each individual particle bunch into two laser pulses that are separated by a time delay and transmitted through optical fibres to an acquisition card that converts the delay signals into a digital position. A simple error model has been tested and compared to the measurement accuracy of LHC type BPMs, obtained through beam-based measurements in the SPS. The average beam position is controlled through 1060 superconducting and individually powered corrector dipole magnets. The proposed correction in 'time-domain' consists of a
Lag time characteristics are used for investigation of stability of linear systems. Digital PID controller is divided onto linear part, which is realized with a soft and pure lag unit, which is realized with both hardware and software. With use notions amplitude and phase margins, condition for stability of system functioning are obtained. Theoretical results are confirm with computer experiment carried out on the third-order system.
Full Text Available Nonlinear properties of magnetic flux feedback control system have been investigated mainly in this paper. We analyzed the influence of magnetic flux feedback control system on control property by time delay and interfering signal of acceleration. First of all, we have established maglev nonlinear model based on magnetic flux feedback and then discussed hopf bifurcation’s condition caused by the acceleration’s time delay. The critical value of delayed time is obtained. It is proved that the period solution exists in maglev control system and the stable condition has been got. We obtained the characteristic values by employing center manifold reduction theory and normal form method, which represent separately the direction of hopf bifurcation, the stability of the period solution, and the period of the period motion. Subsequently, we discussed the influence maglev system on stability of by acceleration’s interfering signal and obtained the stable domain of interfering signal. Some experiments have been done on CMS04 maglev vehicle of National University of Defense Technology (NUDT in Tangshan city. The results of experiments demonstrate that viewpoints of this paper are correct and scientific. When time lag reaches the critical value, maglev system will produce a supercritical hopf bifurcation which may cause unstable period motion.
The equivalence of a rectifier with a controlled grid and a sampled device is established. Then, the sampled servomechanism theory is applied to the study of the response and of the local stability of a feedback control having a rectifiers system charged by an inductance-resistance assembly, in the case of the permanent conduction. The case of a feedback control of the first order and then of the second order are studied. The expressions of the test and sampled responses with a sinusoidal input is given. (O.M.) [fr
Liu Zhuo; Kuang Luelin; Hu Kai; Xu Luting; Wei Suhua; Guo Lingzhen; Li Xinqi
In a solid-state circuit QED system, we demonstrate that a homodyne-current-based feedback can create and stabilize highly entangled two-qubit states in the presence of a moderate noisy environment. Particularly, we present an extended analysis for the current-based Markovian feedback, which leads to an improved feedback scheme. We show that this is essential to achieve a desirable control effect by the use of dispersive measurement.
Nino, Daniel; Wang, Haowei; N Milstein, Joshua
Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices. (paper)
Nino, Daniel; Wang, Haowei; Milstein, Joshua N.
Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices.
Much progress has been made in attaining high confinement regimes in magnetic confinement devices. These operating modes tend to be transient, however, due to the onset of MHD instabilities, and their stabilization is critical for improved performance at steady state. This report describes the Feedback Stabilization Initiative (FSI), a broad-based, multi-institutional effort to develop and implement methods for raising the achievable plasma betas through active MHD feedback stabilization. A key element in this proposed effort is the Feedback Stabilization Experiment (FSX), a medium-sized, national facility that would be specifically dedicated to demonstrating beta improvement in reactor relevant plasmas by using a variety of MHD feedback stabilization schemes
Much progress has been made in attaining high confinement regimes in magnetic confinement devices. These operating modes tend to be transient, however, due to the onset of MHD instabilities, and their stabilization is critical for improved performance at steady state. This report describes the Feedback Stabilization Initiative (FSI), a broad-based, multi-institutional effort to develop and implement methods for raising the achievable plasma betas through active MHD feedback stabilization. A key element in this proposed effort is the Feedback Stabilization Experiment (FSX), a medium-sized, national facility that would be specifically dedicated to demonstrating beta improvement in reactor relevant plasmas by using a variety of MHD feedback stabilization schemes.
Wilson, David G.; Robinett, III, Rush D.
A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.
Hamed, Kaveh Akbari; Gregg, Robert D.
This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059
Bidadfar, Ali; Saborío-Romano, Oscar; Altin, Müfit
feedback control system (FCS) model is proposed to represent the dynamic characteristics of HVDC grids and their controllers. The FCS model can be used for different dynamic analyses in time and frequency domains. Moreover, using the FCS model the system stability is analyzed in both open- and closed...... OWPPs and two AC grids is used for simulations and verification of the proposed FCS model....
This book is a tribute to Professor Laurent Praly and follows on from a workshop celebrating the occasion of his 60th birthday. It presents new and unified visions of the numerous problems that Laurent Praly has worked on in his prolific career: adaptive control, output feedback and observers, stability and stabilization. His main contributions are the central topic of this book. The book collects contributions written by prominent international experts in the control community, addressing a rich variety of topics: emerging ideas, advanced applications, and theoretical concepts. Organized in three sections, the first section covers the field of adaptive control, where Laurent Praly started his career. The second section focuses on stabilization and output feedback, which is also the topic of the second half of his career. Lastly, the third section presents the emerging research that will form Laurent Praly’s scientific legacy.
Jin, Pixian; Lu, Huadong; Su, Jing; Peng, Kunchi
We present a novel and efficient scheme to enhance the stability of laser output via feedback control to a nonlinear loss deliberately introduced to the laser resonator. By means of the feedback control to the intracavity nonlinear loss of an all-solid-state continuous-wave single-frequency laser with high output power at 1064 nm, its intensity and frequency stabilities are significantly improved. A lithium triborate crystal is deliberately placed inside the laser resonator to be an element of the nonlinear loss, and the temperature of the crystal is feedback controlled by an electronic loop. The control signal is generated by distinguishing the deviation of the output power and used for manipulating the intracavity nonlinear loss to compensate the deviation of the laser power actively. With the feedback-control loop, the intensity and frequency fluctuations of the output laser at 1064 nm are reduced from ±0.59% and 21.82 MHz without the feedback to ±0.26% and 9.84 MHz, respectively.
Full Text Available In this paper a novel feedback controller and stability analysis of a blockchain implementation is developed by using a control engineering perspective. The controller output equals the difficulty adjustment in the mining process while the feedback variable is the average block time over a certain time period. The computational power (hash rate of the miners is considered a disturbance in the model. The developed controller is tested against a simulation model with constant disturbance, step and ramp responses as well as with a high-frequency sinusoidal disturbance. Stability and a fast response is demonstrated in all these cases with a controller which adjusts it's output at every new block. Finally the performance of the controller is implemented and demonstrated on a testnet with a constant hash rate as well as on the mainnet of a public open source blockchain project.
Singh, S. N.; Schy, A. A.
An approach to the control of elastic robotic systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law, u sub d, is derived such that in the closed loop system, independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law, u sub s, is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that, in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u sub d + u sub s.
The stabilization problems for parabolic and hyperbolic partial differential equations with Dirichlet boundary condition are considered. The systems are stabilized by a boundary feedback in(1) The operator equation,(2) The boundary condition,(3) Both the operator equation and the boundary condition...... turns out to be a shortcut to some of the stabilization results of Lasiecka and Triggiani in [J. Differential Equations, 47 (1983), pp. 245-272], [SIAM J. Control Optim., 21(1983), pp. 766-802], and [Appl. Math. Optim., 8(1981), pp. 1-37], and it illuminates to some extent how a change of boundary...
V. G. Bogaevskaya
Full Text Available In this paper we solve problems of stabilization of unstable cycle by the delay feedback. We study a model equation with qubic nonlinearity. In this case only one multiplicator is located outside a unit circle. Delay time is proportional to the cycle period. The D-partition of the parameter plane is obtained. The main result is analytically found conditions for parameters of delay control such that the initial cycle is stable. Also, we have found necessary and sufficient conditions of solvability of the stabilization problem. As a consequence, the problem of stablity of the Stuart–Landau equation periodic solution is completely solved.
Ahmad, Wajdi M.; El-Khazali, Reyad; Al-Assaf, Yousef
In this paper, we address the problem of chaos control of three types of fractional order systems using simple state feedback gains. Electronic chaotic oscillators, mechanical 'jerk' systems, and the Chen system are investigated when they assume generalized fractional orders. We design the static gains to place the eigenvalues of the system Jacobian matrices in a stable region whose boundaries are determined by the orders of the fractional derivatives. We numerically demonstrate the effectiveness of the controller in eliminating the chaotic behavior from the state trajectories, and driving the states to the nearest equilibrium point in the basin of attraction. For the recently introduced Chen system, in particular, we demonstrate that with a proper choice of model parameters, chaotic behavior is preserved when the system order becomes fractional. Both state and output feedback controllers are then designed to stabilize a generalized fractional order Chen system
Full Text Available We address the problem of globally asymptotic stability for a class of stochastic nonlinear systems with time-varying delays. By the backstepping method and Lyapunov theory, we design a linear output feedback controller recursively based on the observable linearization for a class of stochastic nonlinear systems with time-varying delays to guarantee that the closed-loop system is globally asymptotically stable in probability. In particular, we extend the deterministic nonlinear system to stochastic nonlinear systems with time-varying delays. Finally, an example and its simulations are given to illustrate the theoretical results.
Ole M. Aamo
Full Text Available The field of flow control has picked up pace over the past decade or so, on the promise of real-time distributed control on turbulent scales being realizable in the near future. This promise is due to the micromachining technology that emerged in the 1980s and developed at an amazing speed through the 1990s. In lab experiments, so called micro-electro-mechanical systems (MEMS that incorporate the entire detection-decision-actuation process on a single chip, have been batch processed in large numbers and assembled into flexible skins for gluing onto body-fluid interfaces for drag reduction purposes. Control of fluid flows span a wide variety of specialities. In Part I of this tutorial, we focus on the problem of reducing drag in channel and pipe flows by stabilizing the parabolic equilibrium profile using boundary feedback control. The control strategics used for this problem include classical control, based on the Nyquist criteria, and various optimal control techniques (H2, H-Infinity, as well as applications of Lyapunov stability theory.
Esherick, P.; Owyoung, A.
A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other. 4 figs.
Full Text Available This paper is concerned with the internal and boundary stabilization of the steady-state solutions to quasilinear heat equations via internal linear feedback controllers provided by an LQ control problem associated with the linearized equation.
Rigatos, G.; Siano, P.; Sarno, D.
Several transactions taking place in financial markets are dependent on the pricing of mortgages (loans for the purchase of residences, land or farms). In this article, a method for stabilization of mortgage price dynamics is developed. It is considered that mortgage prices follow a PDE model which is equivalent to a multi-asset Black-Scholes PDE. Actually it is a diffusion process evolving in a 2D assets space, where the first asset is the house price and the second asset is the interest rate. By applying semi-discretization and a finite differences scheme this multi-asset PDE is transformed into a state-space model consisting of ordinary nonlinear differential equations. For the local subsystems, into which the mortgage PDE is decomposed, it becomes possible to apply boundary-based feedback control. The controller design proceeds by showing that the state-space model of the mortgage price PDE stands for a differentially flat system. Next, for each subsystem which is related to a nonlinear ODE, a virtual control input is computed, that can invert the subsystem's dynamics and can eliminate the subsystem's tracking error. From the last row of the state-space description, the control input (boundary condition) that is actually applied to the multi-factor mortgage price PDE system is found. This control input contains recursively all virtual control inputs which were computed for the individual ODE subsystems associated with the previous rows of the state-space equation. Thus, by tracing the rows of the state-space model backwards, at each iteration of the control algorithm, one can finally obtain the control input that should be applied to the mortgage price PDE system so as to assure that all its state variables will converge to the desirable setpoints. By showing the feasibility of such a control method it is also proven that through selected modification of the PDE boundary conditions the price of the mortgage can be made to converge and stabilize at specific
Chung, Eunjung; Lee, Byoung-Hee; Hwang, Sujin
The purpose of this study was to examine the feasibility of core stabilization exercise with real-time feedback on balance and gait function in patients with chronic hemiparetic stroke. Nineteen stroke subjects were enrolled in this study. The patients were randomly divided into the experimental (n = 10) and control groups (n = 9). Subjects in the experimental group performed core stabilization exercise with real-time feedback training for 30 minutes per day during a period of six weeks. Subjects in the control group performed core stabilization exercise during the same period. This study assessed the kinematic parameters using a portable walkway system, and timed up-and-go test. Gait velocity showed significantly greater improvement in the experimental group (7.3 ± 5.0 sec) than in the control group (-0.7 ± 10.6). Stride length showed significantly greater increase in the experimental group (13.2 ± 7.9 on the affected side and 12.6 ± 8.0 on the less affected side) than the control group (3.5 ± 8.7 on the affected side and 3.4 ± 8.5 on the less affected side). After training, change in results on the timed up and go test was significantly greater in the experimental group than in the control group. Core stabilization exercise using real-time feedback produces greater improvement in gait performance in chronic hemiparetic stroke patients than core stabilization exercise only.
Liu, Zhi; Li, Chunwen
A novel fuzzy neural network (FNN) quadratic stabilization output feedback control scheme is proposed for the trajectory tracking problems of biped robots with an FNN nonlinear observer. First, a robust quadratic stabilization FNN nonlinear observer is presented to estimate the joint velocities of a biped robot, in which an H/sub /spl infin// approach and variable structure control (VSC) are embedded to attenuate the effect of external disturbances and parametric uncertainties. After the construction of the FNN nonlinear observer, a quadratic stabilization FNN controller is developed with a robust hybrid control scheme. As the employment of a quadratic stability approach, not only does it afford the possibility of trading off the design between FNN, H/sub /spl infin// optimal control, and VSC, but conservative estimation of the FNN reconstruction error bound is also avoided by considering the system matrix uncertainty separately. It is shown that all signals in the closed-loop control system are bounded.
When designing a distributed control system, the system designer has a choice in how to connect the different units through communication channels. In practice, noiseless and noisy channels may coexist. Using the standard toy example of scalar stabilization, this paper shows how a small amount of noiseless feedback can perform a ``supervisory'' role and thereby boost the effectiveness of noisy feedback.
Full Text Available This paper analyzes the effects of time delay on the stability of the rotation modes for the magnetically suspended flywheel (MSFW with strong gyroscopic effects. A multi-input multioutput system is converted into a single-input single-output control system with complex coefficient by variable reconstruction, and the stability equivalence of the systems before and after variable reconstruction is proven. For the rotation modes, the stability limits and corresponding vibration frequencies are found as a function of nondimensional magnetic stiffness and damping and nondimensional parameters of rotor speed and time delay. Additionally, the relationship between cross feedback control system stability and time delay is investigated. And an effective phase compensation method based on cross-channel is further presented. Simulation and experimental results are presented to demonstrate the correctness of the stability analysis method and the superiority of the phase compensation strategy.
Full Text Available The ship roll stabilization by fin control system is considered in this paper. Assuming that angular velocity in roll cannot be measured, an adaptive fuzzy output-feedback control is investigated. The fuzzy logic system is used to approximate the uncertain term of the controlled system, and a fuzzy state observer is designed to estimate the unmeasured states. By utilizing the fuzzy state observer and combining the adaptive backstepping technique with adaptive fuzzy control design, an observer-based adaptive fuzzy output-feedback control approach is developed. It is proved that the proposed control approach can guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB, and the control strategy is effective to decrease the roll motion. Simulation results are included to illustrate the effectiveness of the proposed approach.
Andreopoulou, Georgia; Maaswinkel, Erwin; Cofré Lizama, L Eduardo; van Dieën, Jaap H
This study aimed to examine the interactions of visual, vestibular, proprioceptive, and tactile sensory manipulations and sitting on either a stable or an unstable surface on mediolateral (ML) trunk sway. Fifteen individuals were measured. In each trial, subjects sat as quiet as possible, on a stable or unstable surface, with or without each of four sensory manipulations: visual (eyes open/closed), vestibular (left and right galvanic vestibular stimulation alternating at 0.25 Hz), proprioceptive (left and right paraspinal muscle vibration alternating at 0.25 Hz), and tactile (minimal finger contact with object moving in the frontal plane at 0.25 Hz). The root mean square (RMS) and the power at 0.25 Hz (P25) of the ML trunk acceleration were the dependent variables. The latter was analyzed only for the rhythmic sensory manipulations and the reference condition. RMS was always significantly larger on the unstable than the stable surface. Closing the eyes caused a significant increase in RMS, more so on the unstable surface. Vestibular stimulation significantly increased RMS and P25 and more so on the unstable surface. Main effects of the proprioceptive manipulation were significant, but the interactions with surface condition were not. Finally, also tactile manipulation increased RMS and P25, but did not interact with surface condition. Sensory information in feedback control of trunk posture appears to be reweighted depending on stability of the environment. The absolute effects of visual and vestibular manipulations increase on an unstable surface, suggesting a relative decrease in the weights of proprioceptive and tactile information.
Mehdi Mohseni Mirabadi
Full Text Available In recent years, improvement of dynamic behavior of power systems has interested many researchers and to achieve it, various control methods are proposed. In this paper, in order to improve transient stability of power system, a robust optimal H2 state feedback is employed. In order to appropriate formulation of the problem, linear matrix inequality (LMI theory is used. To achieve the best answer, controller parameters are tuned using particle swarm algorithm. The obtained results of the proposed method are compared to conventional power system stabilizer.
Uckan, T.; Richards, B.; Wootton, A.J.; Bengtson, R.D.; Bravenec, R.; Carreras, B.A.; Li, G.X.; Hurwitz, P.; Phillips, P.E.; Rowan, W.L.; Tsui, H.Y.W.; Uglum, J.R.; Wen, Y.; Winslow, D.
Plasma edge feedback experiments on the Texas Experimental Tokamak (TEXT) have been successful in controlling the edge plasma potential fluctuation level. The feedback wave-launcher is driven by the local edge potential fluctuations. The edge potential fluctuations are modified in a broad frequency band. Moreover, the potential fluctuations can be reduced (≤100 kHz) without enhancing other modes, or excited (10 to 12 kHz), depending on the phase difference between the driver and the launcher signal, and gain of the system. This turbulence modification is achieved not only locally but also halfway around the torus and has about 2 cm of poloidal extent. The local plasma parameters at the edge and the estimated fluctuation-induced radial particle flux are somewhat affected by the edge feedback. ((orig.))
This Letter investigates the stabilization and synchronization of Genesio-Tesi systems. Firstly, modifying the previous method, we stabilize the Genesio-Tesi system. Then, we synchronize two identical Genesio chaotic system by extending the obtained stabilization results. To the best of our knowledge, the above controllers obtained in this Letter are simpler than those obtained in the existing results. Finally, numerical simulations verify the effectiveness and the validity of the above theoretical results.
Uckan, T.; Carreras, B.A.; Richards, B.; Wootton, A.J.; Bengtson, R.D.; Bravenec, R.; Li, G.X.; Hurwitz, P.D.; Phillips, P.E.; Rowan, W.L.
Plasma edge feedback experiments on the Texas Experimental Tokamak (TEXT) have been successful in controlling the edge plasma potential fluctuation level. The feedback wave-launcher, consisting of electrostatic probes located in the shadow of the limiter, is driven by the local edge potential fluctuations. In general, the edge potential fluctuations are modified in a broad frequency band. Moreover, it is observed that the potential fluctuations can be reduced (≤100 kHz) without enhancing other modes, or excited (10 to 12 kHz), depending on the phase difference between the driver and the launcher signal, and gain of the system. This turbulence modification is achieved not only locally but also halfway around the torus and has about 2 cm of poloidal extent. Experiments on the characterization of the global plasma parameters with the edge feedback are discussed. Effects of the edge feedback on the estimated fluctuation-induced radial particle flux as well as on the local plasma parameters are presented
Xin, Zhen; Wang, Xiongfei; Loh, Poh Chiang
This paper proposes a Second-Order-Generalized- Integrator (SOGI)-based time delay compensation method for extending the stable region of dual-loop Grid-Current-Feedback (GCF) control system. According to the analysis, stable region of the dual-loop system should be designed below a certain...... critical frequency, before time delay compensation method can be applied. To always meet the requirement, relationship between single-loop converter-current-feedback and dual-loop GCF control is clarified, before a robust inner-loop gain for the dualloop GCF scheme is determined. Enforcing this gain allows...... the converter to remain in its stable region, regardless of how its LCL-filter parameters and grid impedance vary. The SOGIbased delay compensation method can then be applied for widening the stable region of the dual-loop GCF scheme, as proven through s-domain Bode diagrams and z-domain root loci...
Khutoryan, E. M.; Idehara, T.; Kuleshov, A. N.; Tatematsu, Y.; Yamaguchi, Y.; Matsuki, Y.; Fujiwara, T.
In this paper, we present the results of simultaneous stabilization of both the frequency and the output power by a double PID feedback control on the acceleration and anode voltages in the 460-GHz gyrotron FU CW GVI, also known as "Gyrotron FU CW GO-1" (according to the nomenclature adopted at Osaka University). The approach used in the experiments is based on the modulation of the cyclotron frequency and the pitch factor (velocity ratio) of the electron beam by varying the acceleration and the anode voltages, respectively. In a long-term experiment, the frequency and power stabilities were made to be better than ±10-6 and ±1%, respectively.
Stoustrup, Jakob; Niemann, H.
An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out...... that there is a separation be-tween the feedback controller and the fault tolerant part. The closed loop feedback properties are handled by the nominal feedback controller and the fault tolerant part is handled by the design of the Youla parameter. The design of the fault tolerant part will not affect the design...
Lei, Xusheng; Zou, Ying; Dong, Fei
Due to the nonlinearity and time variation of a two-axis inertially stabilized platform (ISP) system, the conventional feedback control cannot be utilized directly. To realize the control performance with fast dynamic response and high stabilization precision, the dynamic model of the ISP system is expected to match the ideal model which satisfies the desired control performance. Therefore, a composite control method based on the adaptive radial basis function neural network (RBFNN) feedback control and the extended state observer (ESO), is proposed for ISP. The adaptive RBFNN is proposed to generate the feedback control parameters online. Based on the state error information in the working process, the adaptive RBFNN can be constructed and optimized directly. Therefore, no priori training data is needed for the construction of the RBFNN. Furthermore, a linear second-order ESO is constructed to compensate for the composite disturbance. The asymptotic stability of the proposed control method has been proven by the Lyapunov stability theory. The applicability of the proposed method is validated by a series of simulations and flight tests. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Dumont, Guy A
Although feedback control and automation has revolutionized many fields of human activity, it has yet to have a significant impact on healthcare, particularly when a patient is in the loop. Although there have been a number of studies concerned with closed-loop control of anesthesia, they have yet to have an impact on clinical practice. For such systems to be successful, engineers and clinicians have to work hand in hand, for this they have to have a basic understanding of each other's fields. The goal of this paper is to introduce clinicians to basic concepts in control engineering, with an emphasis on the properties of feedback control. Concepts such as modelling for control, feedback and uncertainty, robustness, feedback controller such as proportional-integral-derivative control, predictive control and adaptive control are briefly reviewed. Finally we discuss the safety issues around closed-loop control and discuss ways by which safe control can be guaranteed.
This book introduces a number of recent advances regarding periodic feedback stabilization for linear and time periodic evolution equations. First, it presents selected connections between linear quadratic optimal control theory and feedback stabilization theory for linear periodic evolution equations. Secondly, it identifies several criteria for the periodic feedback stabilization from the perspective of geometry, algebra and analyses respectively. Next, it describes several ways to design periodic feedback laws. Lastly, the book introduces readers to key methods for designing the control machines. Given its coverage and scope, it offers a helpful guide for graduate students and researchers in the areas of control theory and applied mathematics.
Flint, Robert D; Scheid, Michael R; Wright, Zachary A; Solla, Sara A; Slutzky, Marc W
The human motor system is capable of remarkably precise control of movements--consider the skill of professional baseball pitchers or surgeons. This precise control relies upon stable representations of movements in the brain. Here, we investigated the stability of cortical activity at multiple spatial and temporal scales by recording local field potentials (LFPs) and action potentials (multiunit spikes, MSPs) while two monkeys controlled a cursor either with their hand or directly from the brain using a brain-machine interface. LFPs and some MSPs were remarkably stable over time periods ranging from 3 d to over 3 years; overall, LFPs were significantly more stable than spikes. We then assessed whether the stability of all neural activity, or just a subset of activity, was necessary to achieve stable behavior. We showed that projections of neural activity into the subspace relevant to the task (the "task-relevant space") were significantly more stable than were projections into the task-irrelevant (or "task-null") space. This provides cortical evidence in support of the minimum intervention principle, which proposes that optimal feedback control (OFC) allows the brain to tightly control only activity in the task-relevant space while allowing activity in the task-irrelevant space to vary substantially from trial to trial. We found that the brain appears capable of maintaining stable movement representations for extremely long periods of time, particularly so for neural activity in the task-relevant space, which agrees with OFC predictions. It is unknown whether cortical signals are stable for more than a few weeks. Here, we demonstrate that motor cortical signals can exhibit high stability over several years. This result is particularly important to brain-machine interfaces because it could enable stable performance with infrequent recalibration. Although we can maintain movement accuracy over time, movement components that are unrelated to the goals of a task (such
Virkar, Yogesh S.; Shew, Woodrow L.; Restrepo, Juan G.; Ott, Edward
Learning and memory are acquired through long-lasting changes in synapses. In the simplest models, such synaptic potentiation typically leads to runaway excitation, but in reality there must exist processes that robustly preserve overall stability of the neural system dynamics. How is this accomplished? Various approaches to this basic question have been considered. Here we propose a particularly compelling and natural mechanism for preserving stability of learning neural systems. This mechanism is based on the global processes by which metabolic resources are distributed to the neurons by glial cells. Specifically, we introduce and study a model composed of two interacting networks: a model neural network interconnected by synapses that undergo spike-timing-dependent plasticity; and a model glial network interconnected by gap junctions that diffusively transport metabolic resources among the glia and, ultimately, to neural synapses where they are consumed. Our main result is that the biophysical constraints imposed by diffusive transport of metabolic resources through the glial network can prevent runaway growth of synaptic strength, both during ongoing activity and during learning. Our findings suggest a previously unappreciated role for glial transport of metabolites in the feedback control stabilization of neural network dynamics during learning.
Full Text Available This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles. Uniformly ultimate boundedness and tracking are achieved, exploiting a heavily coupled, bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics. In order to estimate unmeasurable states, an observer is proposed for an augmented multiple-input-multiple-output (MIMO nonlinear system with an adaptive sliding mode term against the disturbances. Under the frame of a backstepping design, an adaptive sliding mode output-feedback dynamic surface control (DSC approach is derived recursively by virtue of the estimated states. The DSC technique is adopted to overcome the problem of “explosion of complexity” and relieve the stress of the guidance loop. It is proven that all signals of the MIMO closed-loop system, including the observer and controller, are uniformly ultimately bounded, and the tracking errors converge to an arbitrarily small neighborhood of the origin. Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.
Fanson, James L.; Caughey, Thomas K.
Report discusses theoretical and experimental studies of positive-position-feedback control for suppressing vibrations in large flexible structures. Positive-position-feedback control involves placement of actuators and sensors on structure; control voltages applied to actuators in response to outputs of sensors processed via compensator algorithm. Experiments demonstrate feasibility of suppressing vibrations by positive position feedback, and spillover of vibrational energy into uncontrolled modes has stabilizing effect if control gain sufficiently small.
Wang, Xu; Stoorvogel, Antonie Arij; Saberi, Ali; Grip, H°avard Fjær; Roy, Sandip; Sannuti, Peddapullaiah
We consider the problem of state-feedback stabilization for a class of sandwich systems, consisting of two linear systems connected in cascade via a saturation. In particular, we present design methodologies for constructing semiglobally and globally stabilizing controllers for such systems when the
Important ideal magnetohydrodynamic (MHD) instabilities grow slowly when a conducting wall surrounds a toroidal plasma. Feedback stabilization of these instabilities may be required for tokamaks and other magnetic confinement concepts to achieve adequate plasma pressure and self-driven current for practical fusion power. Equations are derived for simulating feedback stabilization, which require the minimum information about an ideal plasma for an exact analysis. The equations are solved in the approximation of one unstable mode, one wall circuit, one feedback circuit, and one sensor circuit. The analysis based on a single unstable mode is shown to be mathematically equivalent to the standard analysis of feedback of the axisymmetric vertical instability of tokamaks. Unlike that analysis, the method presented here applies to multiple modes that are coupled by the wall and to arbitrary toroidal mode numbers. copyright 1998 American Institute of Physics
Tsukamoto, O.; Utsunomiya, A.
We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor
Bleich, Michael Edward
We investigate the application of time-delay feedback to stabilize periodic orbits that are unstable in the absence of control. The control schemes that we consider use feedback that becomes small as the desired controlled state is produced, and actually vanishes in the absence of noise. Time-delay feedback schemes are of interest because they do not require knowledge of the controlled orbit, are applicable to the control of very fast systems, and can be produced with an all-optical technique--the feedback signal is the reflected field of a Fabry-Perot interferometer with appropriate choices of the cavity length and reflectivities of the end mirrors. A linear stability analysis is developed for orbits controlled with time-delay feedback, and used, in addition to numerical simulations, to explore the properties of controlled systems. In particular, we determine which choices of the control parameters, including the feedback gain, that lead to successful control. Three systems are investigated in detail: (1) the driven nonlinear pendulum, a familiar example of a system with only a few degrees of freedom; (2) the complex Ginzburg-Landau equation, an amplitude equation for the spatiotemporal dynamics near a generic instability; and (3) a Swift-Hohenberg type model for the spatio-temporal dynamics of a broad-area semiconductor laser. In the latter two systems we show that unstable traveling wave states can be stabilized by the application of time-delay control, even though in the absence of control these states are unstable to a continuous band of perturbations. Since the feedback can in principle be generated with an all-optical technique, our results indicate that it may be possible to produce controlled high-power coherent states in wide-area semiconductor lasers, a result with important technological ramifications.
This paper studies the design of state-feedback controllers for the stabilization of single-input single-output nonlinear systems x = f(x) + g(x)u, y = h(x). Two approaches for the stabilization problem are given; the asymptotic stability is achieved by means of: a) nonlinear state feedback: two nonlinear feedbacks are used; the first separates the system in a controllable linear part and in the zeros-dynamic part. The second feedback generates an asymptotically stable equilibrium on the manifold where this dynamics evolves; b) nonlinear dynamic feedback: conditions are established under which the system can follow the output of a completely controllable bilinear system which uses bounded controls. This fact enables the system to reach, using bounded controls too, a desired output value in finite time. As this value corresponds to a state that lays in the attraction basin of a stable equilibrium with the same output, the system evolves to that point. The two methods are illustrated by examples. (Author) [es
Schwab, M.; Denz, C.; Saffman, M.
We report on the observation of a multiple-pattern stability region in a photorefractive single-feedback system. Whereas hexagonal patterns are predominant for feedback with positive diffraction length we show that a variety of stable non-hexagonal patterns are generated for certain negative...... diffraction lengths. For the same values of the control parameters square, rectangular, or squeezed hexagonal patterns are found alternating in time. Besides these pure states, we found a number of different mixed-pattern states. We review the linear stability analysis for this system and show...
Full Text Available The focus is on the numerical consideration of feedback boundary control problems for linear systems of conservation laws including source terms. We explain under which conditions the numerical discretization can be used to design feedback boundary values for network applications such as electric transmission lines or traffic flow systems. Several numerical examples illustrate the properties of the results for different types of networks.
Li Yan; Zhang Xu
Suppression of localized spatiotemporal chaos observed in one-dimensional coupled map lattice system is achieved using feedback control [P. Parmananda, Yu. Jiang, Phys. Lett. A 231 (1997) 159; P. Parmananda, M. Hildebrand, M. Eiswirth, Phys. Rev. E 56 (1997) 239]. The control is successful both for the frozen random pattern and defect chaotic diffusion pattern. This Letter introduces a new improved feedback control method. To compare with other methods of feedback control, this method can achieve stable state with less iteration steps and more simple calculation process. We prove the stability of the controlled result by calculating maximal Lyapunov exponent. And we also find that this method is robust to small disturbance
Redhu, Poonam; Gupta, Arvind Kumar
The delayed-feedback control (DFC) method for lattice hydrodynamic traffic flow model is investigated on a unidirectional road. By using the Hurwitz criteria and the condition for transfer function in term of H∞ -norm, we designed the feedback gain and delay time to stabilize the traffic flow and suppress the traffic jam. The Bode-plot of transfer function have been plotted and discussed that the stability region enhances with delayed-feedback control. It is shown that the delayed-feedback control method stabilizes the traffic flow and suppresses the traffic jam efficiently. The simulation results are in good agreement with the theoretical analysis.
The author introduces the method of pseudo-differential stabilization. He notes that the theory of pseudo-differential boundary operators is a fruitful approach to problems arising in control and stabilization theory of distributed-parameter systems. The basic pseudo-differential calculus can...
Haidekker, Mark A
The design of control systems is at the very core of engineering. Feedback controls are ubiquitous, ranging from simple room thermostats to airplane engine control. Helping to make sense of this wide-ranging field, this book provides a new approach by keeping a tight focus on the essentials with a limited, yet consistent set of examples. Analysis and design methods are explained in terms of theory and practice. The book covers classical, linear feedback controls, and linear approximations are used when needed. In parallel, the book covers time-discrete (digital) control systems and juxtapos
Fukuoka, Keisuke; Nagahara, Masanori; Uchimura, Yutaka
In the future, with progress in robotics, robots will play an important role in the daily lives of human beings. The posture of a robot should be stable so that it does not fall. The posture of robots has been maintained stable mainly by using force and acceleration sensors. However, human beings maintain the stability of their postures on the basis of not only floor reaction force but also visual information. Therefore the use of visual information could be effective in maintaining the stability of the posture of a robot. The rotation invariant phase only correlation (RIPOC) method can be used to measure the rotation angle between two images. The accuracy of the RIPOC method is high in the case of 2D images, for example, in the case of fingerprint recognition and face recognition. However, it is difficult to accurately measure the rotation angle in 3D space by using this method. This paper describes a new extended RIPOC method that can be used to accurately measure the rotation angle in 3D space. By using visual feedback by the proposed method, the posture of robots can be stabilized. Experimental results that confirm the effectiveness of this method are provided in this paper.
Xuan Ke; Wang Lin; Liu Gongfa; Li Weimin; Li Chuan; Wang Jigang; Bao Xun; Xu Hongliang
The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)
Wang, Li-Sheng; Krishnaprasad, P. S
.... To assess the stability of relative equilibria in the resultant feedback systems, they extend the energy-momentum block-diagonalization theorem of Simo, Lewis, Posbergh, and Marsden to gyroscopic systems with symmetry...
Yasuda, Kazunori; Hirai, Kazumasa
This paper is concerned with the stabilization problem for bilinear systems by means of a linear state feedback. A bilinear system described by the equation x*(t) (*: radical) = Ax(t) + Σ(i -- r) u sub(i)(t)Bx(t) + Cu(t) is stabilizable by using a linear state feedback u = K sup(T)x(t), if the pair (A, C) is controllable; however, it is not generally stabilizable in the large. We, in this paper, give a sufficient condition under which the bilinear system is stabilizable in the large, and estimate quantitatively the extent of a stability region around the equilibrium state in the case that the system is not stabilizable in the large. Moreover, the behavior of the solution whose initial state is in the estimated stability region is considered. It is also shown that the stability region derived here is evaluated on a ground tighter than the previous ones. (author)
Fossen, T. I.; Blanke, Mogens
Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
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....
White, R.B.; Rutherford, P.H.; Furth, H.P.; Park, W.; Chen, L.
Resistive instabilities are responsible for much of the global behavior and the determination of the possible domains of operation of tokamaks. Their successful control could have definite advantages, even making available new regimes of operation. Elimination of sawtoothing might allow operation with higher currents and more peaked current profiles, with q on axis well below unity. In this work different feedback schemes are explored. Simple analytical derivations of the effects of local heating and current drive feedback are presented. Although control of modes with m greater than or equal to 2 is fairly straightforward, the control of the m = 1 mode is more difficult because of its proximity to ideal instability. The most promising scheme utilizes high energy trapped particles. 20 refs., 3 figs
Jorgensen, C. C.
A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.
E. K. Boukas
Full Text Available This paper considers the stabilization problem of the class of continuous-time linear stochastic hybrid systems with Wiener process. The ℋ∞ state feedback stabilization problem is treated. A state feedback controller with constant gain that does not require access to the system mode is designed. LMI-based conditions are developed to design the state feedback controller with constant gain that stochastically stabilizes the studied class of systems and, at the same time, achieve the disturbance rejection of a desired level. The minimum disturbance rejection is also determined. Numerical examples are given to show the usefulness of the proposed results.
Fossen, T.I.; Blanke, M.
More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback controller...... minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...
Somerville, Richard C. J.; Iacobellis, Sam
An improved radiative-convective model (RCM) has been developed and used to examine the role of cirrus clouds in the optical thickness feedback mechanism. Low and middle clouds are approximately black bodies for infrared radiative transfer, and so any increase in their optical thickness primarily increases the cloud albedo. Thus, if a climate warming is accompanied by an increase in average atmospheric absolute humidity and hence in average cloud liquid water content, low and middle cloud optical thickness and albedo may increase. The result is a negative feedback on the climate change, tending to reduce the surface temperature increase. Recent research suggests that the optical thickness feedback can depend sensitively on aspects of cirrus which are not well observed or adequately incorporated in typical present-day climate models.
The equivalence of a rectifier with a controlled grid and a sampled device is established. Then, the sampled servomechanism theory is applied to the study of the response and of the local stability of a feedback control having a rectifiers system charged by an inductance-resistance assembly, in the case of the permanent conduction. The case of a feedback control of the first order and then of the second order are studied. The expressions of the test and sampled responses with a sinusoidal input is given. (O.M.) [French] On etablit l'equivalence d'un redresseur a grille controlee et d'un dispositif echantillonne. On applique ensuite la theorie des servomecanismes echantillonnes a l'etude de la reponse et de la stabilite locale d'un asservissement comportant un systeme de redresseurs charges par un ensemble inductance-resistance, dans le cas de la conduction permanente. On etudie le cas d'un asservissement du premier, puis du second ordre. On indique egalement les expressions des reponses miree et echantillonnee a une entree sinusoidale. (auteur)
Gupta, Santosh K.
This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as
Vilensky, Mark Y.; Averbukh, Ilya Sh.; Prior, Yehiam
We explore the prospects of optical shaking, a recently suggested generic approach to laser cooling of neutral atoms and molecules. Optical shaking combines elements of Sisyphus cooling and of stochastic cooling techniques and is based on feedback-controlled interaction of particles with strong nonresonant laser fields. The feedback loop guarantees a monotonous energy decrease without a loss of particles. We discuss two types of feedback algorithms and provide an analytical estimation of their cooling rate. We study the robustness of optical shaking against noise and establish minimal stability requirements for the lasers. The analytical predictions are in a good agreement with the results of detailed numerical simulations
Full Text Available Multivariable feedback control has been adapted for optimal control of the spatial power distribution in nuclear reactor cores. Two design techniques, based on the theory of automatic control, were developed: the State Variable Feedback (SVF is an application of the linear optimal control theory, and the Multivariable Frequency Response (MFR is based on a generalization of the traditional frequency response approach to control system design.
Willems, Frank; Heemels, W.P.M.H.; de Jager, Bram; Stoorvogel, Antonie Arij
Stable operation of axial and centrifugal compressors is limited towards low mass flows due to the occurrence of surge. The stable operating region can be enlarged by active control. In this study, we use a control valve which is fully closed in the desired operating point and only opens to
Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun
In this paper, the problem of control for the energy resource chaotic system is considered. Two different method of control, feedback control (include linear feedback control, non-autonomous feedback control) and adaptive control methods are used to suppress chaos to unstable equilibrium or unstable periodic orbits. The Routh-Hurwitz criteria and Lyapunov direct method are used to study the conditions of the asymptotic stability of the steady states of the controlled system. The designed adaptive controller is robust with respect to certain class of disturbances in the energy resource chaotic system. Numerical simulations are presented to show these results
This thesis is a study of formation control with autonomous unmanned aerial vehicles using the formation as feedback. There is also an investigation of formation methods presenting insight into different algorithms for formations. A rigid formation is achieved using a proportional-derivative virtual structure with a formation feedback controller. There is an emphasis on stick controlled aerodynamics. The rigid formation is verified by a simulation of a longitudinal model. Formation control ideas are presented for rigid formations.
Sørensen, Mathias Jesper
feedback. This thesis presents a novel way of controlling a special class of nonholonomic Hamiltonian systems. The basic idea is to split the configuration coordinates in two; a primary part that we wish to asymptotically stabilize, and a secondary part that not necessarily has to be stabilized......-invariant, but since it does not asymptotically stabilize the secondary part of the configuration coordinates, it does not violate Brockett’s obstruction. The results fromthe general class of nonholonomicHamiltonian systems with kinematic inputs are applied to a real implementation of a four wheel steered, four wheel......Feedback control of nonholonomic systems has always been problematic due to the nonholonomic constraints that limit the space of possible system velocities. This property is very basic, and Brockett proved that a nonholonomic system cannot be asymptotically stabilized by a time-invariant smooth...
Cromme, Marc; Møller-Pedersen, Jens; Pagh Petersen, Martin
From a general point of view the state feedback H∞ suboptimal control problem is reasonably well understood. Important problems remain with regard to a priori information of the size of the neighbourhood where the local state feedback H∞ problem is solvable. This problem is solved regionally...
Full Text Available The active noise control (ANC is discussed. Many digital ANC systems often based on the filter-x algorithm for finite impulse response (FIR filter use adaptive filtering techniques. But if the primary noise path is nonlinear, the control system based on adaptive filter technology will be invalid. In this paper, an adaptive active nonlinear noise feedback control approach using a neural network is derived. The feedback control system drives a secondary signal to destructively interfere with the original noise to cut down the noise power. An on-line learning algorithm based on the error gradient descent method was proposed, and the local stability of closed loop system is proved using the discrete Lyapunov function. A nonlinear simulation example shows that the adaptive active noise feedback control method based on a neural network is very effective to the nonlinear noise control.
Xiong Lianglin; Zhong Shouming; Ye Mao; Wu Shiliang
This paper concerns stability and stabilization issues for switched neutral systems and presents new classes of piecewise Lyapunov functionals and multiple Lyapunov functionals, based on which, two new switching rules are introduced to stabilize the neutral systems. One switching rule is designed from the solution of the so-called Lyapunov-Metzler linear matrix inequalities. The other is based on the determination of average dwell time computed from a new class of linear matrix inequalities (LMIs). And then, state-feedback control is derived for the switched neutral control system mainly based on the state switching rules. Finally, three examples are given to demonstrate the effectiveness of the proposed method.
Cromme, Marc; Stoustrup, Jakob
Semi-global set-stabilizing H-infinity controlis a local within some given compact set such that all statetrajectories are bounded inside the set, and are approaching an openloop invariant subset as time approaches infinity. Sufficientconditions for the existence of a continuous state feedback law...
Full Text Available In this paper we will present new results on stabilization of horizontal wells with gas lift. The stabilization is achieved by a novel dynamic feedback control solution using the production choke at the wellhead. The primary input to the dynamic feedback controller is a measurement of the downhole pressure. The field results to be presented are from the Brage field operated by Norsk Hydro in the North sea. Production at Brage began in 1993 and the field went off plateau in 1998. As the production has decreased, the problems related to unstable production from some of the wells have escalated steadily. The results from the extensive field tests on the Brage wells arc very promising. The tests have confirmed the stabilization feature of the control solution. The pressure and flow variations have been dramatically reduced, and it is possible to produce the wells at a lower downhole pressure leading to increased production.
A feedback module for evaluating the efficacy of optical-power stabilization without thermoelectric coolers (TECs) is described. The module comprises a pickoff optic for sampling a light beam, a photodiode for converting the sample power to electrical current, and a temperature sensor. The components are mounted on an optical bench that makes accurate (0.05°) beam alignment practical as well as providing high thermal-conductivity among the components. The module can be mounted on existing light sources or the components can be incorporated in new designs. Evaluations of optical and electronic stabilization methods are also reported. The optical method combines a novel, weakly reflective, weakly polarizing coating on the pickoff optic with a photodiode and an automatic-power-control (APC) circuit in a closed loop. The shift of emitter wavelength with temperature, coupled with the wavelength-dependent reflectance of the pickoff optic, enable the APC circuit to compensate for temperature errors. In the electronic method, a mixed-signal processor in a quasiclosed loop generates a control signal from temperature and photocurrent inputs and feeds it back to an APC circuit to compensate for temperature errors. These methods result in temperature coefficients less than 20 ppm/°C and relative rms power equal to 05% for the optical method and 0.02% for the electronic method. The later value represents an order of magnitude improvement over rms specifications for cooled, laser-diode modules and a five-fold improvement in wall-plug efficiency is achieved by eliminating TECs.
Ghallab, Ahmed G.
Feedback control systems using sensors and actuators such as piezoelectric sensors and actuators, micro-electro-mechanical systems (MEMS) sensors and opto-mechanical sensors, are allowing new advances in designing such high precision technologies. The negative imaginary control systems framework allows for robust control design for such high precision systems in the face of uncertainties due to unmodelled dynamics. The stability of the feedback interconnection of negative imaginary systems has been well established in the literature. However, the proofs of stability feedback interconnection which are used in some previous papers have a shortcoming due to a matrix inevitability issue. In this paper, we provide a new and correct Lyapunov-based proof of one such result and show that the result is still true.
Tarn, T. J.; Yun, X.; Bejczy, A. K.
Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.
National Aeronautics and Space Administration — An Adaptive Feedforward and Feedback Control (AFFC) Framework is proposed to suppress the aircraft's structural vibrations and to increase the resilience of the...
Crisanti, F.; Schneider, F.
A computer program for analysing the absolute and relative stabilities of any complex system by the root-locus method was developed. It is used to reanalyse the present horizontal position feed-back control in the ASDEX tokamak and to select the optimum parameters for this system with RCL filters for reducing thyristor noise. (orig.)
The paper deals with the results of qualitative investigations of the time-optimal feedback control for linear systems with constant coefficients. In the first section, after some definitions and notations, two examples are given and it is shown that even the time-optimal control problem for linear systems with constant coefficients which looked like ''completely solved'' requires a further qualitative investigation of the stability to ''permanent perturbations'' of optimal feedback control. In the second section some basic results of the linear time-optimal control problem are reviewed. The third section deals with the definition of Boltyanskii's ''regular synthesis'' and its connection to Filippov's theory of right-hand side discontinuous differential equations. In the fourth section a theorem is proved concerning the stability to perturbations of time-optimal feedback control for linear systems with scalar control. In the last two sections it is proved that, if the matrix which defines the system has only real eigenvalues or is three-dimensional, the time-optimal feedback control defines a regular synthesis and therefore is stable to perturbations. (author)
Carvalho, A. R. R.; Reid, A. J. S.; Hope, J. J.
We discuss the generation of entanglement between electronic states of two atoms in a cavity using direct quantum feedback schemes. We compare the effects of different control Hamiltonians and detection processes in the performance of entanglement production and show that the quantum-jump-based feedback proposed by Carvalho and Hope [Phys. Rev. A 76, 010301(R) (2007)] can protect highly entangled states against decoherence. We provide analytical results that explain the robustness of jump feedback, and also analyze the perspectives of experimental implementation by scrutinizing the effects of imperfections and approximations in our model.
Boncagni, Luca, E-mail: firstname.lastname@example.org [EURATOM - ENEA Fusion Association, Frascati Research Centre, Division of Fusion Physics, Rome, Frascati (Italy); Sadeghi, Yahya; Carnevale, Daniele; Di Geronimo, Andrea; Varano, Gianluca; Vitelli, Riccardo [Department of Computer Science, Systems and Production, University of Rome Tor Vergata, Rome (Italy); Galperti, Critsian [Istituto di Fisica del Plasma, CNR, EURATOM-ENEA Association, Milan (Italy); Zarfati, Emanuele; Pucci, Daniele [Department Antonio Ruberti, University of Rome La Sapienza, Rome (Italy)
Highlights: Black-Right-Pointing-Pointer We show that the MARTe is a candidate for ITER PSH. Black-Right-Pointing-Pointer We replace the old real-time feedback software using the MARTe framework. Black-Right-Pointing-Pointer We describe all the work done for the integration. - Abstract: Keeping in mind the necessities of a modern control system for fusion devices, such as modularity and a distributed architecture, an upgrade of the present FTU feedback control system was planned, envisaging also a possible reutilization in the proposed FAST experiment . For standardization and efficiency purposes we decided to adopt a pre-existent ITER-relevant framework called MARTe , already used with success in other European Tokamak devices . Following the developments shown in , in this paper we report on the structure of the new feedback system, and how it was integrated in the current control structure and pulse programming interface, and in the other MARTe systems already in FTU: RT-ODIN  and the ECRH and LH  satellite stations. The new feedback system has been installed in the FTU backup station (known as 'Feedback B'), which shares the input signals with the actual feedback system, in order to simplify the validation and debug of the new controller by testing it in parallel with the current one. Experimental results are then presented.
Chang, Zenghu [Manhattan, KS; Yun, Chenxia [Manhattan, KS; Chen, Shouyuan [Manhattan, KS; Wang, He [Manhattan, KS; Chini, Michael [Manhattan, KS
A feedback control module for stabilizing a carrier-envelope phase of an output of a laser oscillator system comprises a first photodetector, a second photodetector, a phase stabilizer, an optical modulator, and a thermal control element. The first photodetector may generate a first feedback signal corresponding to a first portion of a laser beam from an oscillator. The second photodetector may generate a second feedback signal corresponding to a second portion of the laser beam filtered by a low-pass filter. The phase stabilizer may divide the frequency of the first feedback signal by a factor and generate an error signal corresponding to the difference between the frequency-divided first feedback signal and the second feedback signal. The optical modulator may modulate the laser beam within the oscillator corresponding to the error signal. The thermal control unit may change the temperature of the oscillator corresponding to a signal operable to control the optical modulator.
Balik, G; Deleglise, G; Jeremie, A; Pacquet, L; Badel, A; Caron, B; Le Breton, R; Latina, A; Pfingstner, J; Schulte, D; Snuverink, J
The Compact Linear Collider (CLIC) accelerator has strong precision requirements on the offset position between the beams. Sensitive to ground motion (GM), the beam needs to be stabilized to unprecedented requirements. Different Beam Based Feedback (BBF) algorithms such as Orbit Feedback (OFB) and Interaction Point Feedback (IPFB) have been designed. This paper focuses on the IPFB control which could be added to the CLIC baseline. IPFB control has been tested for different GM models in presence of noises or disturbances and it uses digital linear control with an adaptive loop. The simulations demonstrate that it is possible to achieve the required performances and quantify the maximum allowed noise level. This amount of admitted noises and disturbances is given in terms of an equivalent disturbance on the position of the magnet that controls the beam offset. Due to the limited sampling frequency of the process, the control loop is in a very small bandwidth. The study shows that these disturbances have to be l...
Rubio, José de Jesús
In this research, a robust feedback linearization technique is studied for nonlinear processes control. The main contributions are described as follows: 1) Theory says that if a linearized controlled process is stable, then nonlinear process states are asymptotically stable, it is not satisfied in applications because some states converge to small values; therefore, a theorem based on Lyapunov theory is proposed to prove that if a linearized controlled process is stable, then nonlinear process states are uniformly stable. 2) Theory says that all the main and crossed states feedbacks should be considered for the nonlinear processes regulation, it makes more difficult to find the controller gains; consequently, only the main states feedbacks are utilized to obtain a satisfactory result in applications. This introduced strategy is applied in a fuel cell and a manipulator. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Cecconello, M.; Menmuir, S.; Brunsell, P. R.; Kuldkepp, M.
Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.
Cecconello, M [Division of Fusion Plasma Physics, Association EURATOM -VR, Alfven Laboratory, School of Electrical Engineering, Royal Institute of Technology KTH, SE-10044 Stockholm (Sweden); Menmuir, S [Department of Physics, Association EURATOM -VR, School of Engineering Science, Royal Institute of Technology KTH, SE-10691 Stockhom (Sweden); Brunsell, P R [Division of Fusion Plasma Physics, Association EURATOM -VR, Alfven Laboratory, School of Electrical Engineering, Royal Institute of Technology KTH, SE-10044 Stockholm (Sweden); Kuldkepp, M [Department of Physics, Association EURATOM -VR, School of Engineering Science, Royal Institute of Technology KTH, SE-10691 Stockhom (Sweden)
Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.
Cecconello, M; Menmuir, S; Brunsell, P R; Kuldkepp, M
Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties
Bean, Jacob; Fuller, Chris; Schiller, Noah
Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.
Feedback Control of MEMS to Atoms illustrates the use of control and control systems as an essential part of functioning integrated miniaturized systems. The book is organized according to the dimensional scale of the problem, starting with microscale systems and ending with atomic-scale systems. Similar to macroscale machines and processes, control systems can play a major role in improving the performance of micro- and nanoscale systems and in enabling new capabilities that would otherwise not be possible. The majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control theory and engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry. This book: Shows how the utilization of feedback control in nanotechnology instrumentation can yield results far better than passive systems can Discusses the application of control systems to problems...
Xiang, Xingcan; Mutlu, Rahim; Alici, Gursel; Li, Weihua
Conducting polymer actuators have shown significant potential in articulating micro instruments, manipulation devices, and robotics. However, implementing a feedback control strategy to enhance their positioning ability and accuracy in any application requires a feedback sensor, which is extremely large in size compared to the size of the actuators. Therefore, this paper proposes a new sensorless control scheme without the use of a position feedback sensor. With the help of the system identification technique and particle swarm optimization, the control scheme, which we call the simulated feedback control system, showed a satisfactory command tracking performance for the conducting polymer actuator’s step and dynamic displacement responses, especially under a disturbance, without needing a physical feedback loop, but using a simulated feedback loop. The primary contribution of this study is to propose and experimentally evaluate the simulated feedback control scheme for a class of the conducting polymer actuators known as tri-layer polymer actuators, which can operate both in dry and wet media. This control approach can also be extended to other smart actuators or systems, for which the feedback control based on external sensing is impractical.
Xiang, Xingcan; Mutlu, Rahim; Alici, Gursel; Li, Weihua
Conducting polymer actuators have shown significant potential in articulating micro instruments, manipulation devices, and robotics. However, implementing a feedback control strategy to enhance their positioning ability and accuracy in any application requires a feedback sensor, which is extremely large in size compared to the size of the actuators. Therefore, this paper proposes a new sensorless control scheme without the use of a position feedback sensor. With the help of the system identification technique and particle swarm optimization, the control scheme, which we call the simulated feedback control system, showed a satisfactory command tracking performance for the conducting polymer actuator’s step and dynamic displacement responses, especially under a disturbance, without needing a physical feedback loop, but using a simulated feedback loop. The primary contribution of this study is to propose and experimentally evaluate the simulated feedback control scheme for a class of the conducting polymer actuators known as tri-layer polymer actuators, which can operate both in dry and wet media. This control approach can also be extended to other smart actuators or systems, for which the feedback control based on external sensing is impractical. (paper)
Tian Lixin; Xu Jun; Sun Mei; Li Xiuming
In this paper, using the idea of the successive dislocation feedback method, a new time-delayed feedback control method called the successive dislocation time-delayed feedback control (SDTDFC) is designed. Firstly, the idea of SDTDFC is introduced. Then some analytic sufficient conditions of the chaos control from the SDTDFC approach are derived for stabilization. Finally, some established results are further clarified via a case study of the Lorenz system with the numerical simulations.
Yong-Ren Pu; Thomas A. Posbergh
The problem of stabilization of rigid bodies has received a great deal of attention for many years. People have developed a variety of feedback control laws to meet their design requirements and have formulated various but mostly open loop numerical algorithms for the dynamics of the corresponding closed loop systems. Since the conserved quantities such as energy, momentum, and symmetry play an important role in the dynamics, we investigate the conserved quantities for the closed loop control...
Full Text Available This paper is concerned with tracking control of a dynamic model consisting of a flexible beam rotated by a motor in a horizontal plane at the one end and a tip body rigidly attached at the free end. The well-posedness of the closed loop systems considering the dissipative nonlinear boundary feedback is discussed and the asymptotic stability about difference energy of the hybrid system is also investigated.
Maya, I.; Campbell, H.D.
An analysis of the thermal balance of a fusioning plasma from a control system perspective has been performed. The requirements for stability and the response characteristics of the thermal balance have been evaluated. The results show that open-loop equilibria are characterized by restrictively narrow stable operating temperature regimes and generally poor system performance. Closed-loop proportional feedback using the fuel feedrate and injection energy can be used to extend the stable operating temperature regime and significantly improve the system response. Thus, high open-loop temperature overshoots without neutral beam injection can be reduced to acceptable levels at temperature overshoots without neutral beam injection can be reduced to acceptable levels at temperatures as low as 20 keV, with a decrease in the settling time to under 30 sec. With 75 keV injection energy, acceptable overshoot can be obtained at plasma temperatures as low as 10 keV, with the time-to-peak below 20 sec and settling times less than 30 sec. It is still difficult to simultaneously satisfy overshoot and speed of response requirements at low temperatures with low feedback fractions. Additional improvement is available using proportional-integral-derivative (PID) control
Superconducting circuits have recently risen to the forefront of the solid-state prototypes for quantum computing. Reaching the stage of robust quantum computing requires closing the loop between measurement and control of quantum bits (qubits). This thesis presents the realization of feedback
Bielawski, S; Szwaj, C
Dynamical instabilities lead to unwanted full-scale power oscillations in many classical lasers and FEL oscillators. For a long time, applications requiring stable operation were typically performed by working outside the problematic parameter regions. A breakthrough occurred in the nineties , when emphasis was made on the practical importance of unstable states (stationary or periodic) that coexist with unwanted oscillatory states. Indeed, although not observable in usual experiments, unstable states can be stabilized, using a feedback control involving arbitrarily small perturbations of a parameter. This observation stimulated a set of works leading to successful suppression of dynamical instabilities (initially chaos) in lasers, sometimes with surprisingly simple feedback devices . We will review a set of key results, including in particular the recent works on the stabilization of mode-locked lasers, and of the super-ACO, ELETTRA and UVSOR FELs .
Yann S Dufour
Full Text Available Inputs to signaling pathways can have complex statistics that depend on the environment and on the behavioral response to previous stimuli. Such behavioral feedback is particularly important in navigation. Successful navigation relies on proper coupling between sensors, which gather information during motion, and actuators, which control behavior. Because reorientation conditions future inputs, behavioral feedback can place sensors and actuators in an operational regime different from the resting state. How then can organisms maintain proper information transfer through the pathway while navigating diverse environments? In bacterial chemotaxis, robust performance is often attributed to the zero integral feedback control of the sensor, which guarantees that activity returns to resting state when the input remains constant. While this property provides sensitivity over a wide range of signal intensities, it remains unclear how other parameters such as adaptation rate and adapted activity affect chemotactic performance, especially when considering that the swimming behavior of the cell determines the input signal. We examine this issue using analytical models and simulations that incorporate recent experimental evidences about behavioral feedback and flagellar motor adaptation. By focusing on how sensory information carried by the response regulator is best utilized by the motor, we identify an operational regime that maximizes drift velocity along chemical concentration gradients for a wide range of environments and sensor adaptation rates. This optimal regime is outside the dynamic range of the motor response, but maximizes the contrast between run duration up and down gradients. In steep gradients, the feedback from chemotactic drift can push the system through a bifurcation. This creates a non-chemotactic state that traps cells unless the motor is allowed to adapt. Although motor adaptation helps, we find that as the strength of the feedback
Full Text Available In this paper, we propose an application of an algorithm, based on the T-S (Takagi-Sugeno technique, to stabilize a quadrotor helicopter. After giving the nonlinear model of the vehicle, its representation by a T-S fuzzy model is discussed. Following this, a fuzzy controller is synthesized, which will guarantee the stability of the quadrotor. The proposed T-S controller is designed with measurable premise variables and the conditions of stability are given in terms of linear matrix inequality (LMI. Simulations and real-time experiments using a test-bed platform prove the performance of a PDC control algorithm to stabilize the vehicle robustly at a desired set point.
Armstrong, Stephen Gregory
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.
Kras, Aleksander; Gardonio, Paolo
This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.
Li, Chenguang; Liu, Wandong; Li, Hong
The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425 (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes
Masri, Karim M.
Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller on stabilizing MEMS resonators. A delayed feedback velocity controller is implemented through modifying the parallel plate electrostatic force used to excite the resonator into motion. A nonlinear single degree of freedom model is used to simulate the resonator response. Long time integration is used first. Then, a finite deference technique to capture periodic motion combined with the Floquet theory is used to capture the stable and unstable periodic responses. We show that applying a suitable positive gain can stabilize the MEMS resonator near or inside the instability dynamic pull in band. We also study the stability of the resonator by tracking its basins of attraction while sweeping the controller gain and the frequency of excitations. For positive delayed gains, we notice significant enhancement in the safe area of the basins of attraction. Copyright © 2013 by ASME.
This monograph presents controllability and stabilization methods in control theory that solve parabolic boundary value problems. Starting from foundational questions on Carleman inequalities for linear parabolic equations, the author addresses the controllability of parabolic equations on a variety of domains and the spectral decomposition technique for representing them. This method is, in fact, designed for use in a wider class of parabolic systems that include the heat and diffusion equations. Later chapters develop another process that employs stabilizing feedback controllers with a finite number of unstable modes, with special attention given to its use in the boundary stabilization of Navier–Stokes equations for the motion of viscous fluid. In turn, these applied methods are used to explore related topics like the exact controllability of stochastic parabolic equations with linear multiplicative noise. Intended for graduate students and researchers working on control problems involving nonlinear diff...
Santarelli, Keith R.
Inspired by prior work in the design of switched feedback controllers for second order systems, we develop a switched state feedback control law for the stabilization of LTI systems of arbitrary dimension. The control law operates by switching between two static gain vectors in such a way that the state trajectory is driven onto a stable n - 1 dimensional hyperplane (where n represents the system dimension). We begin by briefly examining relevant geometric properties of the phase portraits in the case of two-dimensional systems to develop intuition, and we then show how these geometric properties can be expressed as algebraic constraints on the switched vector fields that are applicable to LTI systems of arbitrary dimension. We then derive necessary and sufficient conditions to ensure stabilizability of the resulting switched system (characterized primarily by simple conditions on eigenvalues), and describe an explicit procedure for designing stabilizing controllers. We then show how the newly developed control law can be applied to the problem of minimizing the maximal Lyapunov exponent of the corresponding closed-loop state trajectories, and we illustrate the closed-loop transient performance of these switched state feedback controllers via multiple examples.
Sakurai, Keiichi; Tanahashi, Shygo
Computations and experiments on the stability of a feedback control system for maintaining a plasma column in equilibrium are described. The time response of the displacement of the plasma to the desired position is examined by solving the equation of motion of the plasma column. We show that the stability of the feedback control system is improved by using an additional term which represents the shift velocity of the plasma column. (author)
Full Text Available This main objective of the paper is to stabilize an electric vehicle in optimal manner to a step lane change maneuver. To define the mathematical model of the vehicle, the rigid body moving on a plane is taken into account. An optimal lane keeping controller delivers the adequate angles in order to stabilize the vehicle’s trajectory in an optimal way. Two degree of freedom linear bicycle model is adopted as vehicle model, consisting of lateral and yaw motion equations. The proposed control maintains the lateral stability by taking the feedback information from the vehicle transducers. In this way only the lateral vehicle’s dynamics are enough to considerate. Based on the obtained linear mathematical model the quadratic optimal control is designed in order to maintain the lateral stability of the electric vehicle. The numerical simulation results demonstrate the feasibility of the proposed solution.
Zhai, Junyong; Du, Haibo
This paper investigates the problem of semi-global stabilization by output feedback for a class of nonlinear systems using homogeneous domination approach. For each subsystem, we first design an output feedback stabilizer for the nominal system without the perturbing nonlinearities. Then, based on the ideas of the homogeneous systems theory and the adding a power integrator technique, a series of homogeneous output feedback stabilizers are constructed recursively for each subsystem and the closed-loop system is rendered semi-globally asymptotically stable. The efficiency of the output feedback stabilizers is demonstrated by a simulation example. Crown Copyright © 2012. Published by Elsevier Ltd. All rights reserved.
In modern nonequilibrium physics, ``Maxwell's demon'' has attracted renewed attentions in both terms of theory and experiment. The demon plays a key role to unify thermodynamics and information theory, which can extract the useful work from a heat bath by using the obtained information via feedback control. In this talk, I will talk about the recent development of thermodynamics of information. In particular, I will focus on the generalizations of the second law of thermodynamics and the Jarzynski equality in the presence of feedback control, where information contents and thermodynamic quantities are treated on an equal footing. I will also discuss recent experimental results that realized Maxwell's demon by colloidal particles and single electrons.
Blumthaler, Ingrid; Oberst, Ulrich
Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ℱ over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior
Mark Torre Jorgenson,; Mikhail Kanevskiy,; Yuri Shur,; Natalia Moskalenko,; Dana Brown,; Wickland, Kimberly P.; Striegl, Robert G.; Koch, Joshua C.
Ground ice is abundant in the upper permafrost throughout the Arctic and fundamentally affects terrain responses to climate warming. Ice wedges, which form near the surface and are the dominant type of massive ice in the Arctic, are particularly vulnerable to warming. Yet processes controlling ice wedge degradation and stabilization are poorly understood. Here we quantified ice wedge volume and degradation rates, compared ground ice characteristics and thermal regimes across a sequence of five degradation and stabilization stages and evaluated biophysical feedbacks controlling permafrost stability near Prudhoe Bay, Alaska. Mean ice wedge volume in the top 3 m of permafrost was 21%. Imagery from 1949 to 2012 showed thermokarst extent (area of water-filled troughs) was relatively small from 1949 (0.9%) to 1988 (1.5%), abruptly increased by 2004 (6.3%) and increased slightly by 2012 (7.5%). Mean annual surface temperatures varied by 4.9°C among degradation and stabilization stages and by 9.9°C from polygon center to deep lake bottom. Mean thicknesses of the active layer, ice-poor transient layer, ice-rich intermediate layer, thermokarst cave ice, and wedge ice varied substantially among stages. In early stages, thaw settlement caused water to impound in thermokarst troughs, creating positive feedbacks that increased net radiation, soil heat flux, and soil temperatures. Plant growth and organic matter accumulation in the degraded troughs provided negative feedbacks that allowed ground ice to aggrade and heave the surface, thus reducing surface water depth and soil temperatures in later stages. The ground ice dynamics and ecological feedbacks greatly complicate efforts to assess permafrost responses to climate change.
Jorgenson, M. T.; Kanevskiy, M.; Shur, Y.; Moskalenko, N.; Brown, D. R. N.; Wickland, K.; Striegl, R.; Koch, J.
Ground ice is abundant in the upper permafrost throughout the Arctic and fundamentally affects terrain responses to climate warming. Ice wedges, which form near the surface and are the dominant type of massive ice in the Arctic, are particularly vulnerable to warming. Yet processes controlling ice wedge degradation and stabilization are poorly understood. Here we quantified ice wedge volume and degradation rates, compared ground ice characteristics and thermal regimes across a sequence of five degradation and stabilization stages and evaluated biophysical feedbacks controlling permafrost stability near Prudhoe Bay, Alaska. Mean ice wedge volume in the top 3 m of permafrost was 21%. Imagery from 1949 to 2012 showed thermokarst extent (area of water-filled troughs) was relatively small from 1949 (0.9%) to 1988 (1.5%), abruptly increased by 2004 (6.3%) and increased slightly by 2012 (7.5%). Mean annual surface temperatures varied by 4.9°C among degradation and stabilization stages and by 9.9°C from polygon center to deep lake bottom. Mean thicknesses of the active layer, ice-poor transient layer, ice-rich intermediate layer, thermokarst cave ice, and wedge ice varied substantially among stages. In early stages, thaw settlement caused water to impound in thermokarst troughs, creating positive feedbacks that increased net radiation, soil heat flux, and soil temperatures. Plant growth and organic matter accumulation in the degraded troughs provided negative feedbacks that allowed ground ice to aggrade and heave the surface, thus reducing surface water depth and soil temperatures in later stages. The ground ice dynamics and ecological feedbacks greatly complicate efforts to assess permafrost responses to climate change.
El-Bassiouny, A F
This paper presents an analytical study of the simultaneous principal parametric resonances of two coupled Duffing equations with time delay state feedback. The concept of an equivalent damping related to the delay feedback is proposed and the appropriate choice of the feedback gains and the time delay is discussed from the viewpoint of vibration control. The method of multiple scales is used to determine a set of ordinary differential equations governing the modulation of the amplitudes and phases of the two modes. The first order approximation of the resonances are derived and the effect of time delay on the resonances is investigated. The fixed points correspond to a periodic motion for the starting system and we show the frequency-response curves. We analyse the effect of time delay and the other different parameters on these oscillations. The stability of the fixed points is examined by using the variational method. Numerical solutions are carried out and graphical representations of the results are presented and discussed. Increasing in the time delay τ given decreasing and increasing in the regions of definition and stability respectively and the first mode has decreased magnitudes. The multivalued solutions disappear when decreasing the coefficients of cubic nonlinearities of the second mode α 3 and the detuning parameter σ 2 respectively. Both modes shift to the left for increasing linear feedback gain v 1 and the coefficient of parametric excitation f 1 respectively
semi-global set-stabilizing H-infty control is local H-infty control within some given compact set O such that all state trajectories are bounded inside O, and are approaching an open loop invariant set S subset O as t -> infinity. Sufficient conditions for the existance of a continuous statefeed...
Full Text Available The problem of stabilization of rigid bodies has received a great deal of attention for many years. People have developed a variety of feedback control laws to meet their design requirements and have formulated various but mostly open loop numerical algorithms for the dynamics of the corresponding closed loop systems. Since the conserved quantities such as energy, momentum, and symmetry play an important role in the dynamics, we investigate the conserved quantities for the closed loop control systems which formally or asymptotically stabilize rigid body rotation and modify the open loop numerical algorithms so that they preserve these important properties. Using several examples, the authors first use the open loop algorithm to simulate the tumbling rigid body actions and then use the resulting closed loop one to stabilize them.
AFRL-AFOSR-VA-TR-2017-0004 Compressive Feedback Control Design for Spatially Distributed Systems Nader Motee LEHIGH UNIVERSITY 526 BRODHEAD AVE...0158 Compressive Feedback Control Design for Spatially Distributed Systems Program Manager: Dr. Frederick A. Leve Principle Investigator: Nader Motee...Feedback Control Design for Spatially Distributed Systems Summary of Accomplishments and Research Results 1 Systemic Performance and Robustness
Souza de Paula, Aline; Savi, Marcelo Amorim
Chaos control is employed for the stabilization of unstable periodic orbits (UPOs) embedded in chaotic attractors. The extended time-delayed feedback control uses a continuous feedback loop incorporating information from previous states of the system in order to stabilize unstable orbits. This article deals with the chaos control of a nonlinear pendulum employing the extended time-delayed feedback control method. The control law leads to delay-differential equations (DDEs) that contain derivatives that depend on the solution of previous time instants. A fourth-order Runge-Kutta method with linear interpolation on the delayed variables is employed for numerical simulations of the DDEs and its initial function is estimated by a Taylor series expansion. During the learning stage, the UPOs are identified by the close-return method and control parameters are chosen for each desired UPO by defining situations where the largest Lyapunov exponent becomes negative. Analyses of a nonlinear pendulum are carried out by considering signals that are generated by numerical integration of the mathematical model using experimentally identified parameters. Results show the capability of the control procedure to stabilize UPOs of the dynamical system, highlighting some difficulties to achieve the stabilization of the desired orbit.
Experiments on auto-controlling the reactor DIDO are described and the equipment design discussed in some detail. The experiments are carried out to show the suitability of an on/off type of control for the maintenance of: (a) a constant flux level in the presence of noise. (b) constant period during power change. The controlling signals stem from measurement of neutron flux computed to give deviation from demanded power, and period respectively. These signals are fed to a D.C. amplifier with variable deadbang whose output is used to control relays, these in turn control the coarse control arms by means of three-phase motors. The system is designed on the basis of locus diagrams, a conventional non-linear technique being used to handle the relay performance. Calculation of the reactor transfer function at high and low power respectively shows that the stability margin is not appreciably affected by the inherent thermodynamic feedback in the reactor core. (author)
Vijayan, V; Panda, Rames C
A PID controller is widely used to control industrial processes that are mostly open loop stable or unstable. Selection of proper feedback structure and controller tuning helps to improve the performance of the loop. In this paper a double-feedback loop/method is used to achieve stability and better performance of the process. The internal feedback is used for stabilizing the process and the outer loop is used for good setpoint tracking. An internal model controller (IMC) based PID method is used for tuning the outer loop controller. Autotuning based on relay feedback or the Ziegler-Nichols method can be used for tuning an inner loop controller. A tuning parameter (λ) that is used to tune IMC-PID is used as a time constant of a setpoint filter that is used for reducing the peak overshoot. The method has been tested successfully on many low order processes. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Full Text Available This paper investigates the problem of global stabilization for a class of switched nonlinear systems using multiple Lyapunov functions (MLFs. The restrictions on nonlinearities are neither linear growth condition nor Lipschitz condition with respect to system states. Based on adding a power integrator technique, we design homogeneous state feedback controllers of all subsystems and a switching law to guarantee that the closed-loop system is globally asymptotically stable. Finally, an example is given to illustrate the validity of the proposed control scheme.
Wen Guilin; Wang Qingguo; Lin Chong; Han Xu; Li Guangyao
Synchronization under output feedback control with multiple random time delays is studied, using the paradigm in nonlinear physics-Chua's circuit. Compared with other synchronization control methods, output feedback control with multiple random delay is superior for a realistic synchronization application to secure communications. Sufficient condition for global stability of delay-dependent synchronization is established based on the LMI technique. Numerical simulations fully support the analytical approach, in spite of the random delays
Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P.; Arnold, W.; Martin, S.; Pivit, E.
A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 Ω source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec
Park, Ju H
A novel feedback control scheme is proposed for exponential synchronization of the Genesio-Tesi chaotic system. The feedback controller consists of two parts: a linear dynamic control law and a nonlinear control one. For exponential synchronization between the drive and response Genesio-Tesi systems, the Lyapunov stability analysis is used. Then an existence criterion for the stabilizing controller is presented in terms of linear matrix inequalities (LMIs). The LMIs can be solved easily by various convex optimization algorithms. Finally, a numerical simulation is illustrated to show the effectiveness of the proposed chaos synchronization scheme
Lázaro Ismael Hardy Llins
Full Text Available In recent years, the study of systems subject to time-varying parameters has awakened the interest of many researchers. The gain scheduling control strategy guarantees a good performance for systems of this type and also is considered as the simplest to deal with problems of this nature. Moreover, the class of systems in which the state derivative signals are easier to obtain than the state signals, such as in the control for reducing vibrations in a mechanical system, has gained an important hole in control theory. Considering those ideas, we propose sufficient conditions via LMI for designing a gain scheduling controller using state derivative feedback. The D-stability methodology was used for improving the performance of the transitory response. Practical implementation in an active suspension system and comparison with other methods validates the efficiency of the proposed strategy.
Kawai, Hiroyuki; Murao, Toshiyuki; Fujita, Masayuki
This paper investigates passivity based 3D visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the visual feedback system are preserved. Finally simulation results on 3DOF planar manipulator are presented to verify the stability of the 3D visual force feedback system and understand our proposed method simply.
Mørkholt, Jakob; Elliott, S.J.; Sors, T.C.
A comparison of three ways of designing optimal discrete time feedback controllers has been carried out via computer simulations. The three design methods are similar in that they are all based on the minimisation of a quadratic cost function under certain assumptions about the disturbance noise...... the performance of the different controllers issues such as stability robustness, controller order reduction and the effect of time delays in the feedback loop have been adressed in the simulations....
It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems
It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems
This Letter presents the maximum achievable stability and purity that can be obtained in a two-level system with both dephasing and population relaxation processes by using homodyne-mediated feedback control. An analytic formula giving the optimal amplitudes of the driving and feedback for the steady-state is also presented. Experimental examples are used to show the importance of controlling the dephasing process.
Quirk, Kevin J.; Gin, Jonathan W.; Nguyen, Danh H.; Nguyen, Huy
To demodulate a communication signal, a receiver must recover and synchronize to the symbol timing of a received waveform. In a system that utilizes digital sampling, the fidelity of synchronization is limited by the time between the symbol boundary and closest sample time location. To reduce this error, one typically uses a sample clock in excess of the symbol rate in order to provide multiple samples per symbol, thereby lowering the error limit to a fraction of a symbol time. For systems with a large modulation bandwidth, the required sample clock rate is prohibitive due to current technological barriers and processing complexity. With precise control of the phase of the sample clock, one can sample the received signal at times arbitrarily close to the symbol boundary, thus obviating the need, from a synchronization perspective, for multiple samples per symbol. Sample-clock phase-control feedback was developed for use in the demodulation of an optical communication signal, where multi-GHz modulation bandwidths would require prohibitively large sample clock frequencies for rates in excess of the symbol rate. A custom mixedsignal (RF/digital) offset phase-locked loop circuit was developed to control the phase of the 6.4-GHz clock that samples the photon-counting detector output. The offset phase-locked loop is driven by a feedback mechanism that continuously corrects for variation in the symbol time due to motion between the transmitter and receiver as well as oscillator instability. This innovation will allow significant improvements in receiver throughput; for example, the throughput of a pulse-position modulation (PPM) with 16 slots can increase from 188 Mb/s to 1.5 Gb/s.
Liu Chenglin; Tian Yuping
In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation
Dierks, Travis; Jagannathan, Sarangapani
In this paper, a combined kinematic/torque output feedback control law is developed for leader-follower-based formation control using backstepping to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. A neural network (NN) is introduced to approximate the dynamics of the follower and its leader using online weight tuning. Furthermore, a novel NN observer is designed to estimate the linear and angular velocities of both the follower robot and its leader. It is shown, by using the Lyapunov theory, that the errors for the entire formation are uniformly ultimately bounded while relaxing the separation principle. In addition, the stability of the formation in the presence of obstacles, is examined using Lyapunov methods, and by treating other robots in the formation as obstacles, collisions within the formation are prevented. Numerical results are provided to verify the theoretical conjectures.
Dierks, Travis; Jagannathan, S
In this paper, an asymptotically stable (AS) combined kinematic/torque control law is developed for leader-follower-based formation control using backstepping in order to accommodate the complete dynamics of the robots and the formation, and a neural network (NN) is introduced along with robust integral of the sign of the error feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are AS and that the NN weights are bounded as opposed to uniformly ultimately bounded stability which is typical with most NN controllers. Additionally, the stability of the formation in the presence of obstacles is examined using Lyapunov methods, and by treating other robots in the formation as obstacles, collisions within the formation do not occur. The asymptotic stability of the follower robots as well as the entire formation during an obstacle avoidance maneuver is demonstrated using Lyapunov methods, and numerical results are provided to verify the theoretical conjectures.
Villanueva, Alex; Priya, Shashank
Recently, bio-inspired shape memory alloy composite (BISMAC) actuators have been shown to be promising for the design of medusae rowing propulsion. BISMAC actuators were able to recreate bell deformation of Aurelia aurita by controlling shape memory alloy (SMA) deformation that allowed matching the contraction-relaxation deformation profile. In this study, we improve upon the control system and demonstrate feedback control using SMA wire resistance to decrease contraction time and power consumption. The controller requires the knowledge of threshold resistance and safe current inputs which were determined experimentally. The overheating effect of SMA wires was analyzed for BioMetal Fiber (BMF) and Flexinol 100 μm diameter wires revealing an increase in resistance as the wires overheated. The controller was first characterized on a SMA wire with bias spring system for a BMF 100 using Ihi = 0.5 A and Ilow = 0.2 A, where hi corresponds to peak current for fast actuation and low corresponds to the safe current which prevents overheating and maintains desired deformation. A contraction of 4.59% was achieved in 0.06 s using the controller and the deformation was maintained for 2 s at low current. The BISMAC actuator was operated using the controller with Ihi = 1.1 A and Ilow = 0.65 A achieving a 67% decrease in contraction time compared to using a constant driving current of Ilow = 0.2 A and a 60% decrease in energy consumption compared to using constant Ihi = 0.5 A while still exceeding the contraction requirements of the Aurelia aurita.
Active feedback of resistive wall modes is investigated using cylindrical theory and toroidal calculations. For tokamaks, good performance is obtained by using active coils with one set of coils in the poloidal direction and sensors detecting the poloidal field inside the first wall, located at the outboard mid-plane. With suitable width of the feedback coil such a system can give robust control with respect to variations in plasma current, pressure and rotation. Calculations are shown for ITER-like geometry with a double wall. The voltages and currents in the active coils are well within the design limits for ITER. Calculations for RFP's are presented for a finite number of coils both in the poloidal and toroidal directions. With 4 coils in the poloidal and 24 coils in the toroidal direction, all non-resonant modes can be stabilized both at high and low theta. Several types of sensors, including radial and internal poloidal or toroidal sensors, can stabilize the RWM, but poloidal sensors give the most robust performance. (author)
Jastrow, J.D.; Miller, R.M.
Primary production (specifically, the rate and quality of C transfer below ground) and soil microbial activity (specifically, the rates of C transformation and decay) are recognized as the overall biological processes governing soil organic C (SOC) dynamics. These two processes and, hence, SOC cycling and storage are controlled by complex underlying biotic and abiotic interactions and feedbacks, most of which can be tied in one way or another to the influences of the five state factors related to soil formation, and many of which are sensitive to management practices. Overall, C input rates and quality are largely dependent on climate (especially temperature and precipitation), vegetation type and landscape, soil type, and management practices. Decomposition processes and turnover rates, however, are greatly influenced by climate, the type and quality of organic matter (e.g., N content and the ratios of C:N and lignin:N), chemical or physicochemical associations of organic matter (OM) with soil mineral components, and the location of OM within the soil.
Lifshitz, A.; Be'ery, I.; Fisher, A.; Ron, A.; Fruchtman, A.
A plasma confined in linear mirror machines is unstable even at low β, mainly because of the flute instability. One possible way to stabilize the plasma is to use active feedback to correct the plasma shape in real time. The theoretically investigated apparatus consists of feedback coils aligned with the magnetic field, immersed in a cold plasma around the hot core. When the current through the feedback coils changes, the plasma moves to conserve the magnetic flux via compressional Alfvén waves. An analytical model is used to find a robust feedback algorithm with zero residual currents. It is shown that due to the plasma's rotation, maximal stability is obtained with a large phase angle between the perturbations' modes and the feedback integral-like term. Finally, a two-dimensional MHD simulation implementing the above algorithm in fact shows stabilization of the plasma with zero residual currents. (paper)
Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached
Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.
Chen, C.-C.; Hsu, C.-H.; Chen, Y.-J.; Lin, Y.-F.
The almost disturbance decoupling and trajectory tracking of nonlinear control systems using an observer-based fuzzy feedback linearization control (FLC) is developed. Because not all of the state variables of the nonlinear dynamic equations are available, a nonlinear state observer is employed to estimate the state variables. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. In order to demonstrate the practical applicability, the study has investigated a pendulum control system
Jagannathan, Sarangapani; He, Pingan
In this paper, a suite of adaptive neural network (NN) controllers is designed to deliver a desired tracking performance for the control of an unknown, second-order, nonlinear discrete-time system expressed in nonstrict feedback form. In the first approach, two feedforward NNs are employed in the controller with tracking error as the feedback variable whereas in the adaptive critic NN architecture, three feedforward NNs are used. In the adaptive critic architecture, two action NNs produce virtual and actual control inputs, respectively, whereas the third critic NN approximates certain strategic utility function and its output is employed for tuning action NN weights in order to attain the near-optimal control action. Both the NN control methods present a well-defined controller design and the noncausal problem in discrete-time backstepping design is avoided via NN approximation. A comparison between the controller methodologies is highlighted. The stability analysis of the closed-loop control schemes is demonstrated. The NN controller schemes do not require an offline learning phase and the NN weights can be initialized at zero or random. Results show that the performance of the proposed controller schemes is highly satisfactory while meeting the closed-loop stability.
An, Bin; Massie, Thomas H.; Vayner, Vladimir
An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment
Katsuro-Hopkins, Oksana; Sabbagh, S. A.; Bialek, J. M.; Park, H. K.; Kim, J. Y.; You, K.-I.; Glasser, A. H.; Lao, L. L.
Stability to ideal MHD kink/ballooning modes and the resistive wall mode (RWM) is investigated for the KSTAR tokamak. Free-boundary equilibria that comply with magnetic field coil current constraints are computed for monotonic and reversed shear safety factor profiles and H-mode tokamak pressure profiles. Advanced tokamak operation at moderate to low plasma internal inductance shows that a factor of two improvement in the plasma beta limit over the no-wall beta limit is possible for toroidal mode number of unity. The KSTAR conducting structure, passive stabilizers, and in-vessel control coils are modeled by the VALEN-3D code and the active RWM stabilization performance of the device is evaluated using both standard and advanced feedback algorithms. Steady-state power and voltage requirements for the system are estimated based on the expected noise on the RWM sensor signals. Using NSTX experimental RWM sensors noise data as input, a reduced VALEN state-space LQG controller is designed to realistically assess KSTAR stabilization system performance.
Wen, John T.; Bayard, David S.
New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.
Curtiss, H. C., Jr.
This paper discusses the influence of rotor dynamics and dynamic inflow on the stability and control characteristics of single rotor helicopters in near hovering flight. Body attitude and rate feedback gain limitations which arise due to rotor dynamics and dynamic inflow are discussed. It is shown that attitude feedback gain is limited primarily by body-flap coupling and rate gain is limited by the lag degrees of freedom. Dynamic inflow is shown to produce significant changes in the modes of motion.
Steinhagen, Ralph J
The Large Hadron Collider (LHC) is the next generation proton collider that is presently built at CERN. The LHC will be installed in the former LEP (Large Electron Positron Collider) tunnel. The presence of a high intensity beam in an environment of cryogenic magnets requires an excellent control of particle losses from the beam. Eventually the performance of the LHC may be limited by the ability to control the beam losses. The performance of the LHC cleaning system depends critically on the beam position stability. Ground motion, field and alignment imperfections and beam manipulations may cause orbit movements. The role of the future LHC Orbit Feedback System is the minimisation of closed orbit perturbations by periodically measuring and steering the transverse beam position back to its reference position. This diploma thesis focuses on the design and prototyping of an orbit feedback system at the SPS. The design is based on a separation of the steering problem into space and time. While the correction in s...
Yadikin, D.; Brunsell, P. R.; Paccagnella, R.
Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.
Kilby, Melissa C; Molenaar, Peter C M; Slobounov, Semyon M; Newell, Karl M
The experiment was setup to investigate the control of human quiet standing through the manipulation of augmented visual information feedback of selective properties of the motion of two primary variables in postural control: center of pressure (COP) and center of mass (COM). Five properties of feedback information were contrasted to a no feedback dual-task (watching a movie) control condition to determine the impact of visual real-time feedback on the coordination of the joint motions in postural control in both static and dynamic one-leg standing postures. The feedback information included 2D COP or COM position and macro variables derived from the COP and COM motions, namely virtual time-to-contact (VTC) and the COP-COM coupling. The findings in the static condition showed that the VTC and COP-COM coupling feedback conditions decreased postural motion more than the 2D COP or COM positional information. These variables also induced larger sway amplitudes in the dynamic condition showing a more progressive search strategy in exploring the stability limits. Canonical correlation analysis (CCA) found that COP-COM coupling contributed less than the other feedback variables to the redundancy of the system reflected in the common variance between joint motions and properties of sway motion. The COP-COM coupling had the lowest weighting of the motion properties to redundancy under the feedback conditions but overall the qualitative pattern of the joint motion structures was preserved within the respective static and dynamic balance conditions.
Rivetta, C; Cesaratto, J M; Dusatko, J; Pivi, M; Pollock, K; Turgut, O; Bartosik, H; Hofle, W; Kotzian, G; Li, K
The feedback control of intra-bunch instabilities driven by electron-cloud or strong head-tail interaction requires bandwidth sufficient to sense the vertical position and apply correction fields to multiple sections of a nanosecondscale bunch. These requirements impose challenges and limits in the design of the feedback channel. We present experimental measurements taken from the CERN SPS machine development studies with an intrabunch feedback channel prototype. The performance of a 3.2 GS/s digital processing system is evaluated, quantifying the effect of noise and limits of the feedback channel in the bunch stability as well as transient and steady state motion of the bunch. The controllers implemented are general purpose 16 tap FIR filters and the impact on the bunch stability of controller parameters are analyzed and quantified. These studies, based on the limited feedback prototype, are crucial to validate reduced models of the system and macroparticle simulation codes, including the feedback channel. T...
Lascu, Cristian; Jafarzadeh, Saeed; Fadali, Sami M.
This paper describes a Direct Torque Controlled (DTC) Induction Machine (IM) drive that employs feedback linearization and sliding-mode control. A feedback linearization approach is investigated, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude...
Full Text Available In heavy-ion synchrotrons such as the SIS18 at Helmholtzzentrum für Schwerionenforschung, Helmholtz Centre for Heavy Ion Research (GSI, coherent oscillations of the particle bunches are damped by rf feedback systems to increase the stability and to improve the beam quality. In the longitudinal direction, important modes are the coherent longitudinal dipole and quadrupole oscillation. In this paper we present a new and rigorous approach to analyze the longitudinal feedback to damp these modes. The results are applied to the rf feedback loop at GSI that damps the quadrupole mode. The stability analysis is compared with simulations and is in good agreement with results of a beam experiment. Finally, we summarize practical implications for the operation of the feedback system regarding performance and stability.
Juul Jensen, S.; Løbel, M.; Petersen, P.M.
. The output power and the center wavelength are found to be extremely stable in a 100 h stability measurement. External feedback of the output beam into the laser is seen to decrease both the spatial and the temporal coherence of the output significantly. We outline an approach to obtain a stable single......The stability of the output of a single-mode laser diode array with frequency selective phase conjugate feedback has been investigated experimentally. Both the long-term stability of the laser output and the sensitivity to feedback generated by external reflection of the output beam are examined......-mode output when external feedback is present using spatial filtering in the path of the output beam. (C) 2000 American Institute of Physics....
Full Text Available This paper deals with the problem of stabilization for a class of networked control systems (NCSs with random time delay via the state feedback control. Both sensor-to-controller and controller-to-actuator delays are modeled as Markov processes, and the resulting closed-loop system is modeled as a Markovian jump linear system (MJLS. Based on Lyapunov stability theorem combined with Razumikhin-based technique, a new delay-dependent stochastic stability criterion in terms of bilinear matrix inequalities (BMIs for the system is derived. A state feedback controller that makes the closed-loop system stochastically stable is designed, which can be solved by the proposed algorithm. Simulations are included to demonstrate the theoretical result.
Yi, Juyeon; Kim, Yong Woon
In feedback controls, measurement is an essential step in designing protocols according to outcomes. For quantum mechanical systems, measurement has another effect; to supply energy to the measured system. We verify that in feedback-controlled quantum engines, measurement plays a dual role; not only as an auxiliary to perform feedback control but also as an energy supply to drive the engines. We consider a specific engine cycle exploiting feedback control followed by projective measurement and show that the maximum bound of the extractable work is set by both the efficacy of the feedback control and the energy change caused by projective measurement. We take a concrete example of an engine using an immobile spin-1/2 particle as a working substance and suggest two possible scenarios for work extraction.
Lin, C.C.; Chung, L.L.; Lu, K.H.
An optimal direct output feedback control algorithm is developed for discrete-time systems with the consideration of time delay in control force action. Optimal constant output feedback gains are obtained through variational process such that certain prescribed quadratic performance index is minimized. Discrete-time control forces are then calculated from the multiplication of output measurements by these pre-calculated feedback gains. According to the proposed algorithm, structural system is assured to remain stable even in the presence of time delay. The number of sensors and controllers may be very small as compared with the dimension of states. Numerical results show that direct velocity feedback control is more sensitive to time delay than state feedback but, is still quite effective in reducing the dynamic responses under earthquake excitation. (author)
Lascu, Cristian; Jafarzadeh, Saeed; Fadali, Sami M.
This paper describes a direct-torque-controlled (DTC) induction motor (IM) drive that employs feedback linearization and sliding-mode control (SMC). A new feedback linearization approach is proposed, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitu...... in simulations. The sliding controller is compared with a linear DTC scheme with and without feedback linearization. Extensive experimental results for a sensorless IM drive validate the proposed solution.......This paper describes a direct-torque-controlled (DTC) induction motor (IM) drive that employs feedback linearization and sliding-mode control (SMC). A new feedback linearization approach is proposed, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude...
Hardiansyah; Furuya, Seizo; Irisawa, Juichi
This paper deals with a robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) and a multimachine power system. The simulation results illustrate the effectiveness and robustness of the proposed stabilizer over a wide range of loading conditions.
The first part of the paper deals with the role transfer functions play in control problems (closed loop, Nyquist stability criterion, sampled data systems and z-transforms; the ''hog cycle''; spring oscillations; Lyapunov functions; the Zubov method; positive-real functions and the Popov criterion; the circle criterion; linear time-delay systems; equations with periodic coefficients; stability of repeated processes). In the second part the author considers the control of systems which are described by partial differential equations (heat-conduction equation; wave equation; control of the heat and the wave equations; parasitic oscillations; noise in linear systems; discrete noise processes). Many examples are given and briefly discussed. (author)
Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper
This paper presents a model based disturbance feedback control scheme. Industrial process systems have been traditionally controlled by using relay and PID controller. However these controllers are affected by disturbances and model errors and these effects degrade control performance. The authors...... propose a new control method that can decrease the negative impact of disturbance and model errors. The control method is motivated by industrial practice by Fuji Electric. Simulation tests are examined with a conventional PID controller and the disturbance feedback control. The simulation results...... demonstrate the effectiveness of the proposed method comparing with the conventional PID controller...
Qizhi, Zhang; Yongle, Jia
The active noise control (ANC) is discussed. Many digital ANC systems often based on the filter-x algorithm for finite impulse response (FIR) filter use adaptive filtering techniques. But if the primary noise path is nonlinear, the control system based on adaptive filter technology will be invalid. In this paper, an adaptive active nonlinear noise feedback control approach using a neural network is derived. The feedback control system drives a secondary signal to destructively interfere with ...
ABSTRACT Title of thesis : FEEDBACK CONTROL OF A HOVERCRAFT OVER A WIRELESS LINK Zachary Kulis, Master of Science, 2006 Dissertation directed by...to agree nicely. FEEDBACK CONTROL OF A HOVERCRAFT OVER A WIRELESS LINK by Zachary Kulis Thesis submitted to the Faculty of the Graduate School of the...stable position and heading tracking control law for a surface vessel. In this thesis , we explore nonlinear control of a hovercraft over a Bluetooth
This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (on-line) by the front cart. This controller was experimentally tested on the TLV-prototype. (authors). 4 figs., 4 refs
Mu, Weiwei; Hu, Zhaohui; Wang, Jing; Zhou, Binquan
Nuclear magnetic resonance gyroscope (NMRG) detects the angular velocity of the vehicle utilizing the interaction between the laser beam and the alkali metal atoms along with the noble gas atoms in the alkali vapor cell. In order to reach high precision inertial measurement target, semiconductor laser in NMRG should have good intensity and frequency stability. Generally, laser intensity and frequency are stabilized separately. In this paper, a new method to stabilize laser intensity and frequency simultaneously with double-loop feedback control is presented. Laser intensity is stabilized to the setpoint value by feedback control of laser diode's temperature. Laser frequency is stabilized to the Doppler absorption peak by feedback control of laser diode's current. The feedback control of current is a quick loop, hence the laser frequency stabilize quickly. The feedback control of temperature is a slow loop, hence the laser intensity stabilize slowly. With the feedback control of current and temperature, the laser intensity and frequency are stabilized finally. Additionally, the dependence of laser intensity and frequency on laser diode's current and temperature are analyzed, which contributes to choose suitable operating range for the laser diode. The advantage of our method is that the alkali vapor cell used for stabilizing laser frequency is the same one as the cell used for NMRG to operate, which helps to miniaturize the size of NMRG prototype. In an 8-hour continuous measurement, the long-term stability of laser intensity and frequency increased by two orders of magnitude and one order of magnitude respectively.
Full Text Available Focusing on a nonlinear longitudinal dynamical model for Air-breathing Hypersonic Flight Vehicles (AHFV, a linearized model on a nominal trim condition is proposed. To stabilize the flight of an AHFV in the presence of external disturbances and actuator uncertainties, a state feedback H∞ control is designed. With bounds on the uncertainties, a feedback stabilization problem is converted to an optimal control problem and the cost function is minimized by solving a set of linear matrix inequalities. Since uncertainties in the design of AHFV are inevitable, to make a comparison, a general H∞ robust controller is constructed by only considering the disturbances firstly. Then the results are extended by incorporating the actual existing uncertainties as well as the external disturbances in the AHFV system. Numerical simulation shows that the controller, which takes both disturbances and uncertainties into account, can effectively stabilize the AHFV system.
Jia Li-Xin; Dai Hao; Hui Meng
This paper focuses on the synchronisation between fractional-order and integer-order chaotic systems. Based on Lyapunov stability theory and numerical differentiation, a nonlinear feedback controller is obtained to achieve the synchronisation between fractional-order and integer-order chaotic systems. Numerical simulation results are presented to illustrate the effectiveness of this method
Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan
This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.
Zhao Junchan; Lu Junan
This paper investigates control and synchronization of a new hyperchaotic system which was proposed by [Chen A, Lu J-A, Lue J, Yu S. Generating hyperchaotic Lue attractor via state feedback control. Physica A 2006;364:103-10]. Firstly, we give different sampled-data feedback control schemes with the variation of system parameter d. Specifically, we only use one controller to drive the system to the origin when d element of (-0.35, 0), and use two controllers if d element of [0, 1.3]. Next, we combine PC method with linear feedback approach to realize synchronization, and derive similar conclusions with varying d. Numerical simulations are also given to validate the proposed approaches
Andersen, Morten; Vinther, Frank; Ottesen, Johnny T.
of the system. The proof relies on the contraction mapping theorem. Applications of this type of systems are numerous in biology, e.g., models of the hypothalamic-pituitary-adrenal axis and testosterone secretion. Some results important for modelling are: 1) Existence of an attractive trapping region....... This is a bounded set with non-negative elements where solutions cannot escape. All solutions are shown to converge to a “minimal” trapping region. 2) At least one fixed point exists. 3) Sufficient criteria for a unique fixed point are formulated. One case where this is fulfilled is when the feedbacks are negative....
Hennen, B.A.; Westerhof, E.; De Baar, M.R.; Nuij, P.W.J.M.; Steinbuch, M.
Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron cyclotron resonance heating and current drive (ECRH/ECCD) with a tearing mode and the stabilization of a mode at a specific width. In order to simulate these control tasks, the time evolution of a tearing mode subject to suppression by ECRH/ECCD and destabilization by a magnetic perturbation field is modelled using the generalized Rutherford equation. The model includes an equilibrium model and an ECRH/ECCD launcher model. The dynamics and static equilibria of this model are analysed. The model is linearized and based on the linearized model, linear feedback controllers are designed and simulated, demonstrating both alignment and width control of tearing modes in TEXTOR. (paper)
Yan Zhenya; Yu Pei
In this paper, we study chaos (lag) synchronization of a new LC chaotic system, which can exhibit not only a two-scroll attractor but also two double-scroll attractors for different parameter values, via three types of state feedback controls: (i) linear feedback control; (ii) adaptive feedback control; and (iii) a combination of linear feedback and adaptive feedback controls. As a consequence, ten families of new feedback control laws are designed to obtain global chaos lag synchronization for τ < 0 and global chaos synchronization for τ = 0 of the LC system. Numerical simulations are used to illustrate these theoretical results. Each family of these obtained feedback control laws, including two linear (adaptive) functions or one linear function and one adaptive function, is added to two equations of the LC system. This is simpler than the known synchronization controllers, which apply controllers to all equations of the LC system. Moreover, based on the obtained results of the LC system, we also derive the control laws for chaos (lag) synchronization of another new type of chaotic system
Han, Yang; Li, Zipeng; Guerrero, Josep M.
typical current feedback control schemes in LCL grid-connected system are analyzed and compared systematically. Analysis in s-domain take the effect of the digital computation and modulation delay into account. The stability analysis is presented by root locus in the discrete domain, the optimal values...... of the controller and filter with different feedback configurations are provided. The impacts of digital delay, PR parameters and LCL parameters on different control strategies are also investigated. Finally, the theoretical analysis are validated by simulation results....
Marzocca, Piergiovanni; Librescu, Liviu; Silva, Walter A.
In addition to its intrinsic practical importance, nonlinear time delayed feedback control applied to lifting surfaces can result in interesting aeroelastic behaviors. In this paper, nonlinear aeroelastic response to external time-dependent loads and stability boundary for actively controlled lifting surfaces, in an incompressible flow field, are considered. The structural model and the unsteady aerodynamics are considered linear. The implications of the presence of time delays in the linear/nonlinear feedback control and of geometrical parameters on the aeroelasticity of lifting surfaces are analyzed and conclusions on their implications are highlighted.
Full Text Available The design of the dynamic output feedback H∞ control for uncertain interconnected systems of neutral type is investigated. In the framework of Lyapunov stability theory, a mathematical technique dealing with the nonlinearity on certain matrix variables is developed to obtain the solvability conditions for the anticipated controller. Based on the corresponding LMIs, the anticipated gains for dynamic output feedback can be achieved by solving some algebraic equations. Also, the norm of the transfer function from the disturbance input to the controlled output is less than the given index. A numerical example and the simulation results are given to show the effectiveness of the proposed method.
Tanveer, M. Hassan; Hazry, D.; Ahmed, S. Faiz; Joyo, M. Kamran; Warsi, Faizan A.; Kamarudin, H.; Wan, Khairunizam; Razlan, Zuradzman M.; Shahriman A., B.; Hussain, A. T.
This paper describes a methodology for estimating the true value of all parameters from feedback sensor of quadrotor systems. A simple gyroscope and accelerometer sensors are taken into account for calculating the accurate value of system. Secondly, for filtering and controlling the feedback data of system, a Non-linear Model Predictive Control (NMPC) is proposed. For testing the accuracy of proposed technique a complete model of quadrotor with feedback system is implemented on Matlab and simulation results shows the effectiveness of proposed technique and controller design.
Guerrero-Castellanos, José; Rifaï, Hala; Marchand, Nicolas; Cruz-José, Rafael; Mohammed, Samer; Guerrero-Sánchez, W.; Mino-Aguilar, Gerardo
International audience; The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information ab...
Sharma, D.; Bagduwal, P.S.; Tiwari, N.; Lad, M.; Hannurkar, P.R.
Indus-2 synchrotron radiation source has four RF stations along with their feedback control systems. For higher beam energy and current operation amplitude and phase feedback control systems of Indus-2 are being upgraded. To understand the behaviour of amplitude and phase control loop under different operating conditions, modelling and simulation of RF feedback control system is done. RF cavity baseband I/Q model has been created due to its close correspondence with actual implementation and better computational efficiency which makes the simulation faster. Correspondence between cavity baseband and RF model is confirmed by comparing their simulation results. Low Level RF (LLRF) feedback control system simulation is done using the same cavity baseband I/Q model. Error signals are intentionally generated and response of the closed loop system is observed. Simulation will help us in optimizing parameters of upgraded LLRF system for higher beam energy and current operation. (author)
Cheah, Chien Chern
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...
Attitude stability augmentation control system with a lower cost need to be designed so that MUH (Mini Unmanned Helicopter) can adapt to different types of geographic environment and fly steadily although the weather may be bad. Attitude feedback was calculated mainly by filtering estimation within attitude acquisition module in this system. Stability augmentation can be improved mainly by PI. This paper will depict running principle and designing process of MUH attitude stability augmentation control system and algorithm that is considered as an important part in this system.
Pyragas, V.; Pyragas, K.
We propose a simple adaptive delayed feedback control algorithm for stabilization of unstable periodic orbits with unknown periods. The state dependent time delay is varied continuously towards the period of controlled orbit according to a gradient-descent method realized through three simple ordinary differential equations. We demonstrate the efficiency of the algorithm with the Roessler and Mackey-Glass chaotic systems. The stability of the controlled orbits is proven by computation of the Lyapunov exponents of linearized equations. -- Highlights: → A simple adaptive modification of the delayed feedback control algorithm is proposed. → It enables the control of unstable periodic orbits with unknown periods. → The delay time is varied continuously according to a gradient descend method. → The algorithm is embodied by three simple ordinary differential equations. → The validity of the algorithm is proven by computation of the Lyapunov exponents.
Ward, D.J.; Jardin, S.C.; Cheng, C.Z.
A new linear MHD stability code, NOVA-W, has been developed in order to study feedback stabilization of the axisymmetric mode in deformable tokamak plasmas. The NOVA-W code is a modification of the non-variational MHD stability code NOVA that includes the effects of resistive passive conductors and active feedback circuits. The vacuum calculation has been reformulated in terms of the perturbed poloidal flux to allow the inclusion of perturbed toroidal currents outside the plasma. The boundary condition at the plasma-vacuum interface relates the instability displacement to the perturbed poloidal flux. This allows a solution of the linear MHD stability equations with the feedback effects included. The passive stability predictions of the code have been tested both against a simplified analytic model and against a different numerical calculation for a realistic tokamak configuration. The comparisons demonstrate the accuracy of the NOVA-W results. Active feedback calculations are performed for the CIT tokamak design demonstrating the effect of varying the position of the flux loops that provide the measurements of vertical displacement. The results compare well with those computed earlier using a less efficient nonlinear code. 37 refs., 13 figs.
Kwak, Moon K.; Heo, Seok
This paper is concerned with the active vibration control of a grid structure equipped with piezoceramic sensors and actuators. The grid structure is a replica of the solar panel commonly mounted on satellites, which contains complex natural mode shapes. The multiinput and multioutput positive position feedback (PPF) controller is considered as an active vibration controller for the grid structure. A new concept, the block-inverse technique, is proposed to cope with more modes than the number of actuators and sensors. This study also deals with the stability and the spillover effect associated with the application of the multiinput multioutput PPF controller based on the block-inverse technique. It was found that the theories developed in this study are capable of predicting the control system characteristics and its performance. The new multiinput multioutput PPF controller was applied to the test structure using a digital signal processor and its efficacy was verified by experiments.
Bentley, A.E. [Sandia National Lab., Albuquerque, NM (United States); Horowitz, I. [Univ. of California, Davis, CA (United States)]|[Weizmann Inst. of Science, Rehovot (Israel)]|[Wright Patterson Air Force Base, Dayton, OH (United States); Chait, Y.; Rodrigues, J. [Univ. of Massachusetts, Amherst, MA (United States)
Resistance welding is used extensively throughout the manufacturing industry. Variations in weld quality often result in costly post-weld inspections. Applications of feed-back control to such processes have been limited by the lack of accurate models describing the nonlinear dynamics of this process. A new system based on electrode displacement feedback is developed that greatly improves quality control of the resistance plug welding process. The system is capable of producing repeatable welds of consistent displacement (and thus consistent quality), with wide variations in weld parameters. This paper describes the feedback design of a robust controller using Quantitative Feedback Theory for this highly complex process, and the experimental results of the applied system.
Szanto, Nathan; Narayanan, Vignesh; Jagannathan, Sarangapani
In this paper, a novel event-triggered implementation of a tracking controller for an uncertain strict-feedback system is presented. Neural networks (NNs) are utilized in the backstepping approach to design a control input by approximating unknown dynamics of the strict-feedback nonlinear system with event-sampled inputs. The system state vector is assumed to be unknown and an NN observer is used to estimate the state vector. By using the estimated state vector and backstepping design approach, an event-sampled controller is introduced. As part of the controller design, first, input-to-state-like stability for a continuously sampled controller that has been injected with bounded measurement errors is demonstrated, and subsequently, an event-execution control law is derived, such that the measurement errors are guaranteed to remain bounded. Lyapunov theory is used to demonstrate that the tracking errors, the observer estimation errors, and the NN weight estimation errors for each NN are locally uniformly ultimately bounded in the presence bounded disturbances, NN reconstruction errors, as well as errors introduced by event sampling. Simulation results are provided to illustrate the effectiveness of the proposed controllers.
Johnson, C.; Kress, R.; Roemer, R.; Hynynen, K.
A multipoint feedback control system has been developed and tested for use with a scanned focussed ultrasound hyperthermia system. Extensive in-vivo tests (using a perfused organ model) have been made to evaluate the basic performance characteristics of the feedback control scheme for control of temperature in perfused media. The results of these tests are presented and compared with the predictions of a simulation routine. The control scheme was also tested in vivo using dogs' thighs and kidneys. Thigh experiments show the control scheme responds well to the affects of vasodilation and is able to maintain the targeted temperatures. In kidney experiments, where the rate of perfusion was controllable, the power adjusting algorithm successfully maintained uniform temperature distributions across regions of varying rates of perfusion. As a conclusion, the results show that this multipoint feedback controller scheme induces uniform temperature distributions when used with scanned focussed ultrasound systems
Full Text Available In this paper a method for nonlinear robust stabilization based on solving a bilinear matrix inequality (BMI feasibility problem is developed. Robustness against model uncertainty is handled. In different non-overlapping regions of the state-space called clusters the plant is assumed to be an element in a polytope which vertices (local models are affine systems. In the clusters containing the origin in their closure, the local models are restricted to be linear systems. The clusters cover the region of interest in the state-space. An affine state-feedback is associated with each cluster. By utilizing the affinity of the local models and the state-feedback, a set of linear matrix inequalities (LMIs combined with a single nonconvex BMI are obtained which, if feasible, guarantee quadratic stability of the origin of the closed-loop. The feasibility problem is attacked by a branch-and-bound based global approach. If the feasibility check is successful, the Liapunov matrix and the piecewise affine state-feedback are given directly by the feasible solution. Control constraints are shown to be representable by LMIs or BMIs, and an application of the control design method to robustify constrained nonlinear model predictive control is presented. Also, the control design method is applied to a simple example.
Full Text Available This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations. In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.
Ando, Hiroyasu; Takehara, Kohta; Kobayashi, Miki U.
Time delay in general leads to instability in some systems, while specific feedback with delay can control fluctuated motion in nonlinear deterministic systems to a stable state. In this paper, we consider a stochastic process, i.e., a random walk, and observe its diffusion phenomenon with time-delayed feedback. As a result, the diffusion coefficient decreases with increasing delay time. We analytically illustrate this suppression of diffusion by using stochastic delay differential equations and justify the feasibility of this suppression by applying time-delayed feedback to a molecular dynamics model.
Wang, Xu; Stoorvogel, Antonie Arij; Saberi, Ali; Grip, H°avard Fjær; Sannuti, Peddapullaiah
A recent paper (IEEE Trans. Aut. Contr. 2010; 55(9):2156–2160) considered stabilization of a class of continuous-time nonlinear sandwich systems via state feedback. This paper is a discrete-time counterpart of it. The class of nonlinear sandwich systems consists of saturation elements sandwiched
Wang, Xu; Stoorvogel, Antonie Arij; Saberi, Ali; Grip, H°avard Fjær; Roy, Sandip; Sannuti, Peddapullaiah
In this paper, we consider the problems of semi-global and global internal stabilization of a class of sandwich systems consisting of two linear systems with a saturation element in between. We provide necessary and sufficient conditions for solvability of these problems by state feedback, and
Many algorithms using nonlinear control ideas have been applied to the induction motor control problem to allow the user to control the torque, speed, or position response of a closed loop servo quite precisely...
Minh Hoang Nguyen
Full Text Available This paper introduced a kind of cart and pole system. The pole in this system is not a solid beam but an elastic beam. The paper analyzed the dynamic equation of this complex system. Then, a linear feedback controller was designed to stabilize this model in order to keep the elastic beam balanced in the up-side position. The control results were proved to work well through simulation.
Full Text Available We give a state-feedback control method for fractional-order nonlinear systems subject to input saturation. First, a sufficient condition is derived for the asymptotical stability of a class of fractional-order nonlinear systems. Then based on Gronwall-Bellman lemma and a sector bounded condition of the saturation function, a linear state-feed back controller is designed. Finally, two simulation examples are presented to show the validity of the proposed method.
van Drunen, Paul; van der Helm, Frans C. T.; van Dieën, Jaap H.
The goal of this study was to investigate the human ability to stabilize the trunk in space during pelvic tilt. Upper body sway was evoked in kneeling-seated healthy subjects by angular platform perturbations with a rotation around a virtual low-back pivot point between the L4 and L5 vertebrae. To investigate motor control modulation, variations in task instruction (balance naturally or minimize trunk sway), vision (eyes open or closed), and perturbation bandwidth (from 0.2 up to 1, 3, or 10 Hz) were applied. Cocontraction and proprioceptive muscle spindle feedback were associated with minimizing low-back flexion/extension (trunk-on-pelvis stabilization), while vestibular and visual feedback were supposed to contribute to trunk-in-space stabilization. Trunk-in-space stabilization was only observed with the minimize trunk sway task instruction, while the task instruction to balance naturally led to trunk-on-pelvis stabilization with trunk rotations even exceeding the perturbations. This indicates that vestibular feedback is used when minimizing trunk sway but has only a minor contribution during natural trunk stabilization in the sagittal plane. The eyes open condition resulted in reduced global trunk rotations and increased global trunk reflexive responses, demonstrating effective visual contributions to trunk-in-space stabilization. On the other hand, increasing perturbation bandwidth caused a decreased feedback contribution leading to deteriorated trunk-in-space stabilization. PMID:26745247
Full Text Available This paper investigates the stability problem of the feedback active noise control (ANC system, which can be caused by the modeling error of the electro-acoustic path estimation in its feedback mechanism. A stability analysis method is proposed to obtain the stability bound as a form of a closed-form equation in terms of the delay error length of the secondary path, the ANC filter length, and the primary noise frequency. In the proposed method, the system’s open loop magnitude and phase response equations are separately exploited and approximated within the Nyquist stability criterion. The stability bound of the proposed method is verified by comparing both the original Nyquist stability condition and the simulation results.
Full Text Available Self-controlled augmented feedback enhances learning of simple motor tasks. Thereby, learners tend to request feedback after trials that were rated as good by themselves. Feedback after good trials promotes positive reinforcement, which enhances motor learning. The goal of this study was to investigate when naïve learners request terminal visual feedback in a complex motor task, as conclusions drawn on simple tasks can hardly be transferred to complex tasks. Indeed, seven of nine learners stated to have intended to request feedback predominantly after good trials, but in contrast to their intention, kinematic analysis showed that feedback was rather requested randomly (23% after good, 44% after intermediate, 33% after bad trials. Moreover, requesting feedback after good trials did not correlate with learning success. It seems that self-estimation of performance in complex tasks is challenging. As a consequence, learners might have focused on certain movement aspects rather than on the overall movement. Further studies should assess the current focus of the learner in detail to gain more insight in self-estimation capabilities during complex motor task learning.
Mao, Xuefeng; Zhou, Xinlei; Yu, Qingxu
We describe a stabilizing operation point technique based on the tunable Distributed Feedback (DFB) laser for quadrature demodulation of interferometric sensors. By introducing automatic lock quadrature point and wavelength periodically tuning compensation into an interferometric system, the operation point of interferometric system is stabilized when the system suffers various environmental perturbations. To demonstrate the feasibility of this stabilizing operation point technique, experiments have been performed using a tunable-DFB-laser as light source to interrogate an extrinsic Fabry-Perot interferometric vibration sensor and a diaphragm-based acoustic sensor. Experimental results show that good tracing of Q-point was effectively realized.
Pyragas, Viktoras; Pyragas, Kestutis
Recently an act-and-wait modification of time-delayed feedback control has been proposed for the stabilization of unstable periodic orbits in nonautonomous dynamical systems (Pyragas and Pyragas, 2016 ). The modification implies a periodic switching of the feedback gain and makes the closed-loop system finite-dimensional. Here we extend this modification to autonomous systems. In order to keep constant the phase difference between the controlled orbit and the act-and-wait switching function an additional small-amplitude periodic perturbation is introduced. The algorithm can stabilize periodic orbits with an odd number of real unstable Floquet exponents using a simple single-input single-output constraint control.
Ito, Satoshi; Nishio, Shingo; Fukumoto, Yuuki; Matsushita, Kojiro; Sasaki, Minoru
This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.
Full Text Available This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.
Zhang, Li-Dong; Zhu, Wen-Xing
To study the signal control strategy for reducing traffic emission theoretically, we first presented a kind of discrete traffic flow model with relative speed term based on traditional coupled map car-following model. In the model, the relative speed difference between two successive running cars is incorporated into following vehicle's acceleration running equation. Then we analyzed its stability condition with discrete control system stability theory. Third, we designed a delay-feedback controller to suppress traffic jam and decrease traffic emission based on modern controller theory. Last, numerical simulations are made to support our theoretical results, including the comparison of models' stability analysis, the influence of model type and signal control on CO2 emissions. The results show that the temporal behavior of our model is superior to other models, and the traffic signal controller has good effect on traffic jam suppression and traffic CO2 emission, which fully supports the theoretical conclusions.
Juang, Jer-Nan; Eure, Kenneth W.
Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.
Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani
Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.
Brunsell, P. R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J. R.; Rachlew, E.
Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size.
This study examined Students' Locus of Control and Teacher Feedback using a 2x3 factorial to measure the performance of thirty-six (36) primary school students utilizing the two locus of control types and three levels of teacher feedback: no feedback, attributional feedback, and progressive feedback. No significant ...
Grine, D.; Vervier, M.; Messiaen, A.; Dumortier, P.
The hybrid option has been chosen for the matching of the ITER ICRH system. Presently, the corresponding 3 dB hybrid matching circuit is being developed, and tested for optimization on a low-powered scaled mock-up. Impedance matching and antenna array current control of the hybrid option is provided by simultaneous feedback control of the decouplers and double stub tuners (23 actuators in total) and is being progressively implemented. Already half of the array has been successfully tested. The article goes into the details of the automatic feedback implementation and covers the developed control systems and algorithms. Feedback stability and starting conditions are also discussed.
Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa
This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Aelen, Paul; Aulanier, Anne-Lise; Mintchev, Martin P
Neural Gastric Electrical Stimulation (NGES) is a new method for invoking gastric contractions under microprocessor control. However, optimization of this technique using feedback mechanisms to minimize power consumption and maximize effectiveness has been lacking. The present work proposes a prototype feedback-controlled neural gastric electrical stimulator for the treatment of obesity. Both a force-based and an interelectrode impedance-based feedback neurostimulator were implemented and tested. Four mongrel dogs (2 M, 2 F, weight 14.9 ++/- 2.3kg) underwent subserosal implantation of 2-channel 1-cm bipolar electrode leads in the distal antrum. Two of the dogs were stimulated with a force-based feedback system and the other two animals were stimulated utilizing an interelectrode impedance-based feedback system. Both feedback systems were able to recognize Erythromycin-driven contractions of the stomach and were capable of overriding them with NGES-invoked retrograde contractions. The proposed technique could be helpful for retaining food longer in the stomach, thus inducing early satiety and diminishing food intake.
Jones, Chris D.; Cox, Peter M.; Huntingford, Chris
Avoiding 'dangerous climate change' by stabilization of atmospheric CO 2 concentrations at a desired level requires reducing the rate of anthropogenic carbon emissions so that they are balanced by uptake of carbon by the natural terrestrial and oceanic carbon cycles. Previous calculations of profiles of emissions which lead to stabilized CO 2 levels have assumed no impact of climate change on this natural carbon uptake. However, future climate change effects on the land carbon cycle are predicted to reduce its ability to act as a sink for anthropogenic carbon emissions and so quantification of this feedback is required to determine future permissible emissions. Here, we assess the impact of the climate-carbon cycle feedback and attempt to quantify its uncertainty due to both within-model parameter uncertainty and between-model structural uncertainty. We assess the use of observational constraints to reduce uncertainty in the future permissible emissions for climate stabilization and find that all realistic carbon cycle feedbacks consistent with the observational record give permissible emissions significantly less than previously assumed. However, the observational record proves to be insufficient to tightly constrain carbon cycle processes or future feedback strength with implications for climate-carbon cycle model evaluation
Karl Astrom of the University of Lund. The use of adaptive control has been somewhat controversial. According to Astrom (1983), this occurs because of...West Germany • Professor Karl Astrom Department of Automatic Control Lund Institute of Technology - Lund *. Sweden Professor Ruth Curtain Department...conditions are under control. In the practical situations, there are all kinds of violations of the conditions of the theory. Astrom concentrates on the
McCrum, Christopher; Eysel-Gosepath, Katrin; Epro, Gaspar; Meijer, Kenneth; Savelberg, Hans H C M; Brüggemann, Gert-Peter; Karamanidis, Kiros
Unilateral peripheral vestibular disorder (UPVD) causes deficient locomotor responses to novel environments due to a lack of accurate vestibular sensory information, increasing fall risk. This study aimed to examine recovery response (stability recovery actions) and adaptive feedback potential in dynamic stability of UPVD-patients and healthy control subjects during perturbed walking. 17 UPVD-patients (>6 months since onset) and 17 matched healthy control participants walked on a treadmill and were subjected to eight unexpected perturbations during the swing phase of the right leg. For each perturbation, the margin of stability (MS; state of body's centre of mass in relation to the base of support), was determined at touchdown of the perturbed leg and during the following six recovery steps. The first perturbation caused a reduced MS at touchdown for the perturbed leg compared to baseline, indicating an unstable position, with controls requiring five recovery steps to return to MS baseline and UPVD-patients not returning to baseline level within the analyzed six recovery steps. By the eighth perturbation, control subjects needed two steps, and UPVD-patients required three recovery steps, both thereby improving their recovery response with practice. However, MS at touchdown of the perturbed leg increased only for the controls after repeated perturbations, indicating adaptive feedback-driven locomotor improvements for the controls, but not for the UPVD-patients. We concluded that UPVD-patients have a diminished ability to control dynamic gait stability during unexpected perturbations, increasing their fall risk, and that vestibular dysfunction may inhibit the neuromotor system adapting the reactive motor response to perturbations. © 2014 The Authors. Physiological Reports published by Wiley Periodicals, Inc. on behalf of the American Physiological Society and The Physiological Society.
Zheng Lifang; Liu Songqiang
This paper describes the digital feedback simulation using MATLAB for an experimental accelerator control setup. By analyzing the plant characteristic in time-domain and frequency-domain, a guideline for design of digital filter and PID controller is derived. (authors)
Veltink, Petrus H.
Artificial motor control systems may reduce the handicap of motor impaired individuals. Sensors are essential components in feedback control of these systems and in the information exchange with the user. The objective of this paper is to give an overview of the applications of sensors in the
Engwerda, J.C.; Weeren, A.J.T.M.
In this note we consider the static output feedback linear quadratic control problem.We present both necessary and sufficient conditions under which this problem has a solution in case the involved cost depend only on the output and control variables.This result is used to present both necessary and
Full Text Available There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting crosslayer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An eventdriven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN.
Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.
Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that
Jensen, Hans-Christian Becker; Wisniewski, Rafal
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental...
van Solingen, E.; Mulders, S.P.; van Wingerden, J.W.
Traditionally, wind turbine controllers are designed using first principles or linearized or identified models. The aim of this paper is to show that with an automated, online, and model-free tuning strategy, wind turbine control performance can be significantly increased. For this purpose,
Illingworth, Simon; Oehler, Stephan
We consider feedback control of the linearized Ginzburg-Landau system. The particular focus is on any trade-offs present in the single-input single-output control problem. The work is in three parts. First, we consider the estimation problem in which a single sensor is used to estimate the entire flow field (without any control). By considering the optimal sensor placement with varying system stability, a fundamental trade-off for the estimation problem is made clear. Second, we consider the full-information control problem in which the entire flow field is known, but only a single actuator is available for control. We show that a similar trade-off exists when placing the single actuator. Third, we consider the overall feedback control problem in which only a single sensor is available for measurement; and only a single actuator is available for control. By varying the system stability, a similar fundamental trade-off is made clear. Implications for effective feedback control with a single sensor and a single actuator are discussed.
National Aeronautics and Space Administration — A novel approach is proposed for the suppression of the aircraft's structural vibration to increase the resilience of the flight control law in the presence of the...
Bu Mingnan; Deng Hongying; Liu Yanping; Liu Yuqin; Liu Xuemei
Plasma displacement control plays an important role in the experiments on HL-1M. It is significant to study how to improve the operation condition, stability and reliability of the control system, and to satisfy the operation requirement of HL-1M, because the operation condition will directly affect the discharge quality and the final result of different experiment. The computer auto-feedback control system for plasma displacement control is presented. By using the computer and the high accurate electronic component the great amelioration has been made on plasma displacement control, discharge quality and efficiency
Yang Lixin; Chu Yandong; Zhang Jiangang; Li Xianfeng; Chang Yingxiang
This paper presents the synchronization of chaos by designing united controller. First, this method is implemented in synchronization of a simple system, then we realize the synchronization of Lue hyperchaotic system, we also take tracking control to realize the synchronization of Lue hyperchaotic system. Comparing with results, we can find that hybrid feedback control approach is more effective than tracking control for hyperchaotic system. Numerical simulations show the united synchronization method works well.
Ponnusamy, Sangeeth Saagar; Bordeneuve-Guibé, Joël
The application of adaptive output feedback augmentative control to the flexible aircraft problem is presented. Experimental validation of control scheme was carried out using a three disk torsional pendulum. In the reference model adaptive control scheme, the rigid aircraft reference model and neural network adaptation is used to control structural flexible modes and compensate for the effects unmodeled dynamics and parametric variations of a classical high order large passenger aircraft. Th...
Che, Jiaxing; Cao, Chengyu; Gregory, Irene M.
This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.
Carey, Timothy A; Mansell, Warren; Tai, Sara J
Although the biopsychosocial model has been a popular topic of discussion for over four decades it has not had the traction in fields of research that might be expected of such an intuitively appealing idea. One reason for this might be the absence of an identified mechanism or a functional architecture that is authentically biopsychosocial. What is needed is a robust mechanism that is equally important to biochemical processes as it is to psychological and social processes. Negative feedback may be the mechanism that is required. Negative feedback has been implicated in the regulation of neurotransmitters as well as important psychological and social processes such as emotional regulation and the relationship between a psychotherapist and a client. Moreover, negative feedback is purported to also govern the activity of all other organisms as well as humans. Perceptual Control Theory (PCT) describes the way in which negative feedback establishes control at increasing levels of perceptual complexity. Thus, PCT may be the first biopsychosocial model to be articulated in functional terms. In this paper we outline the working model of PCT and explain how PCT provides an embodied hierarchical neural architecture that utilizes negative feedback to control physiological, psychological, and social variables. PCT has major implications for both research and practice and, importantly, provides a guide by which fields of research that are currently separated may be integrated to bring about substantial progress in understanding the way in which the brain alters, and is altered by, its behavioral and environmental context.
Sereno, N. S.; Arnold, N.; Brill, A.; Bui, H.; Carwardine, J.; Decker, G.; Deriy, B.; Emery, L.; Farnsworth, R.; Fors, T.; Keane, R.; Lenkszus, F.; Lill, R.; Paskvan, D.; Pietryla, A.; Shang, H.; Shoaf, S.; Veseli, S.; Wang, J.; Xu, S.; Yang, B.X.
The new orbit feedback system required for the APS multi-bend acromat (MBA) ring must meet challenging beam stability requirements. The AC stability requirement is to correct rms beam motion to 10 % the rms beam size at the insertion device source points from 0.01 to 1000 Hz. The vertical plane represents the biggest challenge for AC stability which is required to be 400 nm rms for a 4 micron vertical beam size. In addition long term drift over a period of 7 days is required to be 1 micron or less at insertion de- vice BPMs and 2 microns for arc bpms. We present test re- sults of theMBA prototype orbit feedback controller (FBC) in the APS storage ring. In this test, four insertion device BPMs were configured to send data to the FBC for process- ing into four fast corrector setpoints. The configuration of four bpms and four fast correctors creates a 4-bump and the configuration of fast correctors is similar to what will be implemented in the MBA ring. We report on performance benefits of increasing the sampling rate by a factor of 15 to 22.6 kHz over the existing APS orbit feedback system, lim- itations due to existing storage ring hardware and extrapo- lation to theMBA orbit feedback design. FBC architecture, signal flow and processing design will also be discussed.
Full Text Available The time delay imposed in the wireless control systems makes it difficult to guarantee stable response in many cases. Especially, delays in feedforward path combined with feedback path may result in some stability problems of the controlled system response. For the remote control of servomotors used on unmanned aerial or underwater vehicles, space manipulators and humanoid robots time delays has got great importance in real time remote control of those systems. The time delay in the feedforward path may be caused by computer control algorithm processing, buffering, transmitting process of control signals through antenna, receiving process of control signals through antenna on the vehicle and the complementary hardware processing. Similarly, on the feedback path, position feedback signal measured by encoder is transmitted in reverse order of the control signal with some delay time. In this paper, the PID control of a DC servomotor with constant time delays will be discussed in detail. After specifying the effects of the delays in the system, Smith predictor will be added to the model to minimize the undesired effects on the output response of the servomotor. For the wireless control of the servomotors actuating some mechanical systems, a modified Smith predictor is designed to drive the system efficiently to take care of the disturbance effects coming from the dynamics of the driven parts. The success of the calculated predictors together with the tuned PID controller and the controllable range for disturbance to controller signal ratio are shown on a low power DC servomotor by simulations.
Nafcha, O; Higgins, E T; Eitam, B
Motivated behavior is considered to be a product of integration of a behavior's subjective benefits and costs. As such, it is unclear what motivates "habitual behavior" which occurs, by definition, after the outcome's value has diminished. One possible answer is that habitual behavior continues to be selected due to its "intrinsic" worth. Such an explanation, however, highlights the need to specify the motivational system for which the behavior has intrinsic worth. Another key question is how does an activity attain such intrinsically rewarding properties. In an attempt to answer both questions, we suggest that habitual behavior is motivated by the influence it brings over the environment-by the control motivation system, including "control feedback." Thus, when referring to intrinsic worth, we refer to a representation of an activity that has been reinforced due to it being effective in controlling the environment, managing to make something happen. As an answer to when does an activity attain such rewarding properties, we propose that this occurs when the estimated instrumental outcome expectancy of an activity is positive, but the precision of this expectancy is low. This lack of precision overcomes the chronic dominance of outcome feedback over control feedback in determining action selection by increasing the relative weight of the control feedback. Such a state of affairs will lead to repeated selection of control relevant behavior and entails insensitivity to outcome devaluation, thereby producing a habit. © 2016 Elsevier B.V. All rights reserved.
Zheng Baodong; Zheng Huifeng
Jerk systems with delayed feedback are considered. Firstly, by employing the polynomial theorem to analyze the distribution of the roots to the associated characteristic equation, the conditions of ensuring the existence of Hopf bifurcation are given. Secondly, the stability and direction of the Hopf bifurcation are determined by applying the normal form method and center manifold theorem. Finally, the application to chaotic control is investigated, and some numerical simulations are carried out to illustrate the obtained results.
Batina, Ivo; Stoorvogel, Antonie Arij; Weiland, Siep
In this paper we present a further development of an algorithm for stochastic disturbance rejection in model predictive control with input constraints based on randomized algorithms. The algorithm presented in our work can solve the problem of stochastic disturbance rejection approximately but with
Ankarali, M Mert; Tutkun Sen, H; De, Avik; Okamura, Allison M; Cowan, Noah J
Stability and performance during rhythmic motor behaviors such as locomotion are critical for survival across taxa: falling down would bode well for neither cheetah nor gazelle. Little is known about how haptic feedback, particularly during discrete events such as the heel-strike event during walking, enhances rhythmic behavior. To determine the effect of haptic cues on rhythmic motor performance, we investigated a virtual paddle juggling behavior, analogous to bouncing a table tennis ball on a paddle. Here, we show that a force impulse to the hand at the moment of ball-paddle collision categorically improves performance over visual feedback alone, not by regulating the rate of convergence to steady state (e.g., via higher gain feedback or modifying the steady-state hand motion), but rather by reducing cycle-to-cycle variability. This suggests that the timing and state cues afforded by haptic feedback decrease the nervous system's uncertainty of the state of the ball to enable more accurate control but that the feedback gain itself is unaltered. This decrease in variability leads to a substantial increase in the mean first passage time, a measure of the long-term metastability of a stochastic dynamical system. Rhythmic tasks such as locomotion and juggling involve intermittent contact with the environment (i.e., hybrid transitions), and the timing of such transitions is generally easy to sense via haptic feedback. This timing information may improve metastability, equating to less frequent falls or other failures depending on the task.
Feng, Ju; Sheng, Wen Zhong
Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades
Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.
Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.
Full Text Available Bacteria move towards favourable and away from toxic environments by changing their swimming pattern. This response is regulated by the chemotaxis signalling pathway, which has an important feature: it uses feedback to 'reset' (adapt the bacterial sensing ability, which allows the bacteria to sense a range of background environmental changes. The role of this feedback has been studied extensively in the simple chemotaxis pathway of Escherichia coli. However it has been recently found that the majority of bacteria have multiple chemotaxis homologues of the E. coli proteins, resulting in more complex pathways. In this paper we investigate the configuration and role of feedback in Rhodobacter sphaeroides, a bacterium containing multiple homologues of the chemotaxis proteins found in E. coli. Multiple proteins could produce different possible feedback configurations, each having different chemotactic performance qualities and levels of robustness to variations and uncertainties in biological parameters and to intracellular noise. We develop four models corresponding to different feedback configurations. Using a series of carefully designed experiments we discriminate between these models and invalidate three of them. When these models are examined in terms of robustness to noise and parametric uncertainties, we find that the non-invalidated model is superior to the others. Moreover, it has a 'cascade control' feedback architecture which is used extensively in engineering to improve system performance, including robustness. Given that the majority of bacteria are known to have multiple chemotaxis pathways, in this paper we show that some feedback architectures allow them to have better performance than others. In particular, cascade control may be an important feature in achieving robust functionality in more complex signalling pathways and in improving their performance.
Hamadeh, Abdullah; Roberts, Mark A J; August, Elias; McSharry, Patrick E; Maini, Philip K; Armitage, Judith P; Papachristodoulou, Antonis
Bacteria move towards favourable and away from toxic environments by changing their swimming pattern. This response is regulated by the chemotaxis signalling pathway, which has an important feature: it uses feedback to 'reset' (adapt) the bacterial sensing ability, which allows the bacteria to sense a range of background environmental changes. The role of this feedback has been studied extensively in the simple chemotaxis pathway of Escherichia coli. However it has been recently found that the majority of bacteria have multiple chemotaxis homologues of the E. coli proteins, resulting in more complex pathways. In this paper we investigate the configuration and role of feedback in Rhodobacter sphaeroides, a bacterium containing multiple homologues of the chemotaxis proteins found in E. coli. Multiple proteins could produce different possible feedback configurations, each having different chemotactic performance qualities and levels of robustness to variations and uncertainties in biological parameters and to intracellular noise. We develop four models corresponding to different feedback configurations. Using a series of carefully designed experiments we discriminate between these models and invalidate three of them. When these models are examined in terms of robustness to noise and parametric uncertainties, we find that the non-invalidated model is superior to the others. Moreover, it has a 'cascade control' feedback architecture which is used extensively in engineering to improve system performance, including robustness. Given that the majority of bacteria are known to have multiple chemotaxis pathways, in this paper we show that some feedback architectures allow them to have better performance than others. In particular, cascade control may be an important feature in achieving robust functionality in more complex signalling pathways and in improving their performance.
Full Text Available For magnetically suspended rigid rotors (MSRs with significant gyroscopic effects, phase lag of the control channel is the main factor influencing the system nutation stability and decoupling performance. At first, this paper proves that the phase lag of the cross channel instead of the decentralized channel is often the main factor influencing the system nutation stability at high speeds. Then a modified cross feedback control strategy based on the phase compensation of cross channel is proposed to improve the stability and decoupling performances. The common issues associated with the traditional control methods have been successfully resolved by this method. Analysis, simulation, and experimental results are presented to demonstrate the feasibility and superiority of the proposed control method.
Kan, Zhai; Yi-zhi, Wen; Chang-xuan, Yu; Wan-dong, Liu; Chao, Wang; Ge, Zhuang; Kan, Zhai; Zhi-Zhan, Yu
An experiment on feedback control of edge turbulence has been undertaken on the KT-5C tokamak. The results indicate that the edge turbulence could be suppressed or enhanced depending on the phase shift of the feedback network. In a typical case of 90 degree phase shift feedback, the turbulence amplitudes of both T e and n e were reduced by about 25% when the gain of the feedback network was 15. Correspondingly the radial particle flux decreased to about 75% level of the background. Through bispectral analysis it is found that there exists a substantial nonlinear coupling between various modes comprised in edge turbulence, especially in the frequency range from about 10 kHz to 100 kHz, which contains the large part of the edge turbulence energy in KT-5C tokamak. In particular, by actively controlling the turbulence amplitude using feedback, a direct experimental evidence of the link between the nonlinear wave-wave coupling over the whole spectrum in turbulence, the saturated turbulence amplitude, and the radial particle flux was provided. copyright 1997 The American Physical Society
Seryi, Andrei; Raubenheimer, T O; Tenenbaum, P G; Woodley, M; Schulte, Daniel
The performance of high energy linear colliders depends critically on the stability with which they can maintain the collisions of nanometer-size beams. Ground motion and vibration, among other effects, will produce dynamic misalignments which can offset the beams at the collision point. A system of train-to-train and intra-train beam-beam feedbacks, possibly combined with additional beam-independent active systems, is planned to compensate for these effects. Extensive simulation studies of ground motion and luminosity stabilization have been performed as part of the work of the International Linear Collider Technical Review Committee . This paper presents a comparison of the expected performance for TESLA, JLC/NLC and CLIC under various assumptions about feedbacks and the level of ground motion.
Pomphrey, N.; Jardin, S.C.; Ward, D.J.
The paper presents an analysis of the magnetohydrodynamic stability of the axisymmetric system consisting of a free boundary tokamak plasma with non-circular cross-section, finite resistivity passive conductors, and an active feedback system with magnetic flux pickup loops, a proportional amplifier with gain G and current carrying poloidal field coils. A numerical simulation of the system when G is set to zero identifies flux loop locations which correctly sense the plasma motion. However, when certain of these locations are incorporated into an active feedback scheme, the plasma fails to be stabilized, no matter what value of the gain is chosen. Analysis on the basis of an extended energy principle indicates that this failure is due to the deformability of the plasma cross-section. (author). 14 refs, 7 figs
Jensen, Hans-Christian Becker; Wisniewski, Rafal
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental d...... disturbances correspond to those expected for the Roemer mission. The pros and cons of the algorithm are discussed. The results of the study show that the controller is a successful candidate for on-board implementation...
Full Text Available This paper is devoted to the designing of a trajectory-tracking control system for a unicycle-type mobile robot. Synthesis of the trajectory control law is based on the feedback linearization method and a canonical similarity transformation of nonlinear affine system in state-dependent coefficient form. The result of experimental test of the trajectory control system for mobile robot Rover5 is presented.
Xuan Vu Trien Nguyen
Full Text Available In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.
José Fermi Guerrero-Castellanos
Full Text Available The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators’ input. The asymptotic stability of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body’s states in hovering mode, as well as the robustness with respect to external disturbances.
Steinhagen, Ralph J
The baseline tune (Q) and chromaticity (Q’) diagnostics and associated feedback systems played a crucial role during the LHC commissioning, in establishing circulating beam, the first ramps and their fill-to-fill feed-forward correction. Early on, they also allowed to identify issues such as the residual tune stability, beam spectrum interferences and beam-beam effects – all of which may impact beam lifetimes and thus need to be addressed in view of nominal LHC operation.
Analytical aerodynamic models are derived from a high alpha 6 DOF wind tunnel model. One detail model requires some interpolation between nonlinear functions of alpha. One analytical model requires no interpolation and as such is a completely continuous model. Flight path optimization is conducted on the basic maneuvers: half-loop, 90 degree pitch-up, and level turn. The optimal control analysis uses the derived analytical model in the equations of motion and is based on both moment and force equations. The maximum principle solution for the half-loop is poststall trajectory performing the half-loop in 13.6 seconds. The agility induced by thrust vectoring capability provided a minimum effect on reducing the maneuver time. By means of thrust vectoring control the 90 degrees pitch-up maneuver can be executed in a small place over a short time interval. The agility capability of thrust vectoring is quite beneficial for pitch-up maneuvers. The level turn results are based currently on only outer layer solutions of singular perturbation. Poststall solutions provide high turn rates but generate higher losses of energy than that of classical sustained solutions.
Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; Navratil, Gerald
DIII-D experiments show that a new, advanced algorithm enables resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic flux diffusion time of the vacuum vessel wall. Experiments have shown that modern control techniques like linear quadratic Gaussian (LQG) control require less current than the proportional controller in use at DIII-D when using control coils external to DIII-D’s vacuum vessel. Experiments were conducted to develop control of a rotating n = 1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high βN experiments also show that advanced feedback techniques using external control coils may be as effective as internal control coil feedback using classical control techniques.
Rivetta, C H; Mastoridis, T; Pivi, M T F; Turgut, O; Höfle, W; Secondo, R; Vay, J L
The feedback control of intrabunch instabilities driven by E-Clouds or strong head-tail coupling (TMCI) requires sufficient bandwidth to sense the vertical position and drive multiple sections of a nanosecond scale bunch. These requirements impose challenges and limits in the design and implementation of the feedback system. This paper presents models for the feedback subsystems: receiver, processing channel, amplifier and kicker, that take into account their frequency response and limits. These models are included in multiparticle simulation codes (WARP/CMAD/Head-Tail) and reduced mathematical models of the bunch dynamics to evaluate the impact of subsystem limitations in the bunch stabilization and emittance improvement. With this realistic model of the hardware, it is possible to analyze and design the feedback system. This research is crucial to evaluate the performance boundary of the feedback control system due to cost and technological limitations. These models define the impact of spurious perturbatio...
Kim, Donghyun; Jang, Cheongjae; Park, Frank C
We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780-4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226-35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear-quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law.
Stupakov, Oleksandr; Švec, P.
Roč. 64, č. 3 (2013), s. 166-172 ISSN 0013-578X R&D Projects: GA ČR GP102/09/P108 Institutional support: RVO:68378271 Keywords : magnetic variables measurement * magnetic hysteresis * digital feedback control * amorphous magnetic materials Subject RIV: JB - Sensors, Measurment, Regulation
Kim, Donghyun; Jang, Cheongjae; Park, Frank C
We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)
Hamadeh, Abdullah; Roberts, Mark A. J.; August, Elias; McSharry, Patrick E.; Maini, Philip K.; Armitage, Judith P.; Papachristodoulou, Antonis
Bacteria move towards favourable and away from toxic environments by changing their swimming pattern. This response is regulated by the chemotaxis signalling pathway, which has an important feature: it uses feedback to ‘reset’ (adapt) the bacterial sensing ability, which allows the bacteria to sense a range of background environmental changes. The role of this feedback has been studied extensively in the simple chemotaxis pathway of Escherichia coli. However it has been recently found that the majority of bacteria have multiple chemotaxis homologues of the E. coli proteins, resulting in more complex pathways. In this paper we investigate the configuration and role of feedback in Rhodobacter sphaeroides, a bacterium containing multiple homologues of the chemotaxis proteins found in E. coli. Multiple proteins could produce different possible feedback configurations, each having different chemotactic performance qualities and levels of robustness to variations and uncertainties in biological parameters and to intracellular noise. We develop four models corresponding to different feedback configurations. Using a series of carefully designed experiments we discriminate between these models and invalidate three of them. When these models are examined in terms of robustness to noise and parametric uncertainties, we find that the non-invalidated model is superior to the others. Moreover, it has a ‘cascade control’ feedback architecture which is used extensively in engineering to improve system performance, including robustness. Given that the majority of bacteria are known to have multiple chemotaxis pathways, in this paper we show that some feedback architectures allow them to have better performance than others. In particular, cascade control may be an important feature in achieving robust functionality in more complex signalling pathways and in improving their performance. PMID:21573199
Full Text Available We present a mathematical programming approach to robust control of nonlinear systems with uncertain, possibly time-varying, parameters. The uncertain system is given by different local affine parameter dependent models in different parts of the state space. It is shown how this representation can be obtained from a nonlinear uncertain system by solving a set of continuous linear semi-infinite programming problems, and how each of these problems can be solved as a (finite series of ordinary linear programs. Additionally, the system representation includes control- and state constraints. The controller design method is derived from Lyapunov stability arguments and utilizes an affine parameter dependent quadratic Lyapunov function. The controller has a piecewise affine output feedback structure, and the design amounts to finding a feasible solution to a set of linear matrix inequalities combined with one spectral radius constraint on the product of two positive definite matrices. A local solution approach to this nonconvex feasibility problem is proposed. Complexity of the design method and some special cases such as state- feedback are discussed. Finally, an application of the results is given by proposing an on-line computationally feasible algorithm for constrained nonlinear state- feedback model predictive control with robust stability.
Gough, John E.
The concept of a controlled flow of a dynamical system, especially when the controlling process feeds information back about the system, is of central importance in control engineering. In this paper, we build on the ideas presented by Bouten and van Handel [Quantum Stochastics and Information: Statistics, Filtering and Control (World Scientific, 2008)] and develop a general theory of quantum feedback. We elucidate the relationship between the controlling processes, Z, and the measured processes, Y, and to this end we make a distinction between what we call the input picture and the output picture. We should note that the input-output relations for the noise fields have additional terms not present in the standard theory but that the relationship between the control processes and measured processes themselves is internally consistent—we do this for the two main cases of quadrature measurement and photon-counting measurement. The theory is general enough to include a modulating filter which post-processes the measurement readout Y before returning to the system. This opens up the prospect of applying very general engineering feedback control techniques to open quantum systems in a systematic manner, and we consider a number of specific modulating filter problems. Finally, we give a brief argument as to why most of the rules for making instantaneous feedback connections [J. Gough and M. R. James, Commun. Math. Phys. 287, 1109 (2009)] ought to apply for controlled dynamical networks as well.
Kohama, Yoshimitsu; Kindo, Koichi
We describe the construction of a simple, compact, and cost-effective feedback system that produces flat-top field profiles in pulsed magnetic fields. This system is designed for use in conjunction with a typical capacitor-bank driven pulsed magnet and was tested using a 60-T pulsed magnet. With the developed feedback controller, we have demonstrated flat-top magnetic fields as high as 60.64 T with an excellent field stability of ±0.005 T. The result indicates that the flat-top pulsed magnetic field produced features high field stability and an accessible field strength. These features make this system useful for improving the resolution of data with signal averaging.
Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.
We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.
Dierks, Travis; Jagannathan, Sarangapani
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.
Rudra, Shubhobrata; Barai, Ranjit Kumar; Maitra, Madhubanti
This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system. The proposed block backstepping technique has further been enriched by incorporating an integral action additionally for enhancing the steady state performance of the overall system. Asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Subsequently, the stability of the zero dynamics has also been analyzed to ensure the global asymptotic stability of the entire nonlinear system at its desired equilibrium point. The proposed control algorithm has been applied for the stabilization of a benchmarked underactuated mechanical system to verify the effectiveness of the proposed control law in real-time environment. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Dudok de Wit, Th.; Lister, J.B.; Duval, B.P.; Joye, B.; Marmillod, Ph.
The dispersion relation of the shear Alfven wave depends on several internal plasma parameters, including the central effective mass. By frequency tracking a Discrete Alfven Wave during the plasma current flat-top, we obtained a real-time estimate of the central effective mass. Using the measured mass, we have been able to feedback control both the effective mass and the electron density of the plasma, using separately controllable hydrogen and deuterium filling valves. (author) 5 refs., 6 figs
Cychowski, Marcin T.; O'Mahony, Tom
A solution to the infinite-horizon min-max model predictive control (MPC) problem of constrained polytopic systems has recently been defined in terms of a sequence of free control moves over a fixed horizon and a state feedback law in the terminal region using a time-varying terminal cost. The advantage of this formulation is the enlargement of the admissible set of initial states without sacrificing local optimality, but this comes at the expense of higher computational complexity. This article, by means of a counterexample, shows that the robust feasibility and stability properties of such algorithms are not, in general, guaranteed when more than one control move is adopted. For this reason, this work presents a novel formulation of min-max MPC based on the concept of within-horizon feedback and robust contractive set theory that ensures robust stability for any choice of the control horizon. A parameter-dependent feedback extension is also proposed and analysed. The effectiveness of the algorithms is demonstrated with two numerical examples.
One main approach for time-domain simulation of the linear output-feedback systems containing fractional-order controllers is to approximate the transfer function of the controller with an integer-order transfer function and then perform the simulation. In general, this approach suffers from two main disadvantages: first, the internal stability of the resulting feedback system is not guaranteed, and second, the amount of error caused by this approximation is not exactly known. The aim of this paper is to propose an efficient method for time-domain simulation of such systems without facing the above mentioned drawbacks. For this purpose, the fractional-order controller is approximated with an integer-order transfer function (possibly in combination with the delay term) such that the internal stability of the closed-loop system is guaranteed, and then the simulation is performed. It is also shown that the resulting approximate controller can effectively be realized by using the proposed method. Some formulas for estimating and correcting the simulation error, when the feedback system under consideration is subjected to the unit step command or the unit step disturbance, are also presented. Finally, three numerical examples are studied and the results are compared with the Oustaloup continuous approximation method. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Xin, Zhen; Wang, Xiongfei; Loh, Poh Chiang
the robustness of damping, this paper proposes an improved damping controller with the capacitor current feedback loop, which is based on the second-order generalized integrator, instead of a proportional gain, which can effectively mitigate the detrimental effect of the time delay. Robustness of the proposed......The proportional capacitor-current feedback active damping method has been widely used to suppress the LCL-filter resonance. However, the time delay in the damping control loop may lead to non-minimum phase or even unstable responses when the resonance frequency varies in a wide range. To improve...
Full Text Available This paper deals with dynamic output feedback control of continuous-time active fault tolerant control systems with Markovian parameters (AFTCSMP and state-dependent noise. The main contribution is to formulate conditions for multiperformance design, related to this class of stochastic hybrid systems, that take into account the problematic resulting from the fact that the controller only depends on the fault detection and isolation (FDI process. The specifications and objectives under consideration include stochastic stability, ℋ2 and ℋ∞ (or more generally, stochastic integral quadratic constraints performances. Results are formulated as matrix inequalities. The theoretical results are illustrated using a classical example from literature.
Zhao, Tao; Dian, Songyi
This paper addresses a fuzzy dynamic output feedback H ∞ control design problem for continuous-time nonlinear systems via T-S fuzzy model. The stability of the fuzzy closed-loop system which is formed by a T-S fuzzy model and a fuzzy dynamic output feedback H ∞ controller connected in a closed loop is investigated with Lyapunov stability theory. The proposed fuzzy controller does not share the same membership functions and number of rules with T-S fuzzy systems, which can enhance design flexibility. A line-integral fuzzy Lyapunov function is utilized to derive the stability conditions in the form of linear matrix inequalities (LMIs). The boundary information of membership functions is considered in the stability analysis to reduce the conservativeness of the imperfect premise matching design technique. Two simulation examples are provided to demonstrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario
Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for
Hansen, M.R.; Andersen, T.O.
This paper is concerned with the inherent oscillatory nature of pressure compensated velocity control of a hydraulic cylinder subjected to a negative load and suspended by means of an over-center valve. Initially, a linearized stability analysis of such a hydraulic circuit is carried out clearly ...... in a nonlinear time domain simulation model validating the linear stability analysis....
Full Text Available To deal with the problem of the output feedback tracking (OFT control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed‐loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self‐tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.
Full Text Available To deal with the problem of the output feedback tracking (OFT control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed-loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self-tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.
Zhao, Zhong; Kong, Yinchang; Chen, Ying
Highlights: • Ethanol fermentation model with the impulsive state feedback control is proposed. • Existence and stability of the order-1 or order-2 periodic solution are investigated. • The complete expression of the order-1 periodic solution is obtained. • Fermentation process can be effectively controlled by monitoring the impulsive period. - Abstract: To keep a sustainable and steady output of ethanol, ethanol fermentation in a bio-reactor with impulsive state feedback control is formulated. The sufficient conditions for existences of order-1 periodic solution and order-2 periodic solution are obtained by using the properties of the periodic solution. The results imply that ethanol fermentation tends to an order-1 periodic solution or order-2 periodic solution. At the same time, we also give the complete expression of the period of the positive period-1 solution. Finally, discussions and numerical simulations are given.
Zhao, Guoping; Sharbafi, Maziar; Vlutters, Mark; van Asseldonk, Edwin; Seyfarth, Andre
We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP template model is capable of stabilizing the trunk and reproduce a human-like hip torque during the stance phase of walking. With leg force and joint angle feedback inspired by the VPP template model, our controller provides hip and knee torque assistance during the stance phase. A pilot experiment was conducted with four healthy subjects. Joint kinematics, leg muscle electromyography (EMG), and metabolic cost were measured during walking with and without assistance. Results show that, for 0.6 m/s walking, our controller can reduce leg muscle activations, especially for the medial gastrocnemius (about 16.0%), while hip and knee joint kinematics remain similar to the condition without the controller. Besides, the controller also reduces 10% of the net metabolic cost during walking. This paper demonstrates walking assistance benefits of the VPP template model for the first time. The support of human walking is achieved by a force feedback of leg force applied to the control of hip and knee joints. It can help us to provide a framework for investigating walking assistance control in the future.
Johnson, Jay Tillay [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
This report presents an object-oriented implementation of full state feedback control for virtual power plants (VPP). The components of the VPP full state feedback control are (1) objectoriented high-fidelity modeling for all devices in the VPP; (2) Distribution System Distributed Quasi-Dynamic State Estimation (DS-DQSE) that enables full observability of the VPP by augmenting actual measurements with virtual, derived and pseudo measurements and performing the Quasi-Dynamic State Estimation (QSE) in a distributed manner, and (3) automated formulation of the Optimal Power Flow (OPF) in real time using the output of the DS-DQSE, and solving the distributed OPF to provide the optimal control commands to the DERs of the VPP.
Cazzulani, G; Resta, F; Ripamonti, F; Zanzi, R
In this paper a resonant control technique, called negative derivative feedback (NDF), for structural vibration control is presented. Resonant control is a class of control logics, based on the modal approach, which calculates the control action through a dynamic compensator in order to achieve a damping increase on a certain number of system modes. The NDF compensator is designed to work as a band-pass filter, cutting off the control action far from the natural frequencies associated with the controlled modes and reducing the so-called spillover effect. In the paper the proposed control logic is compared both theoretically and experimentally with the most common state-of-the-art resonant control techniques. (paper)
Hyers, Robert; Savage, Larry; Rogers, Jan
An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.
Montefusco, Francesco; Akman, Ozgur E; Soyer, Orkun S; Bates, Declan G
Many of the most important potential applications of Synthetic Biology will require the ability to design and implement high performance feedback control systems that can accurately regulate the dynamics of multiple molecular species within the cell. Here, we argue that the use of design strategies based on combining ultrasensitive response dynamics with negative feedback represents a natural approach to this problem that fully exploits the strongly nonlinear nature of cellular information processing. We propose that such feedback mechanisms can explain the adaptive responses observed in one of the most widely studied biomolecular feedback systems-the yeast osmoregulatory response network. Based on our analysis of such system, we identify strong links with a well-known branch of mathematical systems theory from the field of Control Engineering, known as Sliding Mode Control. These insights allow us to develop design guidelines that can inform the construction of feedback controllers for synthetic biological systems.
Melnicki, Matthew R.; Pinchuk, Grigoriy E.; Hill, Eric A.; Kucek, Leo A.; Stolyar, Sergey; Fredrickson, Jim K.; Konopka, Allan; Beliaev, Alex S.
A custom photobioreactor (PBR) was designed to enable automatic light adjustments using computerized feedback control. A black anodized aluminum enclosure, constructed to surround the borosilicate reactor vessel, prevents the transmission of ambient light and serves as a mount for arrays of light-emitting diodes (LEDs). The high-output LEDs provide narrow-band light of either 630 or 680 nm for preferential excitation of the cyanobacterial light-harvesting pigments, phycobilin or chlorophyll a, respectively. Custom developed software BioLume provides automatic control of optical properties and a computer feedback loop can automatically adjust the incident irradiance as necessary to maintain a fixed transmitted light through the culture, based on user-determined set points. This feedback control serves to compensate for culture dynamics which have optical effects, (e.g., changing cell density, pigment adaptations) and thus can determine the appropriate light conditions for physiological comparisons or to cultivate light-sensitive strains, without prior analyses. The LED PBR may also be controlled as a turbidostat, using a feedback loop to continuously adjust the rate of media-dilution based on the transmitted light measurements, with a fast and precise response. This cultivation system gains further merit as a high-performance analytical device, using non-invasive tools (e.g., dissolved gas sensors, online mass spectrometry) to automate real-time measurements, thus permitting unsupervised experiments to search for optimal growth conditions, to monitor physiological responses to perturbations, as well as to quantitate photophysiological parameters using an in situ light-saturation response routine.
Ferrari, Silvia; Steck, James E; Chandramohan, Rajeev
A constrained approximate dynamic programming (ADP) approach is presented for designing adaptive neural network (NN) controllers with closed-loop stability and performance guarantees. Prior knowledge of the linearized equations of motion is used to guarantee that the closed-loop system meets performance and stability objectives when the plant operates in a linear parameter-varying (LPV) regime. In the presence of unmodeled dynamics or failures, the NN controller adapts to optimize its performance online, whereas constrained ADP guarantees that the LPV baseline performance is preserved at all times. The effectiveness of an adaptive NN flight controller is demonstrated for simulated control failures, parameter variations, and near-stall dynamics.
Nguyen, D.; Lee, M.; Sass, R.; Shoaee, H.
Unlike present constant model feedback system, neural networks can adapt as the dynamics of the process changes with time. Using a process model, the ''Accelerator'' network is first trained to simulate the dynamics of the beam for a given beam line. This ''Accelerator'' network is then used to train a second ''Controller'' network which performs the control function. In simulation, the networks are used to adjust corrector magnetics to control the launch angle and position of the beam to keep it on the desired trajectory when the incoming beam is perturbed. 4 refs., 3 figs
Endelt, Benny Ørtoft; Cheng, Ming; Zhang, Shihong
feeding). The objective of the present work is to identify a suitable and representative set of state variables and to develop a feedback algorithm enabling online control of material flow throughout the part using only limited/local information regarding the filling of the tool cavity. The filling...... to the dynamic behavior of the system and the numerical tests show that it is possible to control the quality and plastic deformation of the tube. Numerical simulations show that the control system can eliminate both rupture and irreversible wrinkling - which are the two major failure modes in tube hydroforming....
A control model describing a network flow hindered by multiple pure time (or transport) delays is formulated. Feedbacks connect each desired output with a single control sector situated at the origin. The dynamic formulation invokes the use of differential difference equations. This causes the characteristic equation of the model to consist of transcendental functions instead of a common algebraic polynomial. A general graphical criterion is developed to evaluate the stability of such a problem. A digital computer simulation confirms the validity of such criterion. An optimal decision making process with multiple delays is presented.
Münch, A.; Wagner, B.
The problem of feedback controlled Rayleigh-Bénard convection is considered. For this problem with the simple flow structure in the vertical direction, a Galerkin method that uses only a few basis functions in this direction is presented. This approximation yields considerable simplification of the problem, explicitly incorporates the non-classical boundary conditions at the horizontal boundaries of the fluid layer resulting from feedback control and reduces the dimension of the original problem by one. This method is in spirit very similar to lubrication theory, where the simple laminar flow in the vertical direction is integrated out across the height of the fluid layer. Using a minimal set of appropriate basis functions to capture the nonlinear behaviour of the flow, we investigate the effects of feedback control on amplitude, wavelength and selection of patterns via weakly nonlinear analysis and numerical simulations of the resulting dimension-reduced problems in two and three dimensions. In the second part of this study we discuss the derivation of the appropriate basis functions and prove convergence of the Galerkin scheme. This paper is published as part of a collection in honour of Todd Dupont's 65th birthday.
Parrell, Benjamin; Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B
The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of
Kwon, Young-Min; Jeong, Hae-Yong; Chang, Won-Pyo; Cho, Chung-Ho; Lee, Yong-Bum
The thermal expansion of the control rod drivelines (CRDL) is one important passive mitigator under all unprotected accident conditions in the metal and oxide cores. When the CRDL are washed by hot sodium in the coolant outlet plenum, the CRDL thermally expands and causes the control rods to be inserted further down into the active core region, providing a negative reactivity feedback. Since the control rods are attached to the top of the vessel head and the core attaches to the bottom of the reactor vessel (RV), the expansion of the vessel wall as it heats will either lower the core or raise the control rods supports. This contrary thermal expansion of the reactor vessel wall pulls the control rods out of the core somewhat, providing a positive reactivity feedback. However this is not a safety factor early in a transient because its time constant is relatively large. The total elongated length is calculated by subtracting the vessel expansion from the CRDL expansion to determine the net control rod expansion into the core. The system-wide safety analysis code SSC-K includes the CRDL/RV reactivity feedback model in which control rod and vessel expansions are calculated using single-nod temperatures for the vessel and CRDL masses. The KALIMER design has the upper internal structures (UIS) in which the CRDLs are positioned outside the structure where they are exposed to the mixed sodium temperature exiting the core. A new method to determine the CRDL expansion is suggested. Two dimensional hot pool thermal hydraulic model (HP2D) originally developed for the analysis of the stratification phenomena in the hot pool is utilized for a detailed heat transfer between the CRDL mass and the hot pool coolant. However, the reactor vessel wall temperature is still calculated by a simple lumped model
Full Text Available In this study, dynamic stability analysis of semiconductor laser diodes with external optical feedback has been realized. In the analysis the frequency response of the transfer function of laser diode H jw( , the transfer m function of laser diode with external optical feedback TF jw( , and optical feedback transfer function m K jw( obtained from small signal equations has been m accomplished using Nyquist stability analysis in complex domain. The effect of optical feedback on the stability of the system has been introduced and to bring the laser diode to stable condition the working critical boundary range of dampig frequency and reflection power constant (R has been determined. In the study the reflection power has been taken as ( .
Kenny, Sean P.; Crespo, Luis
MATLAB Stability and Control Toolbox (MASCOT) utilizes geometric, aerodynamic, and inertial inputs to calculate air vehicle stability in a variety of critical flight conditions. The code is based on fundamental, non-linear equations of motion and is able to translate results into a qualitative, graphical scale useful to the non-expert. MASCOT was created to provide the conceptual aircraft designer accurate predictions of air vehicle stability and control characteristics. The code takes as input mass property data in the form of an inertia tensor, aerodynamic loading data, and propulsion (i.e. thrust) loading data. Using fundamental nonlinear equations of motion, MASCOT then calculates vehicle trim and static stability data for the desired flight condition(s). Available flight conditions include six horizontal and six landing rotation conditions with varying options for engine out, crosswind, and sideslip, plus three take-off rotation conditions. Results are displayed through a unique graphical interface developed to provide the non-stability and control expert conceptual design engineer a qualitative scale indicating whether the vehicle has acceptable, marginal, or unacceptable static stability characteristics. If desired, the user can also examine the detailed, quantitative results.
Barana, O.; Basiuk, V.; Bucalossi, J.
Tore Supra tokamak plays an important role in development and optimisation of steady-state scenarios. Its real-time feedback control system is a key instrument to improve plasma performances. For this reason, new feedback control schemes have been recently put into operation and others are being developed. This work deals with the implementation in Tore Supra of these advanced algorithms, reports the technical details and shows the first positive results that have been achieved. For instance, encouraging results have been obtained in the field of profiles control. Controls of the full width at half maximum of the suprathermal electrons local emission profile at very low loop voltage and of the maximum of the thermal Larmor radius, normalised to the characteristic length of the electron temperature gradient, have been attained. While the first quantity can be directly associated to the current profile, the second one characterises the pressure profile. A new feedback control algorithm, employed to maximise a given quantity by means of a '' Search Optimisation '' technique, has been effectively tested too: the hard X-ray width has been maximised with simultaneous use of lower hybrid heating power and wave parallel index as actuators. These and other promising results, whose detailed description will be given in the article, have been obtained thanks to the real-time availability of several diagnostic systems. Using a shared memory network as communication layer, they send their measurements to a central computing unit that, in its turn, dispatches the necessary requirements to the actuators. A key issue is the possibility to integrate these controls in such a way as to cope with different requests at the same time. As an example, simultaneous control of the plasma current by means of the lower hybrid heating power, of the loop voltage by means of the poloidal field system and of the hard X-ray width through the lower hybrid heating phase shift has been successfully
Ivory, Sarah J.; McGlue, Michael M.; Ellis, Geoffrey S.; Boehlke, Adam; Lézine, Anne-Marie; Vincens, Annie; Cohen, Andrew S.
Tropical weathering has important linkages to global biogeochemistry and landscape evolution in the East African rift. We disentangle the influences of climate and terrestrial vegetation on chemical weathering intensity and erosion at Lake Malawi using a long sediment record. Fossil pollen, microcharcoal, particle size, and mineralogy data affirm that the detrital clays accumulating in deep water within the lake are controlled by feedbacks between climate and hinterland forest composition. Particle-size patterns are also best explained by vegetation, through feedbacks with lake levels, wildfires, and erosion. We develop a new source-to-sink framework that links lacustrine sedimentation to hinterland vegetation in tropical rifts. Our analysis suggests that climate-vegetation interactions and their coupling to weathering/erosion could threaten future food security and has implications for accurately predicting petroleum play elements in continental rift basins.
Baz, A.; Poh, S.; Fedor, J.
An independent modal space control (IMSC) algorithm is presented, whose modal control forces are generated from a positive position feedback (PPF) strategy. The proposed algorithm combines the attributes of both the IMSC and the PPF, and maintains the simplicity of the IMSC as it designs the controller of a complex structure at the uncoupled modal level. The effectiveness of the algorithm in damping out the vibration of flexible structures is validated experimentally. A simple cantilevered beam is employed as an example of a flexible structure whose multimodes of vibration are controlled by a single actuator. Performance of the active control system is determined in the frequency and the time domains. The experimental results indicate the potential of the proposed methodology as a viable method for controlling the vibration of large flexible structures.
Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen
Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.
Schneider, J.; Robertson, S.
A feedback stabilization technique is described for a fractional fringe interferometer measuring plasma electron densities. Using this technique, a CO 2 laser Michelson interferometer with a pyroelectric detector exhibited a sensitivity of 3.4 x 10 -4 fringe on a 1-ms time scale and, due to acoustic pickup, 1.8 x 10 -2 fringe on a 10-ms time scale. The rise time is 45 μs. Stabilization against slow drifts in mirror distances is achieved by an electromechanically translated mirror driven by a servo system having a 0.2-s response time. A mechanical chopper in one of the two beam paths generates the signal which drives the servo system
Full Text Available Nonlinear model predictive control has been established as a powerful methodology to provide feedback for dynamic processes over the last decades. In practice it is usually combined with parameter and state estimation techniques, which allows to cope with uncertainty on many levels. To reduce the uncertainty it has also been suggested to include optimal experimental design into the sequential process of estimation and control calculation. Most of the focus so far was on dual control approaches, i.e., on using the controls to simultaneously excite the system dynamics (learning as well as minimizing a given objective (performing. We propose a new algorithm, which sequentially solves robust optimal control, optimal experimental design, state and parameter estimation problems. Thus, we decouple the control and the experimental design problems. This has the advantages that we can analyze the impact of measurement timing (sampling independently, and is practically relevant for applications with either an ethical limitation on system excitation (e.g., chemotherapy treatment or the need for fast feedback. The algorithm shows promising results with a 36% reduction of parameter uncertainties for the Lotka-Volterra fishing benchmark example.
Milis, Georgios M; Panayiotou, Christos G; Polycarpou, Marios M
Recent progress toward the realization of the "Internet of Things" has improved the ability of physical and soft/cyber entities to operate effectively within large-scale, heterogeneous systems. It is important that such capacity be accompanied by feedback control capabilities sufficient to ensure that the overall systems behave according to their specifications and meet their functional objectives. To achieve this, such systems require new architectures that facilitate the online deployment, composition, interoperability, and scalability of control system components. Most current control systems lack scalability and interoperability because their design is based on a fixed configuration of specific components, with knowledge of their individual characteristics only implicitly passed through the design. This paper addresses the need for flexibility when replacing components or installing new components, which might occur when an existing component is upgraded or when a new application requires a new component, without the need to readjust or redesign the overall system. A semantically enhanced feedback control architecture is introduced for a class of systems, aimed at accommodating new components into a closed-loop control framework by exploiting the semantic inference capabilities of an ontology-based knowledge model. This architecture supports continuous operation of the control system, a crucial property for large-scale systems for which interruptions have negative impact on key performance metrics that may include human comfort and welfare or economy costs. A case-study example from the smart buildings domain is used to illustrate the proposed architecture and semantic inference mechanisms.
Høgsberg, Jan; Brodersen, Mark L.
In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...... is controlled by a filtered integral force feedback strategy, where the main feature is the filter, which is designed to render a damper force that in a phase-plane representation operates in front of the corresponding damper velocity. It is demonstrated that in the specific parameter regime where the damper...
Full Text Available University of Stellenbosch WWW.LASER-RESEARCH.CO.ZA University of Stellenbosch Pulse Energy Control Through Dual Loop Electronic Feedback Cobus Jacobs, Steven Kriel Christoph Bollig, Thomas Jones Cobus Jacobs et al. Overview head2righthead2right...What is Laser Pulse Energy Control? head2righthead2rightWhy do we need it? head2righthead2rightHow do we get it? head2righthead2rightSimulation head2righthead2rightExperimental Setup head2righthead2rightResults Cobus Jacobs et al. head2righthead2right...
Crespo, Luis G.; Kenny, Sean P.
This paper presents the technical background of the Trim and Static module of the Matlab Stability and Control Toolbox. This module performs a low-fidelity stability and control assessment of an aircraft model for a set of flight critical conditions. This is attained by determining if the control authority available for trim is sufficient and if the static stability characteristics are adequate. These conditions can be selected from a prescribed set or can be specified to meet particular requirements. The prescribed set of conditions includes horizontal flight, take-off rotation, landing flare, steady roll, steady turn and pull-up/ push-over flight, for which several operating conditions can be specified. A mathematical model was developed allowing for six-dimensional trim, adjustable inertial properties, asymmetric vehicle layouts, arbitrary number of engines, multi-axial thrust vectoring, engine(s)-out conditions, crosswind and gyroscopic effects.
Full Text Available This paper presents the design of periodic output feedback control using state feedback gain to control the vibration of piezo actuated cantilever beam. The effectiveness of the controller is evaluated through simulation and experimentally by exciting the structure at resonance. Real time implementation of the controller is done using microcontroller. The closed loop eigen values of the system with periodic output feedback and state feedback are identical.
This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude
The aim of human temperature regulation is to protect body processes by establishing a relative constancy of deep body temperature (regulated variable), in spite of external and internal influences on it. This is basically achieved by a distributed multi-sensor, multi-processor, multi-effector proportional feedback control system. The paper explains why proportional control implies inherent deviations of the regulated variable from the value in the thermoneutral zone. The concept of feedback of the thermal state of the body, conveniently represented by a high-weighted core temperature (T (c)) and low-weighted peripheral temperatures (T (s)) is equivalent to the control concept of "auxiliary feedback control", using a main (regulated) variable (T (c)), supported by an auxiliary variable (T (s)). This concept implies neither regulation of T (s) nor feedforward control. Steady-states result in the closed control-loop, when the open-loop properties of the (heat transfer) process are compatible with those of the thermoregulatory processors. They are called operating points or balance points and are achieved due to the inherent property of dynamical stability of the thermoregulatory feedback loop. No set-point and no comparison of signals (e.g. actual-set value) are necessary. Metabolic heat production and sweat production, though receiving the same information about the thermal state of the body, are independent effectors with different thresholds and gains. Coordination between one of these effectors and the vasomotor effector is achieved by the fact that changes in the (heat transfer) process evoked by vasomotor control are taken into account by the metabolic/sweat processor.
Full Text Available Micro turbine (MT is characterized with complex dynamics, parameter uncertainties, and variable working conditions. In this paper, a novel robust controller is investigated for a single-shaft micro turbine as a distributed energy resource by integrating a feedback domination control technique and a feedforward disturbance compensation. An active estimation process of the mismatched disturbances is firstly enabled by constructing a disturbance observer. Secondly, we adopt a feedback domination technique, rather than popularly used feedback linearization methods, to handle the system nonlinearities. In an explicit way, the composite controllers are then derived by recursive design based on Lyapunov theory while a global input-to-state stability can be guaranteed. Abundant comparison simulation results are provided to demonstrate the effectiveness of the proposed scheme, which not only perform an improved closed-loop control performance comparing to all existing results, but also render a simple control law which will ease its practical implementation.
Mohammad Sadegh Nourbakhsh
Full Text Available Introduction: Laser tissue soldering using albumin and indocyanine green dye (ICG is an effective technique utilized in various surgical procedures. The purpose of this study was to perform laser soldering of rat skin under a feedback control system and compare the results with those obtained using standard sutures. Material and Methods: Skin incisions were made over eight rats’ dorsa, which were subsequently closed using different wound closure interventions in two groups: (a using a temperature controlled infrared detector or (b by suture. Tensile strengths were measured at 2, 5, 7 and 10 days post-incision. Histological examination was performed at the time of sacrifice. Results: Tensile strength results showed that during the initial days following the incisions, the tensile strengths of the sutured samples were greater than the laser samples. However, 10 days after the incisions, the tensile strengths of the laser soldered incisions were higher than the sutured cuts. Histopathological examination showed a preferred wound healing response in the soldered skin compared with the control samples. The healing indices of the laser soldered repairs (426 were significantly better than the control samples (340.5. Conclusion: Tissue feedback control of temperature and optical changes in laser soldering of skin leads to a higher tensile strength and better histological results and hence this method may be considered as an alternative to standard suturing.
Full Text Available This paper deals with the control of a doubly-fed induction generator (DFIG-based variable speed wind turbine power system. A system of eight ordinary differential equations is used to model the wind energy conversion system. The generator has a wound rotor type with back-to-back three-phase power converter bridges between its rotor and the grid; it is modeled using the direct-quadrature rotating reference frame with aligned stator flux. An input-state feedback linearization controller is proposed for the wind energy power system. The controller guarantees that the states of the system track the desired states. Simulation results are presented to validate the proposed control scheme. Moreover, further simulation results are shown to investigate the robustness of the proposed control scheme to changes in some of the parameters of the system.
Zheng Ya-Zhou; Zheng Peng-Jun; Ge Hong-Xia
A car-following model is presented, in which the effects of non-motor vehicles on adjacent lanes are taken into account. A control signal including the velocity differences between the following vehicle and the target vehicle is introduced according to the feedback control theory. The stability condition for the new model is derived. Numerical simulation is used to demonstrate the advantage of the new model including the control signal; the results are consistent with the analytical ones. (general)
Audu, Musa L.; Kirsch, Robert F.; Triolo, Ronald J.
The potential efficacy of total body center of mass (COM) acceleration for feedback control of standing balance by functional neuromuscular stimulation (FNS) following spinal cord injury (SCI) was investigated. COM acceleration may be a viable alternative to conventional joint kinematics due to its rapid responsiveness, focal representation of COM dynamics, and ease of measurement. A computational procedure was developed using an anatomically-realistic, three-dimensional, bipedal biomechanical model to determine optimal patterns of muscle excitations to produce targeted effects upon COM acceleration from erect stance. The procedure was verified with electromyographic data collected from standing able-bodied subjects undergoing systematic perturbations. Using 16 muscle groups targeted by existing implantable neuroprostheses, data were generated to train an artificial neural network (ANN)-based controller in simulation. During forward simulations, proportional feedback of COM acceleration drove the ANN to produce muscle excitation patterns countering the effects of applied perturbations. Feedback gains were optimized to minimize upper extremity (UE) loading required to stabilize against disturbances. Compared to the clinical case of maximum constant excitation, the controller reduced UE loading by 43% in resisting external perturbations and by 51% during simulated one-arm reaching. Future work includes performance assessment against expected measurement errors and developing user-specific control systems. PMID:22773529
Li, Zhichen; Bai, Yan; Li, Tianqi
This paper investigates stability analysis and stabilization for networked control systems. By a refined delay decomposition approach, slightly different Lyapunov-Krasovskii functionals (LKFs) with quadruple-integral terms and augmented vectors containing triple-integral forms of state are constructed. New integral inequalities are proposed to estimate the cross terms from derivatives of the LKFs, which can be proved to offer tighter bounds than what the Jensen one produces theoretically. Moreover, the non-strictly proper rational functions in deriving process are fully handled via reciprocally convex approach. A state feedback controller design approach is also developed. Numerical examples and applications to practical power and oscillator systems demonstrate the superiority of the proposed criteria in conservatism reduction compared to some existing ones. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Zhao, Xin; Curtiss, H. C., Jr.
A linearized model of rotorcraft dynamics has been developed through the use of symbolic automatic equation generating techniques. The dynamic model has been formulated in a unique way such that it can be used to analyze a variety of rotor/body coupling problems including a rotor mounted on a flexible shaft with a number of modes as well as free-flight stability and control characteristics. Direct comparison of the time response to longitudinal, lateral and directional control inputs at various trim conditions shows that the linear model yields good to very good correlation with flight test. In particular it is shown that a dynamic inflow model is essential to obtain good time response correlation, especially for the hover trim condition. It also is shown that the main rotor wake interaction with the tail rotor and fixed tail surfaces is a significant contributor to the response at translational flight trim conditions. A relatively simple model for the downwash and sidewash at the tail surfaces based on flat vortex wake theory is shown to produce good agreement. Then, the influence of rotor flap and lag dynamics on automatic control systems feedback gain limitations is investigated with the model. It is shown that the blade dynamics, especially lagging dynamics, can severly limit the useable values of the feedback gain for simple feedback control and that multivariable optimal control theory is a powerful tool to design high gain augmentation control system. The frequency-shaped optimal control design can offer much better flight dynamic characteristics and a stable margin for the feedback system without need to model the lagging dynamics.
Full Text Available Abstract While sailing near the sea surface, submarines will often undergo rolling motion caused by wave disturbance. Fierce rolling motion seriously affects their normal operation and even threatens their security. We propose a new control method for roll stabilization. This paper studies hybrid intelligent control combining a fuzzy control, a neural network and extension control technology. Every control strategy can achieve the ideal control effect within the scope of its effective control. The neuro-fuzzy control strategy is used to improve the robustness of the controller. The speed control strategy and the course control strategy are conducted to extend the control range. The paper also proposes the design of the controller and carries out the simulation experiment in different sea conditions. The simulation results show that the control method proposed can indeed effectively improve the control performance of submarine stabilization.
Naik, Mugdha S; Singh, Sahjendra N; Mittal, Rajat
This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback
Full Text Available An active noise control (ANC system is model dependent/independent if its controller transfer function is dependent/independent on initial estimates of path models in a sound field. Since parameters of path models in a sound field will change when boundary conditions of the sound field change, model-independent ANC systems (MIANC are able to tolerate variations of boundary conditions in sound fields and more reliable than model-dependent counterparts. A possible way to implement MIANC systems is online path modeling. Many such systems require invasive probing signals (persistent excitations to obtain accurate estimates of path models. In this study, a noninvasive MIANC system is proposed. It uses online path estimates to cancel feedback, recover reference signal, and optimize a stable controller in the minimum H2 norm sense, without any forms of persistent excitations. Theoretical analysis and experimental results are presented to demonstrate the stable control performance of the proposed system.
Zhang Yongli; Tong Yajun; Zhang Zhaohong; Chen Min; Jiang Jianguo; Gong Peirong
Background: The infrared beam line consists of many kinds of optical components that are susceptible to the external mechanical vibration, which will be further amplified by the long optical paths to seriously destroy the stability of infrared beam position. Purpose: The active feedback controller is used to stabilize the infrared beam position disturbed by the external environment. Methods: The design of the active feedback controller used in the infrared beam line of SSRF was proposed in this paper firstly, which included its background, light-path layout and operating process. Subsequently, the selections of the crucial components such as detector and actuator were discussed in details. Finally, the correction compensator design and its experimental test were also presented. The correction compensator design was realized by utilizing the frequency response method, and tested in time domain, frequency domain and mathematical model simulation of the controlled object. Results: The experimental tests included time domain step response signal of the controller, the time domain signal and its relevant magnitude spectrum in frequency domain due to the light source simulation vibration. Conclusion: The results show that the maximum effective operating band is 250 Hz and the maximum steady error is 5 μm. (authors)
motion vision pathway indicated unexpectedly high stability margins. The gain margin (Fig. 3d , GM) at the 180 degrees phase reversal is still 20 dB...and the phase margin at the zero-crossing in the gain plot amounts to 130 degrees (Fig. 3d , PM). Given these values, the motion vision pathway...Eds. N. Elsner, M. Heisenberg , Thieme, Stuttgart 1993, 357. A3. Krapp H., Hengstenberg B., and Hengstenberg R.: Correspondence of dendritic field
Weitz, Lesley Anne
This dissertation addresses the design and stability analysis of decentralized, cooperative control laws for multivehicle systems. Advances in communication, navigation, and surveillance systems have enabled greater autonomy in multivehicle systems, and there is a shift toward decentralized, cooperative systems for computational efficiency and robustness. In a decentralized control scheme, control inputs are determined onboard each vehicle; therefore, decentralized controllers are more efficient for large numbers of vehicles, and the system is more robust to communication failures and reconfiguration. The design of decentralized, cooperative control laws is explored for a nonlinear vehicle model that can be represented in a double-integrator form. Cooperative controllers are functions of spacing errors with respect to other vehicles in the system, where the communication structure defines the information that is available to each vehicle. Control inputs are selected to achieve internal stability, or zero steady-state spacing errors, between vehicles in the system. Closed-loop equations of motion for the cooperative system can be written in a structural form, where damping and stiffness matrices contain control gains acting on the velocity and positions of the vehicles, respectively. The form of the stiffness matrix is determined by the communication structure, where different communication structures yield different control forms. Communication structures are compared using two structural analysis tools: modal cost and frequency-response functions, which evaluate the response of the multivehicle systems to disturbances. The frequency-response information is shown to reveal the string stability of different cooperative control forms. The effects of time delays in the feedback states of the cooperative control laws on system stability are also investigated. Closed-loop equations of motion are modeled as delay differential equations, and two stability notions are
Wen, John T.; Kreutz, Kenneth
In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.
Rudra, Shubhobrata; Maitra, Madhubanti
This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The math...
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.
Meisel Susanne F
Full Text Available Abstract Background Genetic testing for risk of weight gain is already available over the internet despite uncertain benefits and concerns about adverse emotional or behavioral effects. Few studies have assessed the effect of adding genetic test feedback to weight control advice, even though one of the proposed applications of genetic testing is to stimulate preventive action. This study will investigate the motivational effect of adding genetic test feedback to simple weight control advice in a situation where weight gain is relatively common. Methods/design First-year university students (n = 800 will be randomized to receive either 1 their personal genetic test result for a gene (FTO related to weight gain susceptibility in addition to a leaflet with simple weight control advice (‘Feedback + Advice’ group, FA, or 2 only the leaflet containing simple weight control advice (‘Advice Only’ group, AO. Motivation to avoid weight gain and active use of weight control strategies will be assessed one month after receipt of the leaflet with or without genetic test feedback. Weight and body fat will be measured at baseline and eight months follow-up. We will also assess short-term psychological reactions to the genetic test result. In addition, we will explore interactions between feedback condition and gene test status. Discussion We hope to provide a first indication of the clinical utility of weight-related genetic test feedback in the prevention context. Trial registration Current controlled trials ISRCTN91178663
Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang
Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.
Sallam, Abdelhay A
This book provides a comprehensive treatment of the subject from both a physical and mathematical perspective and covers a range of topics including modelling, computation of load flow in the transmission grid, stability analysis under both steady-state and disturbed conditions, and appropriate controls to enhance stability.
Wagner, Mark J; Smith, Maurice A
A child often learns to ride a bicycle in the driveway, free of unforeseen obstacles. Yet when she first rides in the street, we hope that if a car suddenly pulls out in front of her, she will combine her innate goal of avoiding an accident with her learned knowledge of the bicycle, and steer away or brake. In general, when we train to perform a new motor task, our learning is most robust if it updates the rules of online error correction to reflect the rules and goals of the new task. Here we provide direct evidence that, after a new feedforward motor adaptation, motor feedback responses to unanticipated errors become precisely task appropriate, even when such errors were never experienced during training. To study this ability, we asked how, if at all, do online responses to occasional, unanticipated force pulses during reaching arm movements change after adapting to altered arm dynamics? Specifically, do they change in a task-appropriate manner? In our task, subjects learned novel velocity-dependent dynamics. However, occasional force-pulse perturbations produced unanticipated changes in velocity. Therefore, after adaptation, task-appropriate responses to unanticipated pulses should compensate corresponding changes in velocity-dependent dynamics. We found that after adaptation, pulse responses precisely compensated these changes, although they were never trained to do so. These results provide evidence for a smart feedback controller which automatically produces responses specific to the learned dynamics of the current task. To accomplish this, the neural processes underlying feedback control must (1) be capable of accurate real-time state prediction for velocity via a forward model and (2) have access to recently learned changes in internal models of limb dynamics.
Full Text Available The paper presents development work related to create WWW based remote control laboratory for teaching Applied Photonics. In order to minimize the cost at the end-user domain, simple WWW browser with fundamental plug-in (Java applets, HTML Pages and LabWindows applets to support the remote control and video transmission functionality of the remote control is proposed. As for telepresence and monitoring of device actions, a simple type zooming web-camera is connected to the hosting multimedia PC via the USB port. The web-camera assists in visual feedback of the system and presents the feeling of telepresence for the end-user (student. USB web-cameras are normally efficient and the presence of another video server is not necessary in this case, thanks to LabWindows.
Full Text Available Power-level control is a crucial technique for the safe, stable and efficient operation of modular high temperature gas-cooled nuclear reactors (MHTGRs, which have strong inherent safety features and high outlet temperatures. The current power-level controllers of the MHTGRs need measurements of both the nuclear power and the helium temperature, which cannot provide satisfactory control performance and can even induce large oscillations when the neutron sensors are in error. In order to improve the fault tolerance of the control system, it is important to develop a power-level control strategy that only requires the helium temperature. The basis for developing this kind of control law is to give a state-observer of the MHTGR a relationship that only needs the measurement of helium temperature. With this in mind, a novel nonlinear state observer which only needs the measurement of helium temperature is proposed. This observer is globally convergent if there is no disturbance, and has the L2 disturbance attenuation performance if the disturbance is nonzero. The separation principle of this observer is also proven, which denotes that this observer can recover the performance of both globally asymptotic stabilizers and L2 disturbance attenuators. Then, a new dynamic output feedback power-level control strategy is established, which is composed of this observer and the well-built static state-feedback power-level control based upon iterative dissipation assignment (IDA-PLC. Finally, numerical simulation results show the high performance and feasibility of this newly-built dynamic output feedback power-level controller.
Lee, DongBin; Burg, Timothy; Xian, Bin; Dawson, Darren
...) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable...
A. E. Golubev
Full Text Available This paper deals with the zero equilibrium stabilization for dynamical systems that have control input singularities. A dynamical system with scalar control input is called nonregular if the coefficient of input becomes null on a subset of the phase space that contains the origin. One of the classes of nonregular dynamical systems is represented by bilinear systems. In case of second-order bilinear systems the necessary and sufficient conditions for the zero equilibrium stabilizability are known in the literature. However, in general case the stabilization problem in the presence of control input singularities has not been solved yet.In this note we solve the problem of the zero equilibrium stabilization for the third-order bilinear dynamical systems given in a canonical form. The solution is found in the class of constant controls. The necessary and sufficient conditions are obtained for the zero equilibrium stabilizability of the bilinear systems in question.The dependence of the zero equilibrium stabilizability on system parameter values is analyzed. The general criteria of stabilizability by means of constant controls are given for the bilinear systems in question. In case when all the system parameters have nonzero values the necessary and sufficient stabilizability conditions are proved. The case when some of the parameters are equal to zero is also considered.Further research can be focused on extending the obtained results to a higher-order case of bilinear and affine dynamical systems. The solution of the considered stabilization problem should also be found not only within constant controls but also in a class of state feedbacks, particularly, in the case when stabilizing constant control does not exist.One of the potential application areas for the obtained theoretical results is automatic control of technical plants like unmanned aerial vehicles and mobile robots.
Willis, A. P.; Duguet, Y.; Omel'chenko, O.; Wolfrum, M.
Many transitional wall-bounded shear flows are characterised by the coexistence in state-space of laminar and turbulent regimes. Probing the edge boundary between the two attractors has led in the last decade to the numerical discovery of new (unstable) solutions to the incompressible Navier-Stokes equations. However, the iterative bisection method used to achieve this can become prohibitively costly for large systems. Here we suggest a simple feedback control strategy to stabilise edge states, hence accelerating their numerical identification by several orders of magnitude. The method is illustrated for several configurations of cylindrical pipe flow. Travelling waves solutions are identified as edge states, and can be isolated rapidly in only one short numerical run. A new branch of solutions is also identified. When the edge state is a periodic orbit or chaotic state, the feedback control does not converge precisely to solutions of the uncontrolled system, but nevertheless brings the dynamics very close to the original edge manifold in a single run. We discuss the opportunities offered by the speed and simplicity of this new method to probe the structure of both state space and parameter space.
Li, Yanan; Yang, Chenguang; Ge, Shuzhi Sam; Lee, Tong Heng
In this paper, adaptive neural network (NN) control is investigated for a class of block triangular multiinput-multioutput nonlinear discrete-time systems with each subsystem in pure-feedback form with unknown control directions. These systems are of couplings in every equation of each subsystem, and different subsystems may have different orders. To avoid the noncausal problem in the control design, the system is transformed into a predictor form by rigorous derivation. By exploring the properties of the block triangular form, implicit controls are developed for each subsystem such that the couplings of inputs and states among subsystems have been completely decoupled. The radial basis function NN is employed to approximate the unknown control. Each subsystem achieves a semiglobal uniformly ultimately bounded stability with the proposed control, and simulation results are presented to demonstrate its efficiency.
Dosen, Strahinja; Markovic, Marko; Hartmann, Cornelia; Farina, Dario
Closing the control loop by providing sensory feedback to the user of a prosthesis is an important challenge, with major impact on the future of prosthetics. Developing and comparing closed-loop systems is a difficult task, since there are many different methods and technologies that can be used to implement each component of the system. Here, we present a test bench developed in Matlab Simulink for configuring and testing the closed-loop human control system in standardized settings. The framework comprises a set of connected generic blocks with normalized inputs and outputs, which can be customized by selecting specific implementations from a library of predefined components. The framework is modular and extensible and it can be used to configure, compare and test different closed-loop system prototypes, thereby guiding the development towards an optimal system configuration. The use of the test bench was demonstrated by investigating two important aspects of closed-loop control: performance of different electrotactile feedback interfaces (spatial versus intensity coding) during a pendulum stabilization task and feedforward methods (joystick versus myocontrol) for force control. The first experiment demonstrated that in the case of trained subjects the intensity coding might be superior to spatial coding. In the second experiment, the control of force was rather poor even with a stable and precise control interface (joystick), demonstrating that inherent characteristics of the prosthesis can be an important limiting factor when considering the overall effectiveness of the closed-loop control. The presented test bench is an important instrument for investigating different aspects of human manual control with sensory feedback.
Crowell, Helena L; MacLean, Adam L; Stumpf, Michael P H
Haematopoietic stem cell dynamics regulate healthy blood cell production and are disrupted during leukaemia. Competition models of cellular species help to elucidate stem cell dynamics in the bone marrow microenvironment (or niche), and to determine how these dynamics impact leukaemia progression. Here we develop two models that target acute myeloid leukaemia with particular focus on the mechanisms that control proliferation via feedback signalling. It is within regions of parameter space permissive of coexistence that the effects of competition are most subtle and the clinical outcome least certain. Steady state and linear stability analyses identify parameter regions that allow for coexistence to occur, and allow us to characterise behaviour near critical points. Where analytical expressions are no longer informative, we proceed statistically and sample parameter space over a coexistence region. We find that the rates of proliferation and differentiation of healthy progenitors exert key control over coexistence. We also show that inclusion of a regulatory feedback onto progenitor cells promotes healthy haematopoiesis at the expense of leukaemia, and that - somewhat paradoxically - within the coexistence region feedback increases the sensitivity of the system to dominance by one lineage over another. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.
Schlott, V.; Böge, M.; Keil, B.; Pollet, P.; Schilcher, T.
A global, fast orbit feedback (FOFB) based on the digital beam position monitor (DBPM) system has been in user operation at the Swiss Light Source (SLS) since November 2003. The SVD-based correction scheme acts at a sampling rate of 4 kHz using position information from all 72 DBPM stations and applying corrections with all 72 horizontal and 72 vertical corrector magnets. As a result, the FOFB successfully damps orbit distortions, which are mainly caused by ground and girder vibrations as well as the 3-Hz booster crosstalk. It also allows fast and independent ID gap changes, which are completely transparent to all SLS users. With top-up as a regular operation mode at SLS, global beam stability on a μm-level has been achieved from days to milliseconds.
Pomphrey, N.; Jardin, S.C.
We analyze the magnetohydrodynamic (MHD) stability of the axisymmetric system consisting of a free boundary, non-circular cross-section tokamak plasma, finite resistivity passive conductors, and an active feedback system with magnetic flux pickup loops, a proportional amplifier with gain G, and current carrying poloidal field coils. Numerical simulation of a system that is unstable with G = 0 shows that for some placements of the pickup loops, the system will remain unstable for all values of G, while for other placements of the loops, the system will be stable for G > G/sub crit/. This behavior is explained by analysis using an extended energy principle, and it is shown to result from the deformability of the plasma cross section. 9 refs., 5 figs
Highlights • Electronic stability control can substitute studded tyres. • This makes it easier to discourage the use of studded tyres. • A certain level of use of studded tyres makes roads less slippery.......Highlights • Electronic stability control can substitute studded tyres. • This makes it easier to discourage the use of studded tyres. • A certain level of use of studded tyres makes roads less slippery....
Full Text Available The human postural control system represents a biological feedback system responsible for maintenance of upright stance. Vestibular, proprioceptive and visual sensory inputs provide the most important information into the control system, which controls body centre of mass (COM in order to stabilize the human body resembling an inverted pendulum. The COM can be measured indirectly by means of a force plate as the centre of pressure (COP. Clinically used measurement method is referred to as posturography. In this paper, the conventional static posturography is extended by visual stimulation, which provides insight into a role of visual information in balance control. Visual stimuli have been designed to induce body sway in four specific directions – forward, backward, left and right. Stabilograms were measured using proposed single-PC based system and processed to calculate velocity waveforms and posturographic parameters. The parameters extracted from pre-stimulus and on-stimulus periods exhibit statistically significant differences.
Ding Xiaohua; Su Huan; Liu Mingzhu
The paper analyzes a discrete second-order, nonlinear delay differential equation with negative feedback. The characteristic equation of linear stability is solved, as a function of two parameters describing the strength of the feedback and the damping in the autonomous system. The existence of local Hopf bifurcations is investigated, and the direction and stability of periodic solutions bifurcating from the Hopf bifurcation of the discrete model are determined by the Hopf bifurcation theory of discrete system. Finally, some numerical simulations are performed to illustrate the analytical results found
Full Text Available Halo-chaos in high-current accelerator has become one of the key issues because it can cause excessive radioactivity from the accelerators and significantly limits the applications of the new accelerators in industrial and other fields. Some general engineering methods for chaos control have been developed, but they generally are unsuccessful for halo-chaos suppression due to many technical constraints. In this article, controllability condition for beam halo-chaos is analyzed qualitatively. Then Particles-in-Cell (PIC simulations explore the nature of beam halo-chaos formation. A nonlinear control method and wavelet function feedback controller are proposed for controlling beam halo-chaos. After control of beam halo-chaos for initial proton beam with water bag distributions, the beam halo strength factor H is reduced to zero, and other statistical physical quantities of beam halo-chaos are doubly reduced. The results show that the developed methods in this paper are very effective for proton beam halo-chaos suppression. Potential application of the halo-chaos control method is finally pointed out.
Wang, Lijie; Li, Hongyi; Zhou, Qi; Lu, Renquan
This paper investigates the problem of observer-based adaptive fuzzy control for a category of nonstrict feedback systems subject to both unmodeled dynamics and fuzzy dead zone. Through constructing a fuzzy state observer and introducing a center of gravity method, unmeasurable states are estimated and the fuzzy dead zone is defuzzified, respectively. By employing fuzzy logic systems to identify the unknown functions. And combining small-gain approach with adaptive backstepping control technique, a novel adaptive fuzzy output feedback control strategy is developed, which ensures that all signals involved are semi-globally uniformly bounded. Simulation results are given to demonstrate the effectiveness of the presented method.
de Melker Worms, Jonathan L.A.; Stins, John F.; Beek, Peter J.; Loram, Ian D.
Vestibular sensation contributes to cervical-head stabilization and fall prevention. To what extent fear of falling influences the associated vestibular feedback processes is currently undetermined. We used galanic vestibular stimulation (GVS) to induce vestibular reflexes while participants stood
Villarreal-Cervantes, Miguel G; Guerrero-Castellanos, J Fermi; Ramírez-Martínez, Soledad; Sánchez-Santana, J Pedro
Event-triggered control (ETC) is a sampling strategy that updates the control value only when some events related to the state of the system occurs. It therefore relaxes the periodicity of control updates without deteriorating the closed-loop performance. This paper develops a nonlinear ETC for the stabilization of a (3,0) mobile robot. The construction of an event function and a feedback function is carried out based on the existence of a stabilizing control law and a Control Lyapunov Function (CLF). The event function is dependent on the time derivative of the CLF and the feedback function results from the extension of Sontag's formula, which ensures asymptotic stability, smoothness everywhere and continuity at the equilibrium. Experimental results, compared with a computed torque control, validate the theoretical analysis. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Full Text Available The H∞ dynamic output feedback control problem for a class of discrete-time switched time-delay systems under asynchronous switching is investigated in this paper. Sensor nonlinearity and missing measurements are considered when collecting output knowledge of the system. Firstly, when there exists asynchronous switching between the switching modes and the candidate controllers, new results on the regional stability and l2 gain analysis for the underlying system are given by allowing the Lyapunov-like function (LLF to increase with a random probability. Then, a mean square stabilizing output feedback controller and a switching law subject to average dwell time (ADT are obtained with a given disturbance attenuation level. Moreover, the mean square domain of attraction could be estimated by a convex combination of a set of ellipsoids, the number of which depends on the number of switching modes. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
Schock-Kusch, Daniel; Shulhevich, Yury; Xie, Qing; Hesser, Juergen; Stsepankou, Dzmitry; Neudecker, Sabine; Friedemann, Jochen; Koenig, Stefan; Heinrich, Ralf; Hoecklin, Friederike; Pill, Johannes; Gretz, Norbert
Constant infusion clearance techniques using exogenous renal markers are considered the gold standard for assessing the glomerular filtration rate. Here we describe a constant infusion clearance method in rats allowing the real-time monitoring of steady-state conditions using an automated closed-loop approach based on the transcutaneous measurement of the renal marker FITC-sinistrin. In order to optimize parameters to reach steady-state conditions as fast as possible, a Matlab-based simulation tool was established. Based on this, a real-time feedback-regulated approach for constant infusion clearance monitoring was developed. This was validated by determining hourly FITC-sinistrin plasma concentrations and the glomerular filtration rate in healthy and unilaterally nephrectomized rats. The transcutaneously assessed FITC-sinistrin fluorescence signal was found to reflect the plasma concentration. Our method allows the precise determination of the onset of steady-state marker concentration. Moreover, the steady state can be monitored and controlled in real time for several hours. This procedure is simple to perform since no urine samples and only one blood sample are required. Thus, we developed a real-time feedback-based system for optimal regulation and monitoring of a constant infusion clearance technique.
Theisen, Lukas Roy Svane; Niemann, Hans Henrik
Controllable rotor-gas bearings are popular oering adaptability, high speed operation, low friction and clean operation. Rotor-gas bearings are however highly sensitive to disturbances due to the low friction of the injected gas. These undesirable damping properties call for controllers, which ca...... and are shown to accurately describe the dynamical behaviour of the rotor-gas bearing. Design of a controller using the identied models is treated and experiments verify the improvement of the damping properties of the rotor-gas bearing.......Controllable rotor-gas bearings are popular oering adaptability, high speed operation, low friction and clean operation. Rotor-gas bearings are however highly sensitive to disturbances due to the low friction of the injected gas. These undesirable damping properties call for controllers, which can...... be designed from suitable models describing the relation from actuator input to measured shaft position. Current state of the art models of controllable gas bearings however do not provide such relation, which calls for alternative strategies. The present contribution discusses the challenges for feedback...
Qin, Shunda; Ge, Hongxia; Cheng, Rongjun
In this paper, a new lattice hydrodynamic model is proposed by taking delay feedback and flux change rate effect into account in a single lane. The linear stability condition of the new model is derived by control theory. By using the nonlinear analysis method, the mKDV equation near the critical point is deduced to describe the traffic congestion. Numerical simulations are carried out to demonstrate the advantage of the new model in suppressing traffic jam with the consideration of flux change rate effect in delay feedback model.
Significant progress in the development of active feedback control as a robust technique for the suppression of the wall stabilized external kink or resistive wall mode (RWM) in tokamaks has been achieved through a combination of modeling and experiments. Results from the 3D feedback modeling code VALEN, which serves as the primary analysis and feedback control design tool for RWM studies on the HBT-EP and DIII-D experiments, are in good agreement with observations. VALEN modeling of proposed advanced control system designs on HBT-EP, DIII-D, NSTX, and FIRE are predicted to approach the ideal wall beta limit in agreement with design principles based on simple single mode analytic theory of RWM feedback control. Benchmark experiments on HBT-EP have shown suppression of plasma disruption at rational edge q values using active feedback control in agreement with model predictions. In addition, the observation in HBT-EP of the plasma amplification of static resonant magnetic fields in plasmas marginally stable to the RWM is in agreement with theory. (author)
A stability and control augmentation system (SCAS) was designed based on a set of comprehensive performance criteria. Linear optimal control theory was applied to determine appropriate feedback gains for the stability augmentation system (SAS). The helicopter was represented by six-degree-of-freedom rigid body equations of motion and constant factors were used as weightings for state and control variables. The ratio of these factors was employed as a parameter for SAS analysis and values of the feedback gains were selected on this basis to satisfy three of the performance criteria for full and partial state feedback systems. A least squares design method was then applied to determine control augmentation system (CAS) cross feed gains to satisfy the remaining seven performance criteria. The SCAS gains were then evaluated by nine degree-of-freedom equations which include flapping motion and conclusions drawn concerning the necessity of including the pitch/regressing and roll/regressing modes in SCAS analyses.
Hirata, M.; Marinoni, A.; Rost, J. C.; Davis, E. M.; Porkolab, M.
The Phase Contrast Imaging diagnostic is an internal reference interferometer that images density fluctuations on a 32-element linear detector array. Since proper operation of the system requires accurate alignment of a CO2 laser beam on a phase plate, beam motion due to vibrations of the DIII-D vessel need to be compensated up to 1 kHz. The feedback network controlling the steering mirrors currently uses a linear analog controller, but a digital controller can provide improved stability performance and flexibility. A prototype was developed using an Arduino Due, a low-cost microcontroller, to assess performance capabilities. Digital control parameters will be developed based on the measured frequency and phase response of the physical components. Finally, testing of the digital feedback system and the required revisions will be done to achieve successful performance. This upgrade to the linear analog controller is expected to be used routinely on similar diagnostics in fusion devices, especially in view of restricted access to the machine hall. Work supported in part by the US Department of Energy under DE-FG02-94ER54235, DE-FC02-04ER54698, and the Science Undergraduate Laboratory Internships Program (SULI).
Full Text Available Abstract Background The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI. Methods In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS, and the resulting joint kinematics and COM acceleration data was analyzed. Results Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Conclusions Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its
Wang, Leimin; Shen, Yi; Zhang, Guodong
Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.
Mikulowski, Grzegorz M.; Holnicki-Szulc, Jan
The objective of this paper is to present an integrated feedback control concept for adaptive landing gears (ALG) and its experimental validation. Aeroplanes are subjected to high dynamic loads as a result of the impact during each landing. Classical landing gears, which are in common use, are designed in accordance with official regulations in a way that ensures the optimal energy dissipation for the critical (maximum) sink speed. The regulations were formulated in order to ensure the functional capability of the landing gears during an emergency landing. However, the landing gears, whose characteristics are optimized for these critical conditions, do not perform well under normal impact conditions. For that situation it is reasonable to introduce a system that would adapt the characteristics of the landing gears according to the sink speed of landing. The considered system assumes adaptation of the damping force generated by the landing gear, which would perform optimally in an emergency situation and would adapt itself for regular landings as well. This research covers the formulation and design of the control algorithms for an adaptive landing gear based on MR fluid, implementation of the algorithms on an FPGA platform and experimental verification on a lab-scale landing gear device. The main challenge of the research was to develop a control methodology that could operate effectively within 50 ms, which is assumed to be the total duration of the phenomenon. The control algorithm proposed in this research was able to control the energy dissipation process on the experimental stand.
Zhai, Ding; An, Liwei; Ye, Dan; Zhang, Qingling
This paper investigates the adaptive static output feedback (SOF) control problem for continuous-time linear systems with stochastic sensor failures. A multi-Markovian variable is introduced to denote the failure scaling factors for each sensor. Different from the existing results, the failure parameters are stochastically jumping and their bounds of are unknown. An adaptive reliable SOF control method is proposed, where the controller parameters are updated automatically to compensate for the failure effects on systems. A novel cubic absolute Lyapunov function is proposed to design adaptive laws only using measured output with sensor failures, and the convergence of jumping adaptive parameters is ensured by a trajectory initialization approach. The resultant designs can guarantee the asymptotic stability with an adaptive performance of closed-loop systems regardless of sensor failures. Finally, the simulation results on the "Raptor-90" helicopter are given to show the effectiveness of the proposed approaches.
Korpela, T.; Bjoerkqvist, T.; Lautala, P. (Tampere Univ. of Technology, Dept. of Automation Science and Engineering, FIN-33101 Tampere (Finland)). E-mail: email@example.com
The purpose is to control wood chip combustion in an inexpensive and durable way. A control concept in order to reduce the effect of fluctuation of the fuel feed is introduced. The concept is based on temperature and lambda measurements. The main task of the control system is to set the fuel feed at a desired level after a change in the combustion conditions. Additionally, temporary fluctuations of the degree of filling of feeding screw are compensated. Test results of a 80 kW and a 200 kW commercial wood chip fired systems are introduced. The process experiments indicate that the high level control system is able to adapt to varying combustion conditions and to maintain low emission levels. Furthermore, passive means that can be exploited to stabilize the combustion are discussed. As the control concept is not dependent on the design of the combustion system, the concept is adaptable to present systems
Maurer, D.A.; Bialek, J.; Boozer, A.H.
Significant progress in the development of active feedback control as a robust technique for the suppression of the wall stabilized external kink or resistive wall mode (RWM) in tokamaks has been achieved through a combination of modeling and experiments. Results from the application and benchmarking of the 3D feedback modeling code VALEN as the primary analysis and feedback design tool on the HBT-EP and DIII-D experiments are in good agreement with observations, and modeling of proposed advanced control system designs on HBT-EP, DIII-D, NSTX, FIRE, and ITER are predicted to approach the ideal wall beta limit in agreement with design principles based on the simple single mode analytic theory of RWM feedback control. Benchmark experiments on HBT-EP have shown suppression of disruptions at rational edge q values using active 'smart shell' feedback control, the initiation of the first test of directly coupled coils designed to operate up to the ideal wall limit on RWM behavior, as well as observation of the plasma amplification of static resonant magnetic fields in plasmas marginally stable to the RWM in agreement with theory. (author)
Allen, R. W.
In steering an automobile, the driver must basically control the direction of the car's trajectory (heading angle) and the lateral deviation of the car relative to a delineated pathway. A previously published linear control model of driver steering behavior which is analyzed from a stability point of view is considered. A simple approximate expression for a stability parameter, phase margin, is derived in terms of various driver and vehicle control parameters, and boundaries for stability are discussed. A field test study is reviewed that includes the measurement of driver steering control parameters. Phase margins derived for a range of vehicle characteristics are found to be generally consistent with known adaptive properties of the human operator. The implications of these results are discussed in terms of driver adaptive behavior.
Indebetouw, Guy; Lindner, D. K.
The aim of the project was to explore, define, and assess the possibilities of optical distributed sensing for feedback control. This type of sensor, which may have some impacts in the dynamic control of deformable structures and the monitoring of small displacements, can be divided into data acquisition, data processing, and control design. Analogue optical techniques, because they are noninvasive and afford massive parallelism may play a significant role in the acquisition and the preprocessing of the data for such a sensor. Assessing these possibilities was the aim of the first stage of this project. The scope of the proposed research was limited to: (1) the characterization of photorefractive resonators and the assessment of their possible use as a distributed optical processing element; and (2) the design of a control system utilizing signals from distributed sensors. The results include a numerical and experimental study of the resonator below threshold, an experimental study of the effect of the resonator's transverse confinement on its dynamics above threshold, a numerical study of the resonator above threshold using a modal expansion approach, and the experimental test of this model. A detailed account of each investigation, including methodology and analysis of the results are also included along with reprints of published and submitted papers.
Leenen, R.; Schouten, H.
Advanced vehicle control technologies provide a great potential to further improve vehicle handling, ride and safety. The goal of this research is to demonstrate the added value of the TNO Vehicle State Estimation module to integrated active safety. State-of-the-art Electronic Stability Control
Ke, L; Yan, G; Yan, S; Wang, Z; Liu, Z
For treating severe faecal incontinence, the authors developed an intelligent artificial anal sphincter system (AASS) equipped with a feedback sensor that utilized a transcutaneous energy transfer system (TETS). To deliver the correct amount of power (i.e. to match the load demand under variable coupling conditions caused by changes in positioning between the coils due to fitting and changes in posture), a regulating method to stabilize output voltage with a closed loop variable-frequency controller was developed in this paper. The method via which the voltage gain characteristics of a voltage-fed series-tuned TETS were derived is also described. The theoretical analysis was verified by the results of the experiment. A numerical analysis method was used as a control rule with respect to the relationship between operating frequency and output voltage. To validate the feedback control rules, a prototype of the TET charging system was constructed, and its performance was validated with the coupling variation between 0.12-0.42. The results show that the output voltage of the secondary side can be maintained at a constant 7 V across the whole coupling coefficient range, with a switching frequency regulation range of 271.4-320.5 kHz, and the proposed controller has reached a maximal end-to-end power efficiency of 67.5% at 1 W.
Selk Ghafari, A; Meghdari, A; Vossoughi, G
The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.
Optimal feedback control of broadband sound radiation from a rectangular baffled panel has been investigated through computer simulations. Special emphasis has been put on the sensitivity of the optimal feedback control to uncertainties in the modelling of the system under control.A model...... in terms of a set of radiation filters modelling the radiation dynamics.Linear quadratic feedback control applied to the panel in order to minimise the radiated sound power has then been simulated. The sensitivity of the model based controller to modelling uncertainties when using feedback from actual...
Full Text Available The task of control of unmanned helicopters is rather complicated in the presence of parametric uncertainties and measurement noises. This paper presents an adaptive model feedback control algorithm for an unmanned helicopter stability augmentation system. The proposed algorithm can achieve a guaranteed model reference tracking performance and speed up the convergence rates of adjustable parameters, even when the plant parameters vary rapidly. Moreover, the model feedback strategy in the algorithm further contributes to the improvement in the control quality of the stability augmentation system in the case of low signal to noise ratios, mainly because the model feedback path is noise free. The effectiveness and superiority of the proposed algorithm are demonstrated through a series of tests.
Kutay, Ali Turker
Application of recently developed neural network based adaptive output feedback controllers to a diverse range of problems both in simulations and experiments is investigated in this thesis. The purpose is to evaluate the theory behind the development of these controllers numerically and experimentally, identify the needs for further development in practical applications, and to conduct further research in directions that are identified to ultimately enhance applicability of adaptive controllers to real world problems. We mainly focus our attention on adaptive controllers that augment existing fixed gain controllers. A recently developed approach holds great potential for successful implementations on real world applications due to its applicability to systems with minimal information concerning the plant model and the existing controller. In this thesis the formulation is extended to the multi-input multi-output case for distributed control of interconnected systems and successfully tested on a formation flight wind tunnel experiment. The command hedging method is formulated for the approach to further broaden the class of systems it can address by including systems with input nonlinearities. Also a formulation is adopted that allows the approach to be applied to non-minimum phase systems for which non-minimum phase characteristics are modeled with sufficient accuracy and treated properly in the design of the existing controller. It is shown that the approach can also be applied to augment nonlinear controllers under certain conditions and an example is presented where the nonlinear guidance law of a spinning projectile is augmented. Simulation results on a high fidelity 6 degrees-of-freedom nonlinear simulation code are presented. The thesis also presents a preliminary adaptive controller design for closed loop flight control with active flow actuators. Behavior of such actuators in dynamic flight conditions is not known. To test the adaptive controller design in
Morrow, N.V.; Dutta, S.K.; Raithel, G.
We demonstrate a real-time feedback scheme to manipulate wave-packet oscillations of atoms in an optical lattice. The average position of the atoms in the lattice wells is measured continuously and nondestructively. A feedback loop processes the position signal and translates the lattice potential. Depending on the feedback loop characteristics, we find amplification, damping, or an entire alteration of the wave-packet oscillations. Our results are well supported by simulations
Seddik M. Djouadi
Full Text Available This paper deals with the practical and theoretical implications of model reduction for aerodynamic flow-based control problems. Various aspects of model reduction are discussed that apply to partial differential equation- (PDE- based models in general. Specifically, the proper orthogonal decomposition (POD of a high dimension system as well as frequency domain identification methods are discussed for initial model construction. Projections on the POD basis give a nonlinear Galerkin model. Then, a model reduction method based on empirical balanced truncation is developed and applied to the Galerkin model. The rationale for doing so is that linear subspace approximations to exact submanifolds associated with nonlinear controllability and observability require only standard matrix manipulations utilizing simulation/experimental data. The proposed method uses a chirp signal as input to produce the output in the eigensystem realization algorithm (ERA. This method estimates the system's Markov parameters that accurately reproduce the output. Balanced truncation is used to show that model reduction is still effective on ERA produced approximated systems. The method is applied to a prototype convective flow on obstacle geometry. An H∞ feedback flow controller is designed based on the reduced model to achieve tracking and then applied to the full-order model with excellent performance.
This thesis addresses three control problems related to flight safety. The first problem relates to the scope of improvement in performance of conventional flight control laws. In particular, aircraft longitudinal axis control based on the Total Energy Control System (TECS) is studied. The research draws attention to a potentially sluggish and undesirable aircraft response when the engine dynamics is slow (typically the case). The proposed design method uses a theoretically well-developed modern design method based on Hinfinity optimization to improve the aircraft dynamic behavior in spite of slow engine characteristics. At the same time, the proposed design method achieves other desirable performance goals such as insensitivity to sensor noise and wind gust rejection: all addressed in one unified framework. The second problem is based on a system level analysis of control structure hierarchy for aircraft flight control. The objective of the analysis problem is to translate outer-loop stability and performance specifications into a comprehensive inner-loop metric. The prime motivation is to make the flight control design process more systematic and the system-integration reliable and independent of design methodology. The analysis problem is posed within the robust control analysis framework. Structured singular value techniques and free controller parameterization ideas are used to impose a hierarchical structure for flight control architecture. The third problem involves development and demonstration of a new reconfiguration strategy in the flight control architecture that has the potential of improving flight safety while keeping cost and complexity low. This research proposes a fault tolerant feature based on active robust reconfiguration. The fault tolerant control problem is formulated in the Linear Parameter Varying (LPV) design framework. A prime advantage of this approach is that the synthesis results in a single nonlinear controller (as opposed to a bank
Inserra, Claude; Sabraoui, Abbas; Reslan, Lina; Bera, Jean-Christophe; Gilles, Bruno; Mestas, Jean-Louis
Applications involving cavitation mechanisms, such as sonoporation, are irreproducible in the case of a fixed-intensity sonication, due to the non-stationary behavior of cavitation. We then propose to work at a fixed-cavitation level instead of under fixed-intensity sonication conditions. For this purpose a regulated cavitation generator has been developed in a stationary wave field configuration, which allows regulation of the cavitation level during sonication by modulating the applied acoustic intensity with a feedback loop based on acoustic cavitation measurements. The cavitation level indicator was quantified by the broadband spectrum noise level relative to inertial cavitation events. This generated inertial cavitation was characterized by both acoustic and chemical measurements, quantifying hydroxyl radicals produced by water sonolysis. While the cavitation level is obtained with a 40% standard deviation for fixed applied acoustic intensities in the range [0.01 3.44] W/cm2, the regulated generator reproduces the cavitation level with a standard deviation of 3%. The results show that the hydroxyl radical production is better correlated with the cavitation level setting than with the applied acoustic intensity, highlighting the fact that broadband noise is a good indicator of inertial cavitation, with greatest interest for cavitation monitoring. In summary, the regulated device generates a cavitation level that is reproducible, repeatable and stable in time. This system produces reproducible effects that allow consideration of biological applications such as sonoporation to be independent of the experimental ultrasound device, as confirmed by transfection efficiency and cell cytotoxicity studies. Thus, this feedback loop process presents interesting perspectives for monitoring and controlling in-vivo cavitation.
Baud-Bovy, Gabriel; Tatti, Fabio; Borghese, Nunzio A
Low-cost gaming technology offers promising devices for the rehabilitation of stroke patients at home. While several attempts have been made to use low-cost motion tracking devices (Kinect) or balance boards (Wii Board), the potential of low-cost haptic devices has yet to be explored in this context. The objective of this study was to investigate whether it is possible to influence postural stability with a low-cost device despite its technical limitations, and to explore the most promising modes of haptic interaction to increase and decrease postural stability. Two groups of younger subjects used a high-end (Omega.3) and a low-cost (Falcon) device respectively. A third group of older subjects used the Falcon. We show that light touch contact with the device improves stability, whereas the force tasks decrease it. The effects of the different tasks are consistent in the two age groups. Although there are differences in the participants' interaction with the two devices, the effect of the devices on postural stability is comparable. We conclude that a low-cost haptic device can be used to increase or decrease postural stability of healthy subjects with an age similar to that of typical stroke patients, in a safe and controllable way.
We study the control of chaos in one-dimensional discrete maps as they often occur in modelling population dynamics. For managing the population, we seek to suppress any possible chaotic behavior, leading the system to a stable equilibrium. In this Letter, we make a rigorous analysis of the proportional feedback method under certain conditions fulfilled by a wide family of maps. We show that it is possible to stabilize the chaotic dynamics towards a globally stable positive equilibrium, that can be chosen among a broad range of possible values. In particular, the size of the population can be enhanced by control in form of population reduction. This paradoxical phenomenon is known as the hydra effect, and it has important implications in the design of strategies in such areas as fishing, pest management, and conservation biology.
Zumatov S. S.
Full Text Available Methodology of analysis of stability is expounded to the one contour systems automatic control feedback in the presence of non-linearities. The methodology is based on the use of the simplest mathematical models of the nonlinear controllable systems. Stability of program manifolds of one contour automatic control systems is investigated. The sufficient conditions of program manifold’s absolute stability of one contour automatic control systems are obtained. The Hurwitz’s angle of absolute stability was determined. The sufficient conditions of program manifold’s absolute stability of control systems by the course of plane in the mode of autopilot are obtained by means Lyapunov’s second method.
Full Text Available The remote synchronization system for the onboard crystal oscillator (RESSOX is a remote control method that permits synchronization between a ground station atomic clock and Japanese quasi-zenith satellite system (QZSS crystal oscillators. To realize the RESSOX of the QZSS, the utilization of navigation signals of QZSS for feedback control is an important issue. Since QZSS transmits seven navigation signals (L1C/A, L1CP, L1CD, L2CM, L2CL, L5Q, and L5I, all combinations of these signals should be evaluated. First, the RESSOX algorithm will be introduced. Next, experimental performance will be demonstrated. If only a single signal is available, ionospheric delay should be input from external measurements. If multiple frequency signals are available, any combination, except for L2 and L5, gives good performance with synchronization error being within two nanoseconds that of RESSOX. The combination of L1CD and L5Q gives the best synchronization performance (synchronization error within 1.14 ns. Finally, in the discussion, comparisons of long-duration performance, computer simulation, and sampling number used in feedback control are considered. Although experimental results do not correspond to the simulation results, the tendencies are similar. For the overlapping Allan deviation of long duration, the stability of 1.23×10−14 at 100,160 s is obtained.
Li, Yuan-Xin; Yang, Guang-Hong
This paper is concerned with the adaptive event-triggered control problem of nonlinear continuous-time systems in strict-feedback form. By using the event-sampled neural network (NN) to approximate the unknown nonlinear function, an adaptive model and an associated event-triggered controller are designed by exploiting the backstepping method. In the proposed method, the feedback signals and the NN weights are aperiodically updated only when the event-triggered condition is violated. A positive lower bound on the minimum intersample time is guaranteed to avoid accumulation point. The closed-loop stability of the resulting nonlinear impulsive dynamical system is rigorously proved via Lyapunov analysis under an adaptive event sampling condition. In comparing with the traditional adaptive backstepping design with a fixed sample period, the event-triggered method samples the state and updates the NN weights only when it is necessary. Therefore, the number of transmissions can be significantly reduced. Finally, two simulation examples are presented to show the effectiveness of the proposed control method.
Logemann, H. N. Alexander; Lansbergen, Marieke M.; Van Os, Titus W. D. P.; Bocker, Koen B. E.; Kenemans, J. Leon
EEG-feedback, also called neurofeedback, is a training procedure aimed at altering brain activity, and is used as a treatment for disorders like Attention Deficit/Hyperactivity Disorder (ADHD). Studies have reported positive effects of neurofeedback on attention and other dependent variables.
Hennen, B.A.; Westerhof, E.; Nuij, Pwjm; M.R. de Baar,; Steinbuch, M.
Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron
Reass, William A [Los Alamos National Laboratory; Baca, David M [Los Alamos National Laboratory; Jerry, Davis L [Los Alamos National Laboratory; Rees, Daniel E [Los Alamos National Laboratory
This paper describes a fast rise and fall, totem-pole mod-anode modulators for klystron application. Details of these systems as recently installed utilizing a beam switch tube ''on-deck'' and a planar triode ''off-deck'' in a grid-catch feedback regulated configuration will be provided. The grid-catch configuration regulates the klystron mod-anode voltage at a specified set-point during switching as well as providing a control mechanism that flat-top regulates the klystron beam current during the pulse. This flat-topped klystron beam current is maintained while the capacitor bank droops. In addition, we will review more modern on-deck designs using a high gain, high voltage planar triode as a regulating and switching element. These designs are being developed, tested, and implemented for the Los Alamos Neutron Science Center (LANSCE) accelerator refurbishment project, ''LANSCE-R''. An advantage of the planar triode is that the tube can be directly operated with solid state linear components and provides for a very compact design. The tubes are inexpensive compared to stacked semiconductor switching assemblies and also provide a linear control capability. Details of these designs are provided as well as operational and developmental results.
Doruk, R Ozgur
The role of repetitive firing in neurophysiologic or neuropsychiatric disorders, such as Parkinson, epilepsy and bipolar type disorders, has always been a topic of medical research as therapies target either the cease of firing or a decrease in its frequency. In electrotherapy, one of the mechanisms to achieve the purpose in point is to apply a low density electric current to the nervous system. In this study, a computer simulation is provided of a treatment in which the stimulation current is computed by nerve fiber cell membrane potential feedback so that the level of the current is automatically instead of manually adjusted. The behavior of the nerve cell is represented by the Hodgkin-Huxley (HH) model, which is slightly modified into a linear model with state dependent coefficients. Due to this modification, the algebraic and differential Riccati equations can be applied, which allows an optimal controller minimizing a quadratic performance index given by the user. Using a controlled current injection can decrease unnecessarily long current injection times that may be harmful to the neuronal network. This study introduces a prototype for a possible future application to a network of neurons as it is more realistic than a single neuron. Copyright 2010 Elsevier Ireland Ltd. All rights reserved.
This article presents the design of a highly efficient nonlinear0 controller which is a kind of an Active Queue Management (AQM) scheme to stabilize the nonlinear TCP model dynamics. Specific boundary conditions have been considered for stability occurrences and have been compared with other existing Active Queue ...
STRAIT, E.J.; CHU, M.S.; GAROFALO, A.M.; LAHAYE, R.J.; OKABAYASHI, M.; REIMERDES, H.; SCOVILLE, J.T.; TURNBULL, A.D.
OAK A271 COMPARISON OF SENSORS FOR RESISTIVE WALL MODE FEEDBACK CONTROL MILESTONE No.145 CONTAINING PLASMA INSTABILITIES WITH METAL WALLS. The most serious instabilities in the tokamak are those described by ideal magneto-hydrodynamic theory. These modes limit the stable operating space of the tokamak. The ideal MHD calculations predict the stable operating space of the tokamak may be approximately doubled when a perfectly conducting metal wall is placed near the plasma boundary, compared to the case with no wall (free boundary). The unstable mode distortions of the plasma column cannot bulge out through a perfectly conducting wall. However, real walls have finite conductivity and when plasmas are operated in the regime between the free boundary stability limit and the perfectly conducting wall limit, the unstable mode encountered in that case the resistive wall mode, can leak out through the metal wall, allowing the mode to keep slowly growing. The slow growth affords the possibility of feedback stabilizing this mode with external coils. DIII-D is making good progress in such feedback stabilization research and in 2002 will use an improved set of mode sensors inside the vacuum vessel and closer to the plasma surface which are expected theoretically to improve the ability to stabilize the resistive wall mode
Nurmaini, Siti; Dewi, Kemala; Tutuko, Bambang
This paper deals with the problem of how to control differential driven mobile robot with simple control law. When mobile robot moves from one position to another to achieve a position destination, it always produce some errors. Therefore, a mobile robot requires a certain control law to drive the robot’s movement to the position destination with a smallest possible error. In this paper, in order to reduce position error, a linear feedback control is proposed with pole placement approach to regulate the polynoms desired. The presented work leads to an improved understanding of differential-drive mobile robot (DDMR)-based kinematics equation, which will assist to design of suitable controllers for DDMR movement. The result show by using the linier feedback control method with pole placement approach the position error is reduced and fast convergence is achieved.
Lim, Soowoen; Ali, Asif; Kim, Wonchan; Kim, Jingu; Choi, Sungmook; Radlo, Steven J
Self-controlled feedback on a variety of tasks are well established as effective means of facilitating motor skill learning. This study assessed the effects of self-controlled feedback on the performance of a serial motor skill. The task was to learn the sequence of 18 movements that make up the Taekwondo Poomsae Taegeuk first, which is the first beginner's practice form learned in this martial art. Twenty-four novice female participants (M age=27.2 yr., SD=1.8) were divided into two groups. All participants performed 16 trials in 4 blocks of the acquisition phase and 20 hr. later, 8 trials in 2 blocks of the retention phase. The self-controlled feedback group had significantly higher performance compared to the yoked-feedback group with regard to acquisition and retention. The results of this study may contribute to the literature regarding feedback by extending the usefulness of self-controlled feedback for learning a serial skill.
Full Text Available The actual controlled objects are generally multi-input and multioutput (MIMO nonlinear systems with imprecise models or even without models, so it is one of the hot topics in the control theory. Due to the complex internal structure, the general control methods without models tend to be based on neural networks. However, the neuron of neural networks includes the exponential function, which contributes to the complexity of calculation, making the neural network control unable to meet the real-time requirements. The newly developed multidimensional Taylor network (MTN requires only addition and multiplication, so it is easy to realize real-time control. In the present study, the MTN approach is extended to MIMO nonlinear systems without models to realize adaptive output feedback control. The MTN controller is proposed to guarantee the stability of the closed-loop system. Our experimental results show that the output signals of the system are bounded and the tracking error goes nearly to zero. The MTN optimal controller is proven to promise far better real-time dynamic performance and robustness than the BP neural network self-adaption reconstitution controller.
Traditionally, a capacitor is parallelled to the load of the regulator. Its main function is to steer (limit) the loop bandwidth. An ideal capacitor would provoke near-to-no dynamic stability. A typical remedy, not always elegant, is to select a device with appreciable parasitic series resistance. In this Note, and alternative method is proposed. The CMS ECAL regulator is of adjustable type, and adding a small capacitor at the divider there, brings about a "lead" type control action.
Quan, Li-Di; Xue, Chao; Shao, Cheng-Gang; Yang, Shan-Qing; Tu, Liang-Cheng; Wang, Yong-Ji; Luo, Jun
The performance of the feedback control system is of central importance in the measurement of the Newton's gravitational constant G with angular acceleration method. In this paper, a PID (Proportion-Integration-Differentiation) feedback loop is discussed in detail. Experimental results show that, with the feedback control activated, the twist angle of the torsion balance is limited to [Formula: see text] at the signal frequency of 2 mHz, which contributes a [Formula: see text] uncertainty to the G value.
Liu, Ying; Feng, Jiang; Metzner, Walter
Auditory feedback from the animal's own voice is essential during bat echolocation: to optimize signal detection, bats continuously adjust various call parameters in response to changing echo signals. Auditory feedback seems also necessary for controlling many bat communication calls, although it remains unclear how auditory feedback control differs in echolocation and communication. We tackled this question by analyzing echolocation and communication in greater horseshoe bats, whose echoloca...
N. U. Ahmed
a new control law which predicts the traffic in advance and exercises control based on the predicted traffic. We demonstrate through simulation experiments that the predictive feedback control law substantially improves the system performance.
Poh, S.; Baz, A.
The feasibility of a new Modal Positive Position Feedback (MPPF) strategy in controlling the vibration of a complex flexible structure using a single piezo-electric active structural member is demonstrated. The control strategy generates its control forces by manipulating only the modal position signals of the structure to provide a damping action to undamped modes. This is in contrast to conventional modal controllers that rely in their operation on negative feedback of both the modal position and velocity. The proposed strategy is very simple to design and implement as it designs the controller at the uncoupled modal level and utilizes simple first order filters to achieve the Positive Position Feedback effect. The performance of the new strategy is enhanced by augmenting it with a time sharing strategy to share a small number of actuators between larger number of modes. The effectiveness of the new strategy is validated experimentally on a flexible box-type structure that has four bays and its first two bending modes are 2.015 and 6.535 Hz, respectively. A single piezo-electric actuator is utilized as an active structural member to control several transverse bending modes of the structure. The performance of the active control system is determined in the time and the frequency domains. The results are compared with those obtained when using the Independent Modal Space Control (IMSC) of Meirovitch. The experimental results suggest the potential of the proposed strategy as a viable means for controlling the vibration of large flexible structures in real time.
Wilner, Samantha E; Sparks, Samuel E; Cowburn, David; Girvin, Mark E; Levy, Matthew
Lipid-based micelles provide an attractive option for therapeutic and diagnostic applications because of their small size (24 h. Using antisense oligonucleotides we demonstrated that disruption of the quadruplex leads to micelle destabilization and cargo release. The ability to use oligonucleotide interactions to control lipid particle stability represents a new approach in the design of programmed nanoscale devices.
Spagna, J C; Goldman, D I; Lin, P-C; Koditschek, D E; Full, R J
Terrestrial arthropods negotiate demanding terrain more effectively than any search-and-rescue robot. Slow, precise stepping using distributed neural feedback is one strategy for dealing with challenging terrain. Alternatively, arthropods could simplify control on demanding surfaces by rapid running that uses kinetic energy to bridge gaps between footholds. We demonstrate that this is achieved using distributed mechanical feedback, resulting from passive contacts along legs positioned by pre-programmed trajectories favorable to their attachment mechanisms. We used wire-mesh experimental surfaces to determine how a decrease in foothold probability affects speed and stability. Spiders and insects attained high running speeds on simulated terrain with 90% of the surface contact area removed. Cockroaches maintained high speeds even with their tarsi ablated, by generating horizontally oriented leg trajectories. Spiders with more vertically directed leg placement used leg spines, which resulted in more effective distributed contact by interlocking with asperities during leg extension, but collapsing during flexion, preventing entanglement. Ghost crabs, which naturally lack leg spines, showed increased mobility on wire mesh after the addition of artificial, collapsible spines. A bioinspired robot, RHex, was redesigned to maximize effective distributed leg contact, by changing leg orientation and adding directional spines. These changes improved RHex's agility on challenging surfaces without adding sensors or changing the control system.
Liu, Y.; Ofek, N.; Geerlings, K.; Hatridge, M.; Schoelkopf, R. J.; Devoret, M. H.
Rapid progress in high fidelity readout of superconducting qubits paves the way for measurement-based feedback control of quantum systems and error correction protocols. A traditional data acquisition and processing setup, consisting of separate digitizer card for qubit readout, PC for processing and commercial arbitrary waveform generator (AWG) for qubit control, however, can have latency of at least several milliseconds and cannot meet the timing requirement of quantum feedback experiments. We have implemented an all-in-one system that contains a digitizer, a demodulator, a qubit-state estimator and an AWG on a commercial field-programmable-gate-array (FPGA) board. The FPGA system shows superior performance in terms of throughput, timing stability and on-the-fly programmability compared to traditional technology. Latency of the FPGA system can be on the order of only hundreds of nanoseconds. Results from our project of integrating the real-time processing power of the FPGA with a qubit + amplifier system will be shown. Work supported by IARPA, ARO and NSF.
Joyce, Bryan S.; Tarazaga, Pablo A.
The hair cells in the mammalian cochlea convert sound-induced vibrations into electrical signals. These cells have inspired a variety of artificial hair cells (AHCs) to serve as biologically inspired sound, fluid flow, and acceleration sensors and could one day replace damaged hair cells in humans. Most of these AHCs rely on passive transduction of stimulus while it is known that the biological cochlea employs active processes to amplify sound-induced vibrations and improve sound detection. In this work, an active AHC mimics the active, nonlinear behavior of the cochlea. The AHC consists of a piezoelectric bimorph beam subjected to a base excitation. A feedback control law is used to reduce the linear damping of the beam and introduce a cubic damping term which gives the AHC the desired nonlinear behavior. Model and experimental results show the AHC amplifies the response due to small base accelerations, has a higher frequency sensitivity than the passive system, and exhibits a compressive nonlinearity like that of the mammalian cochlea. This bio-inspired accelerometer could lead to new sensors with lower thresholds of detection, improved frequency sensitivities, and wider dynamic ranges.
Kenny, Sean; Crespo, Luis
MASCOT software was created to provide the conceptual aircraft designer accurate predictions of air vehicle stability and control characteristics. The code takes as input mass property data in the form of an inertia tensor, aerodynamic loading data, and propulsion (i.e. thrust) loading data. Using fundamental non-linear equations of motion, MASCOT then calculates vehicle trim and static stability data for any desired flight condition. Common predefined flight conditions are included. The predefined flight conditions include six horizontal and six landing rotation conditions with varying options for engine out, crosswind and sideslip, plus three takeoff rotation conditions. Results are displayed through a unique graphical interface developed to provide stability and control information to the conceptual design engineers using a qualitative scale indicating whether the vehicle has acceptable, marginal, or unacceptable static stability characteristics. This software allows the user to prescribe the vehicle s CG location, mass, and inertia tensor so that any loading configuration between empty weight and maximum take-off weight can be analyzed. The required geometric and aerodynamic data as well as mass and inertia properties may be entered directly, passed through data files, or come from external programs such as Vehicle Sketch Pad (VSP). The current version of MASCOT has been tested with VSP used to compute the required data, which is then passed directly into the program. In VSP, the vehicle geometry is created and manipulated. The aerodynamic coefficients, stability and control derivatives, are calculated using VorLax, which is now available directly within VSP. MASCOT has been written exclusively using the technical computing language MATLAB . This innovation is able to bridge the gap between low-fidelity conceptual design and higher-fidelity stability and control analysis. This new tool enables the conceptual design engineer to include detailed static stability
The suppression of the tearing mode by means of feedback is studied in a rotating plasma cylinder. The feedback is produced by a coil whose winding is specified by cos var-phi, var-phi = mθ - kz. It is shown that when a resonant surface is present in the rotating plasma the current in the feedback winding generates a magnetic flux in the plasma with cos var-phi and sin var-phi angular dependence. The processes of particle capture is explained. The rotational instability which arises because of the repulsion between the feedback and tearing-mode currents, which interferes with suppression of the tearing mode, is absent when the plasma rotates sufficiently rapidly. In this feedback dependence the form of the plasma current profile determines whether there can be an instability in the induced current resulting from the presence of the feedback
Wang Jing; Gao Jinfeng; Ma Xikui
This Letter presents a novel cross active backstepping design method for synchronization control of cross-strict feedback hyperchaotic system, in which the ordinary backstepping design is unavailable. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. The proposed method is applied to achieve chaos synchronization of two identical cross-strict feedback hyperchaotic systems. Also it is used to implement synchronization between cross-strict feedback hyperchaotic system and Roessler hyperchaotic system. Numerical examples illustrate the validity of the control method
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.
Heralić, Almir; Christiansson, Anna-Karin; Ottosson, Mattias; Lennartson, Bengt
Robotized laser metal-wire deposition is a fairly new technique being developed at University West in cooperation with Swedish industry for solid freeform fabrication of fully densed metal structures. It is developed around a standard welding cell and uses robotized fiber laser welding and wire filler material together with a layered manufacturing method to create metal structures. In this work a monitoring system, comprising two cameras and a projected laser line, is developed for on-line control of the deposition process. The controller is a combination of a PI-controller for the bead width and a feed-forward compensator for the bead height. It is evaluated through deposition of single-bead walls, and the results show that the process stability is improved when the proposed controller is used.
An adaptive fuzzy output feedback controller is proposed for a class of uncertain MIMO nonlinear systems with unknown input nonlinearities. The input nonlinearities can be backlash-like hysteresis or dead-zone. Besides, the gains of unknown input nonlinearities are unknown nonlinear functions. Based on universal approximation theorem, the unknown nonlinear functions are approximated by fuzzy systems. The proposed method does not need the availability of the states and an observer based on strictly positive real (SPR) theory is designed to estimate the states. An adaptive robust structure is used to cope with fuzzy approximation error and external disturbances. The semi-global asymptotic stability of the closed-loop system is guaranteed via Lyapunov approach. The applicability of the proposed method is also shown via simulations. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.
A perturbed nonlinear system of relative degree two controlled by output feedbacks discontinuous-hybrid-impulsive control is studied. The output hybrid-impulsive terms serve to drive instantaneously the system's trajectory to the origin or to its small vicinity. The output feedback impulsive action
Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede
The paper describes a direct torque controlled (DTC) permanent magnet synchronous motor (PMSM) drive that employs feedback linearization and uses sliding-mode and linear controllers. We introduce a new feedback linearization approach that yields a decoupled linear PMSM model with two state...
Gorder, Peter James
Rotorcraft flight control systems present design challenges which often exceed those associated with fixed-wing aircraft. First, large variations in the response characteristics of the rotorcraft result from the wide range of airspeeds of typical operation (hover to over 100 kts). Second, the assumption of vehicle rigidity often employed in the design of fixed-wing flight control systems is rarely justified in rotorcraft where rotor degrees of freedom can have a significant impact on the system performance and stability. This research was intended to develop a methodology for the design of robust rotorcraft flight control systems. Quantitative Feedback Theory (QFT) was chosen as the basis for the investigation. Quantitative Feedback Theory is a technique which accounts for variability in the dynamic response of the controlled element in the design robust control systems. It was developed to address a Multiple-Input Single-Output (MISO) design problem, and utilizes two degrees of freedom to satisfy the design criteria. Two techniques were examined for extending the QFT MISO technique to the design of a Multiple-Input-Multiple-Output (MIMO) flight control system (FCS) for a UH-60 Black Hawk Helicopter. In the first, a set of MISO systems, mathematically equivalent to the MIMO system, was determined. QFT was applied to each member of the set simultaneously. In the second, the same set of equivalent MISO systems were analyzed sequentially, with closed loop response information from each loop utilized in subsequent MISO designs. The results of each technique were compared, and the advantages of the second, termed Sequential Loop Closure, were clearly evident.
Full Text Available In this paper, a novel feedback linearization based sliding mode controlled parallel active power filter using a fuzzy controller is presented in a three-phase three-wire grid. A feedback linearization control with fuzzy parameter self-tuning is used to implement the DC side voltage regulation while a novel integral sliding mode controller is applied to reduce the total harmonic distortion of the supply current. Since traditional unit synchronous sinusoidal signal calculation methods are not applicable when the supply voltage contains harmonics, a novel unit synchronous sinusoidal signal computing method based on synchronous frame transforming theory is presented to overcome this disadvantage. The simulation results verify that the DC side voltage is very stable for the given value and responds quickly to the external disturbance. A comparison is also made to show the advantages of the novel unit sinusoidal signal calculating method and the super harmonic treatment property of the designed active power filter.
Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid
This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Hart, C E; Wenzel, L M; Craig, R T
Temperature - fuel-flow and temperature-area feedback control systems were investigated as means of controlling tailpipe gas temperature of a turbojet engine during transient operation in the high-speed region. Proportional-plus-integral control was used in both systems, but in the temperature-area control system it was necessary to add nonlinear components to the basic proportional-plus-integral control to provide satisfactory transient response to a desired step increase in temperature. Time integral of temperature-error functions were used as criteria for determining optimum transient response. A description of engine dynamics was obtained from frequency-response data.
Phosphatase and tensin homolog (PTEN) is a phosphoinositide lipid phosphatase and one of the most frequently disrupted tumor suppressors in many forms of cancer, with even small reductions in the expression levels of PTEN promoting cancer development. Although the post-translational ubiquitination of PTEN can control its stability, activity, and localization, a detailed understanding of how PTEN ubiquitination integrates with other cellular regulatory processes and may be dysregulated in cancer has been hampered by a poor understanding of the significance of ubiquitination at individual sites. Here we show that Lys66 is not required for cellular activity, yet dominates over other PTEN ubiquitination sites in the regulation of protein stability. Notably, combined mutation of other sites (Lys13, Lys80, and Lys289) has relatively little effect on protein expression, protein stability, or PTEN polyubiquitination. The present work identifies a key role for Lys66 in the regulation of PTEN expression and provides both an opportunity to improve the stability of PTEN as a protein therapy and a mechanistic basis for efforts to stabilize endogenous PTEN. PMID:27405757
Full Text Available Because of its strong inherent safety features and the high outlet temperature, the modular high temperature gas-cooled nuclear reactor (MHTGR is the chosen technology for a new generation of nuclear power plants. Such power plants are being considered for industrial applications with a wide range of power levels, thus power-level regulation is very important for their efficient and stable operation. Exploiting the large scale asymptotic closed-loop stability provided by nonlinear controllers, a nonlinear power-level regulator is presented in this paper that is based upon both the techniques of feedback dissipation and well-established backstepping. The virtue of this control strategy, i.e., the ability of globally asymptotic stabilization, is that it takes advantage of the inherent zero-state detectability property of the MHTGR dynamics. Moreover, this newly built power-level regulator is also robust towards modeling uncertainty in the control rod dynamics. If modeling uncertainty of the control rod dynamics is small enough to be omitted, then this control law can be simplified to a classical proportional feedback controller. The comparison of the control performance between the newly-built power controller and the simplified controller is also given through numerical study and theoretical analysis.
John A Cunningham
Full Text Available Personalized feedback is a promising self-help for problem gamblers. Such interventions have shown consistently positive results with other addictive behaviours, and our own pilot test of personalized normative feedback materials for gamblers yielded positive findings. The current randomized controlled trial evaluated the effectiveness, and the sustained efficacy, of the personalized feedback intervention materials for problem gamblers.Respondents recruited by a general population telephone screener of Ontario adults included gamblers with moderate and severe gambling problems. Those who agreed to participate were randomly assigned to receive: 1 the full personalized normative feedback intervention; 2 a partial feedback that contained all the feedback information provided to those in condition 1 but without the normative feedback content (i.e., no comparisons provided to general population gambling norms; or 3 a waiting list control condition. The primary hypothesis was that problem gamblers who received the personalized normative feedback intervention would reduce their gambling more than problem gamblers who did not receive any intervention (waiting list control condition by the six-month follow-up.The study found no evidence for the impact of normative personalized feedback. However, participants who received, the partial feedback (without norms reduced the number of days they gambled compared to participants who did not receive the intervention. We concluded that personalized feedback interventions were well received and the materials may be helpful at reducing gambling. Realistically, it can be expected that the personalized feedback intervention may have a limited, short term impact on the severity of participants' problem gambling because the intervention is just a brief screener. An Internet-based version of the personalized feedback intervention tool, however, may offer an easy to access and non-threatening portal that can be used to
Weisshaar, T. A.
Aeroservoelastic optimization techniques were studied to determine a methodology for maximization of the stable flight envelope of an idealized, actively controlled, flexible airfoil. The equations of motion for the airfoil were developed in state-space form to include time-domain representations of aerodynamic forces and active control. The development of an optimization scheme to stabilize the aeroelastic system over a range of airspeeds, including the design airspeed is outlined. The solution approach was divided in two levels: (1) the airfoil structure, with a design variable represented by the shear center position; and (2) the control system. An objective was stated in mathematical form and a search was conducted with the restriction that each subsystem be constrained to be optimal in some sense. Analytical expressions are developed to compute the changes in the eigenvalues of the closed-loop, actively controlled system. A stability index is constructed to ensure that stability is present at the design speed and at other airspeeds away from the design speed.
Byrne, Raymond Harry; Elliott, Ryan Thomas; Neely, Jason C.; Silva Monroy, Cesar Augusto; Schoenwald, David Alan; Grant, Lisa
The goal of this study was to evaluate the small signal and transient stability of the Western Electric- ity Coordinating Council (WECC) under high penetrations of renewable energy, and to identify control technologies that would improve the system performance. The WECC is the regional entity responsible for coordinating and promoting bulk electric system reliability in the Western Interconnection. Transient stability is the ability of the power system to maintain synchronism after a large disturbance while small signal stability is the ability of the power system to maintain synchronism after a small disturbance. Tran- sient stability analysis usually focuses on the relative rotor angle between synchronous machines compared to some stability margin. For this study we employed generator speed relative to system speed as a metric for assessing transient stability. In addition, we evaluated the system transient response using the system frequency nadir, which provides an assessment of the adequacy of the primary frequency control reserves. Small signal stability analysis typically identi es the eigenvalues or modes of the system in response to a disturbance. For this study we developed mode shape maps for the di erent scenarios. Prony analysis was applied to generator speed after a 1.4 GW, 0.5 second, brake insertion at various locations. Six di erent WECC base cases were analyzed, including the 2022 light spring case which meets the renewable portfolio standards. Because of the di culty in identifying the cause and e ect relationship in large power system models with di erent scenarios, several simulations were run on a 7-bus, 5-generator system to isolate the e ects of di erent con gurations. Based on the results of the study, for a large power system like the WECC, incorporating frequency droop into wind/solar systems provides a larger bene t to system transient response than replacing the lost inertia with synthetic inertia. From a small signal stability
Complex behaviors in a financial system with time-delayed feedbacks are discussed in this study via numerical modeling. The system shows complex dynamics such as periodic, quasi-periodic, and chaotic behaviors. Both period doubling and inverse period doubling routes were found in this system. This paper also shows that the attractor merging crisis is a fundamental feature of nonlinear financial systems with time-delayed feedbacks. Control of the deterministic chaos in the financial system can be realized using Pyragas feedbacks
Chen, W.-C. [Department of Information Management, Yuanpei University, No. 306, Yuanpei St., Hsinchu, Taiwan 30015 (China)], E-mail: firstname.lastname@example.org
Complex behaviors in a financial system with time-delayed feedbacks are discussed in this study via numerical modeling. The system shows complex dynamics such as periodic, quasi-periodic, and chaotic behaviors. Both period doubling and inverse period doubling routes were found in this system. This paper also shows that the attractor merging crisis is a fundamental feature of nonlinear financial systems with time-delayed feedbacks. Control of the deterministic chaos in the financial system can be realized using Pyragas feedbacks.
In two experiments, the behavioral effects of different response-feedback contingencies were examined with a task requiring human subjects to repeatedly type three-key sequences on a computer keyboard. In Experiment 1, the subjects first received positive feedback for response variability, followed
Full Text Available Because of its strong inherent safety features and high outlet temperature, the modular high temperature gas-cooled nuclear reactor (MHTGR is already seen as the central part of the next generation of nuclear plants. Such power plants are being considered for industrial applications with a wide range of power levels, and thus power-level control is an important technique for their efficient and stable operation. Stimulated by the high regulation performance provided by nonlinear controllers, a novel dynamic output-feedback nonlinear power-level regulator is developed in this paper based on the technique of iterative damping assignment (IDA. This control strategy can provide the L2 disturbance attenuation performance under modeling uncertainty or exterior disturbance, and can also guarantee the globally asymptotic closed-loop stability without uncertainty and disturbance. This newly built control strategy is then applied to the power-level regulation of the HTR-PM plant, and numerical simulation results show both the feasibility and high performance of this newly-built control strategy. Furthermore, the relationship between the values of the parameters and the performance of this controller is not only illustrated numerically but also analyzed theoretically.
Rigatos, Gerasimos G
Observer-based adaptive fuzzy H(infinity) control is proposed to achieve H(infinity) tracking performance for a class of nonlinear systems, which are subject to model uncertainty and external disturbances and in which only a measurement of the output is available. The key ideas in the design of the proposed controller are (i) to transform the nonlinear control problem into a regulation problem through suitable output feedback, (ii) to design a state observer for the estimation of the non-measurable elements of the system's state vector, (iii) to design neuro-fuzzy approximators that receive as inputs the parameters of the reconstructed state vector and give as output an estimation of the system's unknown dynamics, (iv) to use an H(infinity) control term for the compensation of external disturbances and modelling errors, (v) to use Lyapunov stability analysis in order to find the learning law for the neuro-fuzzy approximators, and a supervisory control term for disturbance and modelling error rejection. The control scheme is tested in the cart-pole balancing problem and in a DC-motor model.
Full Text Available The present work addresses the problem of chaos control in an electrostatic MEMS resonator by using an output-feedback control scheme. One of the unstable orbits immersed in the chaotic attractor is stabilized in order to produce a sustained oscillation of the movable plate composing the microstructure. The orbit is carefully chosen so as to produce a high amplitude oscillation. This approach allows the enhancement of oscillation amplitude of the resonator at a reduced control effort, since the unstable orbit already exists in the system and it is not necessary to spend energy to create it. Realistic operational conditions of the MEMS are considered including parametric uncertainties in the model and constraints due to the difficulty in measuring the speed of the plates of the microstructure. A control law is constructed recursively by using the technique of backstepping. Finally, numerical simulations are carried out to confirm the validity of the developed control scheme and to demonstrate the effect of controlling orbits immersed in the chaotic attractor.
Full Text Available In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin’s discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations.
Colli Franzone, P; Pavarino, L F; Scacchi, S
In this work, we investigate the influence of cardiac tissue deformation on re-entrant wave dynamics. We have developed a 3D strongly coupled electro-mechanical Bidomain model posed on an ideal monoventricular geometry, including fiber direction anisotropy and stretch-activated currents (SACs). The cardiac mechanical deformation influences the bioelectrical activity with two main mechanical feedback: (a) the geometric feedback (GEF) due to the presence of the deformation gradient in the diffusion coefficients and in a convective term depending on the deformation rate and (b) the mechano-electric feedback (MEF) due to SACs. Here, we investigate the relative contribution of these two factors with respect to scroll wave stability. We extend the previous works [Keldermann et al., Am. J. Physiol. Heart Circ. Physiol. 299, H134-H143 (2010) and Hu et al., PLoS One 8(4), e60287 (2013)] that were based on the Monodomain model and a simple non-selective linear SAC, while here we consider the full Bidomain model and both selective and non-selective components of SACs. Our simulation results show that the stability of cardiac scroll waves is influenced by MEF, which in case of low reversal potential of non-selective SACs might be responsible for the onset of ventricular fibrillation; GEF increases the scroll wave meandering but does not determine the scroll wave stability.
Nagase, Kazuki; Katsura, Seiichiro
Real-world haptics is being studied not only for improving feedback on real-world haptic information in teleoperation but also for developing key technologies for future human support. For the remote operating of systems at distant places, haptic information is required in addition to visual information. The haptic information around a work environment can be the floor reaction force, which can be obtained using a movement-type haptic device. The floor reaction force from the environment that the mobile haptic device touches is fed back accurately to the operator. First, this paper proposes a general force-reflecting-type multilateral control. Second, this paper extends the control to feedback control of the floor reaction force by using force-reflecting-type multilateral control and a novel haptic device employing a biped robot with a slave system. The position response of a master system is transformed to a leg tip position command for the biped-type haptic device. In addition, the floor reaction force determined by the biped-type haptic device is fed back to the master system. The proposed method can determine the force feedback to the sole of the foot, which is not possible with a conventional stationary system. As a result, the floor reaction force from a large area can be obtained, and the operability of the control system is improved by using the proposed system.
Nugraha, A. T.; Agustinah, T.
Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.
Frye, Michael Takaichi
This dissertation examines the problem of global decentralized control by output feedback for large-scale uncertain nonlinear systems whose subsystems are interconnected not only by their outputs but also by their unmeasurable states. Several innovative techniques will be developed to create decentralized output feedback controllers rendering the closed-loop systems globally asymptotically stable. This is accomplished by extending an output feedback domination design that requires only limited information about the nonlinear system. We will apply our design to lower, upper, and non-triangular nonlinear systems. A time-varying output feedback controller is also constructed for use with large-scale systems that have unknown parameters. Furthermore, a mixed large-scale system consisting of both lower and upper triangular systems is shown to be stabilizable by employing a combined high and low gain domination technique. The significance of our results is that we do not need to have prior information about the nonlinearities of the system. In addition, a new design technique was developed using homogeneous system theory, which allows for the design of nonsmooth controllers and observers to stabilize a class of feedforward system with uncontrollable and unobservable linearization. An example of a large-scale system is a group of autonomous airships performing the function of a temporary mobile cell phone network. An airship mobile cell phone network is a novel solution to the problem of maintaining communication during the advent of extensive damage to the communication infrastructure; be it from a flood, earthquake, hurricane, or terrorist attack. A first principle force-based dynamic model for the Tri-Turbofan Airship was developed and will be discussed in detail. The mathematical model was based on actual flight test data that has been collected at the Gait Analysis and Innovative Technologies Laboratory. This model was developed to research autonomous airship
Rath, N.; Onofri, M.; Barnes, D.; Romero, J.; the TAE Team
The C-2U device has recently demonstrated sustainment of an advanced, beam-driven FRC over time scales longer than the characteristic times for confinement, fast ion slow-down, and wall current decay. In anticipation of further advances in plasma lifetime, we are developing feedback control techniques for major FRC parameters and resistive instabilities. The LamyRidge code solves the time-dependent extended MHD equations in axisymmetric geometry. In the Q2D code, LamyRidge is combined with a 3-D kinetic code that tracks fast ions and runs in parallel with LamyRidge. Periodically, the background fields in the kinetic code are updated from the MHD simulation and the averaged fast particle distribution is integrated into the fluid equations. Recently, we have added the capability to run Q2D simulations as subordinate processes in Simulink, giving us the ability to run non-linear, closed-loop simulations using control algorithms developed in Simulink. The same Simulink models can be exported to real-time targets (CPU or FPGA) to perform feedback control in experiments. We present closed-loop simulations of beam-driven FRCs under magnetically-actuated feedback control. Results for positionally unstable FRCs are compared with the predictions of a linearized rigid-plasma model. Plasmas predicted to be passively stabilized by the linear model are found to exhibit Alfvenic growth in several cases. Feedback gains predicted to be stabilizing in the linear model are generally found to be insufficient in non-linear simulations, and vice versa. Control of separatrix geometry is demonstrated.
Achterberg, Michelle; van Duijvenvoorde, Anna C K; Bakermans-Kranenburg, Marian J; Crone, Eveline A
Negative social feedback often generates aggressive feelings and behavior. Prior studies have investigated the neural basis of negative social feedback, but the underlying neural mechanisms of aggression regulation following negative social feedback remain largely undiscovered. In the current study, participants viewed pictures of peers with feedback (positive, neutral or negative) to the participant's personal profile. Next, participants responded to the peer feedback by pressing a button, thereby producing a loud noise toward the peer, as an index of aggression. Behavioral analyses showed that negative feedback led to more aggression (longer noise blasts). Conjunction neuroimaging analyses revealed that both positive and negative feedback were associated with increased activity in the medial prefrontal cortex (PFC) and bilateral insula. In addition, more activation in the right dorsal lateral PFC (dlPFC) during negative feedback vs neutral feedback was associated with shorter noise blasts in response to negative social feedback, suggesting a potential role of dlPFC in aggression regulation, or top-down control over affective impulsive actions. This study demonstrates a role of the dlPFC in the regulation of aggressive social behavior. © The Author (2016). Published by Oxford University Press. For Permissions, please email: email@example.com.
Kiss, Alexander; Steiner, Claudia; Grossman, Paul; Langewitz, Wolf; Tschudi, Peter; Kiessling, Claudia
Reflective Writing (RW) is increasingly being implemented in medical education. Feedback to students' reflective writing (RW) is essential, but resources for individualized feedback often lack. We aimed to determine whether general practitioners (GPs) teaching students clinical skills could also provide feedback to RW and whether an instruction letter specific to RW feedback increases students' satisfaction. GPs were randomized to the two study arms using block randomization. GPs in both groups received an instruction letter on giving students feedback on clinical skills. Additionally, intervention group GPs received specific instructions on providing feedback to students' RW. Students completed satisfaction questionnaires on feedback received on clinical skills and RW. T-tests were employed for all statistical analysis to compare groups. Eighty-three out of 134 physicians participated: 38 were randomized to the control, 45 to the intervention group. Students were very satisfied with the feedback on RW and clinical skills regardless of tutors' group allocation. A specific instruction letter had no additional effect on students' satisfaction. Based on student satisfaction, GPs who give students feedback on clinical skills are also well suited to provide feedback on RW. This approach can facilitate the introduction of mandatory RW into the regular medical curriculum.
Muhammad, Riaz; Muhammad, Rehan; Keum-Shik, Hong; Muhammad, Ashraf; Haroon, Ur Rasheed
This paper addresses the control law design for synchronization of two different chaotic oscillators with mutually Lipschitz nonlinearities. For analysis of the properties of two different nonlinearities, an advanced mutually Lipschitz condition is proposed. This mutually Lipschitz condition is more general than the traditional Lipschitz condition. Unlike the latter, it can be used for the design of a feedback controller for synchronization of chaotic oscillators of different dynamics. It is shown that any two different Lipschitz nonlinearities always satisfy the mutually Lipschitz condition. Applying the mutually Lipschitz condition, a quadratic Lyapunov function and uniformly ultimately bounded stability, easily designable and implementable robust control strategies utilizing algebraic Riccati equation and linear matrix inequalities, are derived for synchronization of two distinct chaotic oscillators. Furthermore, a novel adaptive control scheme for mutually Lipschitz chaotic systems is established by addressing the issue of adaptive cancellation of unknown mismatch between the dynamics of different chaotic systems. The proposed control technique is numerically tested for synchronization of two different chaotic Chua's circuits and for obtaining identical behavior between the modified Chua's circuit and the Rössler system.
Talaei, Behzad; Jagannathan, Sarangapani; Singler, John
In this paper, neurodynamic programming-based output feedback boundary control of distributed parameter systems governed by uncertain coupled semilinear parabolic partial differential equations (PDEs) under Neumann or Dirichlet boundary control conditions is introduced. First, Hamilton-Jacobi-Bellman (HJB) equation is formulated in the original PDE domain and the optimal control policy is derived using the value functional as the solution of the HJB equation. Subsequently, a novel observer is developed to estimate the system states given the uncertain nonlinearity in PDE dynamics and measured outputs. Consequently, the suboptimal boundary control policy is obtained by forward-in-time estimation of the value functional using a neural network (NN)-based online approximator and estimated state vector obtained from the NN observer. Novel adaptive tuning laws in continuous time are proposed for learning the value functional online to satisfy the HJB equation along system trajectories while ensuring the closed-loop stability. Local uniformly ultimate boundedness of the closed-loop system is verified by using Lyapunov theory. The performance of the proposed controller is verified via simulation on an unstable coupled diffusion reaction process.
Li, Zhichen; Bai, Yan; Huang, Congzhi; Cai, Yunfei
This paper studies the problems of stability analysis and state feedback stabilization for networked control system. By developing a novel delay-partitioning approach, the information on both the range of network-induced delay and the maximum number of consecutive data packet dropouts can be taken into full consideration. Various augmented Lyapunov-Krasovskii functionals (LKFs) with triple-integral terms are constructed for the two delay subintervals. Moreover, the Wirtinger-based inequalities in combination with an improved reciprocal convexity are utilized to estimate the derivatives of LKFs more accurately. The proposed approaches have improved the stability conditions without increasing much computational complexity. Based on the obtained stability criterion, a stabilization controller design approach is also given. Finally, four numerical examples are presented to illustrate the effectiveness and outperformance of the proposed approaches. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Christopher Adam Aiken
Full Text Available Allowing learners to control some aspect of instructional support (e.g., augmented feedback appears to facilitate motor skill acquisition. No studies, however, have examined self-controlled (SC video feedback without the provision of additional attentional cueing. The purpose of this study was to extend previous SC research using video feedback about movement form for the basketball set shot without explicitly directing attention to specific aspects of the movement. The SC group requested video feedback of their performance following any trial during the acquisition phase. The yoked (YK group received feedback according to a schedule created by a SC counterpart. During acquisition participants were also allowed to view written instructional cues at any time. Results revealed that the SC group had significantly higher form scores during the transfer phase and utilized the instructional cues more frequently during acquisition. Post-training questionnaire responses indicated no preference for requesting or receiving feedback following good trials as reported by Chiviacowsky and Wulf (2002, 2005. The nature of the task was such that participants could have assigned both positive and negative evaluations to different aspects of the movement during the same trial. Thus, the lack of preferences along with the similarity in scores for feedback and no-feedback trials may simply have reflected this complexity. Importantly, however, the results indicated that SC video feedback conferred a learning benefit without the provision of explicit additional attentional cueing.
Riste, D.; Bultink, C.C.; Lehnert, K.W.; DiCarlo, L.
We demonstrate feedback control of a superconducting transmon qubit using discrete, projective measurement and conditional coherent driving. Feedback realizes a fast and deterministic qubit reset to a target state with 2.4% error averaged over input superposition states, and allows concatenating
This thesis is part of the validation process of using coupled 3D neutronics and thermal-hydraulics codes for studying accidental situations with boiling. First part is dedicated to a numerical stability analysis of neutronics and thermal-hydraulics coupled schemes. Both explicit and semi-implicit coupling schemes were applied to solve the set of equations describing the linearized neutronics and thermal-hydraulics of point reactor. Point reactor modelling was preferred to obtain analytical expressions of eigenvalues of the discretized Systems. Stability criteria, based on eigenvalues, was calculated as well as neutronic and thermalhydraulic responses of the System following insertion of a reactivity step. Results show no severe restriction of time domain, stability wise. Actual transient calculations using coupled neutronics and thermal-hydraulics codes, like COCCINELLE and THYC developed at Electricite de France, do not show stability problems. Second part introduces surface spline as a new neutronic feedback model. The cross influences of feedback parameters is now taken into account. Moderator temperature and density were modeled. This method, simple and accurate, allows an homogeneous description of cross-sections overall operating reactor situations including accidents with boiling. (author) [fr
Schuster, Eugenio; Krstic, Miroslav; Tynan, George
Control of plasma density and temperature magnitudes, as well as their profiles, are among the most fundamental problems in fusion reactors. Existing efforts on model-based control use control techniques for linear models. In this work, a zero-dimensional nonlinear model involving approximate conservation equations for the energy and the densities of the species was used to synthesize a nonlinear feedback controller for stabilizing the burn condition of a fusion reactor. The subignition case, where the modulation of auxiliary power and fueling rate are considered as control forces, and the ignition case, where the controlled injection of impurities is considered as an additional actuator, are treated separately.The model addresses the issue of the lag due to the finite time for the fresh fuel to diffuse into the plasma center. In this way we make our control system independent of the fueling system and the reactor can be fed either by pellet injection or by puffing. This imposed lag is treated using nonlinear backstepping.The nonlinear controller proposed guarantees a much larger region of attraction than the previous linear controllers. In addition, it is capable of rejecting perturbations in initial conditions leading to both thermal excursion and quenching, and its effectiveness does not depend on whether the operating point is an ignition or a subignition point.The controller designed ensures setpoint regulation for the energy and plasma parameter β with robustness against uncertainties in the confinement times for different species. Hence, the controller can increase or decrease β, modify the power, the temperature or the density, and go from a subignition to an ignition point and vice versa
Full Text Available We propose a distributed current-sharing scheme to address the output current imbalance problem for the parallel chargers in the energy storage type light rail vehicle system. By treating the parallel chargers as a group of agents with output information sharing through communication network, the current-sharing control problem is recast as the consensus tracking problem of multiagents. To facilitate the design, input-output feedback linearization is first applied to transform the nonidentical nonlinear charging system model into the first-order integrator. Then, a general saturation function is introduced to design the cooperative current-sharing control law which can guarantee the boundedness of the proposed control. The cooperative stability of the closed-loop system under fixed and dynamic communication topologies is rigorously proved with the aid of Lyapunov function and LaSalle invariant principle. Simulation using a multicharging test system further illustrates that the output currents of parallel chargers are balanced using the proposed control.
Xu, Bin; Yang, Daipeng; Shi, Zhongke; Pan, Yongping; Chen, Badong; Sun, Fuchun
This paper investigates the online recorded data-based composite neural control of uncertain strict-feedback systems using the backstepping framework. In each step of the virtual control design, neural network (NN) is employed for uncertainty approximation. In previous works, most designs are directly toward system stability ignoring the fact how the NN is working as an approximator. In this paper, to enhance the learning ability, a novel prediction error signal is constructed to provide additional correction information for NN weight update using online recorded data. In this way, the neural approximation precision is highly improved, and the convergence speed can be faster. Furthermore, the sliding mode differentiator is employed to approximate the derivative of the virtual control signal, and thus, the complex analysis of the backstepping design can be avoided. The closed-loop stability is rigorously established, and the boundedness of the tracking error can be guaranteed. Through simulation of hypersonic flight dynamics, the proposed approach exhibits better tracking performance.
Rato, Claudia; Amirova, Svetlana R.; Bates, Declan G.; Stansfield, Ian; Wallace, Heather M.
The antizyme protein, Oaz1, regulates synthesis of the polyamines putrescine, spermidine and spermine by controlling stability of the polyamine biosynthetic enzyme, ornithine decarboxylase. Antizyme mRNA translation depends upon a polyamine-stimulated +1 ribosomal frameshift, forming a complex negative feedback system in which the translational frameshifting event may be viewed in engineering terms as a feedback controller for intracellular polyamine concentrations. In this article, we present the first systems level study of the characteristics of this feedback controller, using an integrated experimental and modeling approach. Quantitative analysis of mutant yeast strains in which polyamine synthesis and interconversion were blocked revealed marked variations in frameshift responses to the different polyamines. Putrescine and spermine, but not spermidine, showed evidence of co-operative stimulation of frameshifting and the existence of multiple ribosome binding sites. Combinatorial polyamine treatments showed polyamines compete for binding to common ribosome sites. Using concepts from enzyme kinetics and control engineering, a mathematical model of the translational controller was developed to describe these complex ribosomal responses to combinatorial polyamine effects. Each one of a range of model predictions was successfully validated against experimental frameshift frequencies measured in S-adenosylmethionine-decarboxylase and antizyme mutants, as well as in the wild-type genetic background. PMID:21303766
Full Text Available Abstract Background It is widely believed that both feed-forward and feed-back mechanisms are required for successful object manipulation. Open-loop upper-limb prosthesis wearers receive no tactile feedback, which may be the cause of their limited dexterity and compromised grip force control. In this paper we ask whether observed prosthesis control impairments are due to lack of feedback or due to inadequate feed-forward control. Methods Healthy subjects were fitted with a closed-loop robotic hand and instructed to grasp and lift objects of different weights as we recorded trajectories and force profiles. We conducted three experiments under different feed-forward and feed-back configurations to elucidate the role of tactile feedback (i in ideal conditions, (ii under sensory deprivation, and (iii under feed-forward uncertainty. Results (i We found that subjects formed economical grasps in ideal conditions. (ii To our surprise, this ability was preserved even when visual and tactile feedback were removed. (iii When we introduced uncertainty into the hand controller performance degraded significantly in the absence of either visual or tactile feedback. Greatest performance was achieved when both sources of feedback were present. Conclusions We have introduced a novel method to understand the cognitive processes underlying grasping and lifting. We have shown quantitatively that tactile feedback can significantly improve performance in the presence of feed-forward uncertainty. However, our results indicate that feed-forward and feed-back mechanisms serve complementary roles, suggesting that to improve on the state-of-the-art in prosthetic hands we must develop prostheses that empower users to correct for the inevitable uncertainty in their feed-forward control.
Xu, Bin; Yang, Chenguang; Pan, Yongping
This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.
Li, Cong; Jing, Hui; Wang, Rongrong; Chen, Nan
This paper presents a robust control schema for vehicle lateral motion regulation under unreliable communication links via controller area network (CAN). The communication links between the system plant and the controller are assumed to be imperfect and therefore the data packet dropouts occur frequently. The paper takes the form of parallel distributed compensation and treats the dropouts as random binary numbers that form Bernoulli distribution. Both of the tire cornering stiffness uncertainty and external disturbances are considered to enhance the robustness of the controller. In addition, a robust H∞ static output-feedback control approach is proposed to realize the lateral motion control with relative low cost sensors. The stochastic stability of the closed-loop system and conservation of the guaranteed H∞ performance are investigated. Simulation results based on CarSim platform using a high-fidelity and full-car model verify the effectiveness of the proposed control approach.
Full Text Available Attitude dynamic model of unmanned aerial vehicles (UAVs is multi-input multioutput (MIMO, strong coupling, and nonlinear. Model uncertainties and external gust disturbances should be considered during designing the attitude control system for UAVs. In this paper, feedback linearization and model reference adaptive control (MRAC are integrated to design the attitude control system for a fixed wing UAV. First of all, the complicated attitude dynamic model is decoupled into three single-input single-output (SISO channels by input-output feedback linearization. Secondly, the reference models are determined, respectively, according to the performance indexes of each channel. Subsequently, the adaptive control law is obtained using MRAC theory. In order to demonstrate the performance of attitude control system, the adaptive control law and the proportional-integral-derivative (PID control law are, respectively, used in the coupling nonlinear simulation model. Simulation results indicate that the system performance indexes including maximum overshoot, settling time (2% error range, and rise time obtained by MRAC are better than those by PID. Moreover, MRAC system has stronger robustness with respect to the model uncertainties and gust disturbance.
Dufresne, Eric M.; Arms, Dohn A.; Landahl, Eric C.; Walko, Donald A.
The first crystal mount of the double-crystal Si (111) cryogenically cooled monochromator of the 7ID beamline at the Advanced Photon Source (APS) is slightly sensitive to pressure variations in the cryogenic lines. Pressure variations during a liquid nitrogen cryocooler fill every 4 hours move the beam by tens of microns. Pressure variations due to the cryocooler closed-loop pressure control with a heater element (around 0.3 psi) move the beam by 5 microns every 15 seconds. We have recently stabilized the coolant pressure with a simple pressure regulator that is in use at many beamlines of the APS. This paper shows the improvements in beam position stability made using this simple yet effective pressure-regulation circuit. We also recently added beam-position feedback to the second-crystal Bragg angle of the monochromator. The Experimental Physics and Industrial Control System (EPICS) Enhanced Proportional-Integral-Differential (EPID) feedback record implementation resulted in an additional improvement of the standard deviation of the beam position to 0.5 μm.
Rath, N.; Onofri, M.; Dettrick, S. A.; Barnes, D. C.; Romero, J.
We present a linear, one-parameter model for rigid displacement of a toroidally symmetric plasma. When the feedback control is feasible, plasma inertia can be neglected, and the instability growth rate is proportional to wall resistivity. We benchmark the linear model against non-linear, hybrid simulations of an axially unstable, beam-driven field-reversed configuration to fix the free parameter of the model. The resulting parameter-free model is validated using linear and non-linear closed-loop simulations with active feedback control by voltage-controlled coils. In closed loop simulations, the predictions of the parameter-free linear model agree satisfactory with the non-linear results. Implications for the feedback control of the positional instability in experiments are discussed. The presented model has been used to guide the design of the feedback control hardware in the C-2W experiment.
Kandianis, A.; Manias, S.N. [National Technical Univ. of Athens (Greece). Dept. of Electrical Engineering; Griva, G.; Profumo, F. [Politecnico di Torino (Italy). Dept. of Electrical Engineering
In this paper a new Direct Torque Control (DTC) scheme for induction motor drives is described, based on the linear state feedback method with dynamic output feedback. The DTC has been shown to be a good solution in torque controlled drives applications when the speed control is not required (e.g. traction drives for electric vehicles). In such cases, the torque command comes directly from the user input. By considering the torque and flux as the outputs of the linearized motor model, it is possible to design an optimum controller with constant gain state feedback and dynamic output feedback through an integral term. The design procedure of the proposed control scheme is described and the simulation results are presented to show the overall performance of the system.
Sheikh Muhammad Hafiz Fahami
Full Text Available In conventional steering system, a feedback torque is produced from the contact between tire and road surface and its flows through mechanical column shaft directly to driver. This allows the driver to sense the steering feel during driving. However, in steer by wire (SBW system, the elimination of the mechanical column shaft requires the system to generate the feedback torque which should produce similar performance with conventional steering system. Therefore, this paper proposes a control algorithm to create the force feedback torque for SBW system. The direct current measurement approach is used to estimate torque at the steering wheel and front axle motor as elements to the feedback torque, while, adding the compensation torque for a realistic feedback torque. The gain scheduling with a linear quadratic regulator controller is used to control the feedback torque and to vary a steering feel gain. To investigate the effectiveness of the proposed algorithm, a real-time hardware in the loop (HIL methodology is developed using Matlab XPC target toolbox. The results show that the proposed algorithm is able to generate the feedback torque similar to EPS steering system. Furthermore, the compensation torque is able to improve the steering feel and stabilize the system.
Full Text Available The main purpose of this study is to compare two different feedback controllers for the stabilization of quiet standing in humans, taking into account that the intrinsic ankle stiffness is insufficient and that there is a large delay inducing instability in the feedback loop: 1 a standard linear, continuous-time PD controller and 2 an intermittent PD controller characterized by a switching function defined in the phase plane, with or without a dead zone around the nominal equilibrium state. The stability analysis of the first controller is carried out by using the standard tools of linear control systems, whereas the analysis of the intermittent controllers is based on the use of Poincaré maps defined in the phase plane. When the PD-control is off, the dynamics of the system is characterized by a saddle-like equilibrium, with a stable and an unstable manifold. The switching function of the intermittent controller is implemented in such a way that PD-control is 'off' when the state vector is near the stable manifold of the saddle and is 'on' otherwise. A theoretical analysis and a related simulation study show that the intermittent control model is much more robust than the standard model because the size of the region in the parameter space of the feedback control gains (P vs. D that characterizes stable behavior is much larger in the latter case than in the former one. Moreover, the intermittent controller can use feedback parameters that are much smaller than the standard model. Typical sway patterns generated by the intermittent controller are the result of an alternation between slow motion along the stable manifold of the saddle, when the PD-control is off, and spiral motion away from the upright equilibrium determined by the activation of the PD-control with low feedback gains. Remarkably, overall dynamic stability can be achieved by combining in a smart way two unstable regimes: a saddle and an unstable spiral. The intermittent
through surface electrodes (Milner et al., 1970). An additional method of stimulation currently used is the intramuscular electrode. All these stimulation...voltage and current than is needed to elicit stimulation with surface or intramuscular electrodes. The stimlation system developed must be able to contrl...an aluminum semicircular brace over the hips. This brace provides the mount for the leg member feedback braces. 17 40 181 The leg mber sections
Dorsey, J.; Jiang, H.; Habetler, T. [Georgia Inst. of Tech., Atlanta, GA (United States); Qu, Z. [University of Central Florida, Orlando, FL (United States)
A decentralized automatic control strategy for significantly improving the transient stability of a large power system is introduced. The strategy combines local dynamic braking and a straightforward augmentation of the existing turbine / governor control system that uses only local feedback. The brake resistor, which employs thick film, metal oxide technology, has no inductance and is of very low resistance, allowing its use during fault to show a generator`s acceleration. Simulation results using the 39 Bus New England system show that the strategy dramatically increases the global stability of a power system. (author) 15 refs., 7 figs., 1 tab.
Juul Jensen, S.; Schwab, M.; Denz, C.
We present an experimental realization of an almost noninvasive stabilization and manipulation method of coexisting and underlying states of pattern forming systems. In a photorefractive single feedback system, a ring control path is used to realize amplitude and phase-sensitive Fourier-plane...... filtering, utilizing only a few percent of the system's intensity. We were able to stabilize desired but not predominantly excited patterns in parameter space regions where several patterns are present as underlying solutions. By positive (in-phase) and negative (out-of-phase) control, rolls could...
Canova, Lorenzo; Chen, Xiaowei; Trisorio, Alexandre; Jullien, Aurélie; Assion, Andreas; Tempea, Gabriel; Forget, Nicolas; Oksenhendler, Thomas; Lopez-Martens, Rodrigo
Carrier-envelope phase (CEP) stabilization of a femtosecond chirped-pulse amplification system featuring a compact transmission grating compressor is demonstrated. The system includes two amplification stages and routinely generates phase-stable (approximately 250 mrad rms) 2 mJ, 25 fs pulses at 1 kHz. Minimizing the optical pathway in the compressor enables phase stabilization without feedback control of the grating separation or beam pointing. We also demonstrate for the first time to the best of our knowledge, out-of-loop control of the CEP using an acousto-optic programmable dispersive filter inside the laser chain.
Klein, Stephen A.; Hall, Alex; Norris, Joel R.; Pincus, Robert
The response to warming of tropical low-level clouds including both marine stratocumulus and trade cumulus is a major source of uncertainty in projections of future climate. Climate model simulations of the response vary widely, reflecting the difficulty the models have in simulating these clouds. These inadequacies have led to alternative approaches to predict low-cloud feedbacks. Here, we review an observational approach that relies on the assumption that observed relationships between low clouds and the "cloud-controlling factors" of the large-scale environment are invariant across time-scales. With this assumption, and given predictions of how the cloud-controlling factors change with climate warming, one can predict low-cloud feedbacks without using any model simulation of low clouds. We discuss both fundamental and implementation issues with this approach and suggest steps that could reduce uncertainty in the predicted low-cloud feedback. Recent studies using this approach predict that the tropical low-cloud feedback is positive mainly due to the observation that reflection of solar radiation by low clouds decreases as temperature increases, holding all other cloud-controlling factors fixed. The positive feedback from temperature is partially offset by a negative feedback from the tendency for the inversion strength to increase in a warming world, with other cloud-controlling factors playing a smaller role. A consensus estimate from these studies for the contribution of tropical low clouds to the global mean cloud feedback is 0.25 ± 0.18 W m-2 K-1 (90% confidence interval), suggesting it is very unlikely that tropical low clouds reduce total global cloud feedback. Because the prediction of positive tropical low-cloud feedback with this approach is consistent with independent evidence from low-cloud feedback studies using high-resolution cloud models, progress is being made in reducing this key climate uncertainty.
Nguyen, Nhan T.; Boskovic, Jovan D.
This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.
Hamdi, Mustapha; Belhaq, Mohamed
This work examines the control of self-excited vibration of a simply-supported beam subjected to an axially high-frequency excitation. The investigation of the resonant cases are not considered in this paper. The control is implemented via a corrective position feedback with time delay. The objective of this control is to eliminate the undesirable self-excited vibrations with an appropriate choice of parameters. The issue of stability is also addressed in this paper. Using the technique of direct partition of motion, the dynamic of discretized equations is separated into slow and fast components. The multiple scales method is then performed on the slow dynamic to obtain a slow flow for the amplitude and phase. Analysis of this slow flow provides analytical approximations locating regions in parameters space where undesirable self-excited vibration can be eliminated. A numerical study of these regions is performed on the original discretized system and compared to the analytical prediction showing a good agreement.
Ozasa, Kazunari; Lee, Jeesoo; Song, Simon; Hara, Masahiko; Maeda, Mizuo
We examined two-dimensional (2D) optical feedback control of phototaxis flagellate Euglena cells confined in closed-type microfluidic channels (microaquariums), and demonstrated that the 2D optical feedback enables the control of the density and position of Euglena cells in microaquariums externally, flexibly, and dynamically. Using three types of feedback algorithms, the density of Euglena cells in a specified area can be controlled arbitrarily and dynamically, and more than 70% of the cells can be concentrated into a specified area. Separation of photo-sensitive/insensitive Euglena cells was also demonstrated. Moreover, Euglena-based neuro-computing has been achieved, where 16 imaginary neurons were defined as Euglena-activity levels in 16 individual areas in microaquariums. The study proves that 2D optical feedback control of photoreactive flagellate microbes is promising for microbial biology studies as well as applications such as microbe-based particle transportation in microfluidic channels or separation of photo-sensitive/insensitive microbes.
Recently, congestion pricing emerged as a cost-effective and efficient strategy to mitigate the congestion problem on freeways. This study develops a feedback-control based dynamic toll approach to formulate and solve for optimal tolls. The study com...
National Aeronautics and Space Administration — ZONA Technology, Inc. (ZONA) proposes an R&D effort to develop an Experimental Model Based Feedback Control (EMBFC) Framework for the flutter suppression and...
Thomsen, Jesper Sandberg
In this paper a feedback linearization based arc length controller for gas metal arc welding (GMAW) is described. A nonlinear model describing the dynamic arc length is transformed into a system where nonlinearities can be cancelled by a nonlinear state feedback control part, and thus, leaving only...... a linear system to be controlled by linear state feedback control. The advantage of using a nonlinear approach as feedback linearization is the ability of this method to cope with nonlinearities and different operating points. However, the model describing the GMAW process is not exact, and therefore......, the cancellation of nonlinear terms might give rise to problems with respect to robustness. Robustness of the closed loop system is therefore nvestigated by simulation....
Lynch, M.T.; Tallerico, P.J.; Higgins, E.F.
Phase and amplitude feedback control systems for the Los Alamos free-electron laser (FEL) are described. Beam-driven voltages are very high in the buncher cavity because the electron gun is pulsed at the fifth subharmonic of the buncher resonant frequency. The high beam loading necessitated a novel feedback and drive configuration for the buncher. A compensation cirucit has been added to the gun/driver system to reduce observed drift. Extremely small variations in the accelerator gradients had dramatic effects on the laser output power. These problems and how they were solved are described and plans for improvements in the feedback control system are discussed. 5 refs., 7 figs
Pei, Jing; Newsome, Jerry R.
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.
Jang, Jiann-Woei; Plummer, Michael; Bedrossian, Nazareth; Hall, Charles; Jackson, Mark; Spanos, Pol
Many aerospace attitude control systems utilize phase plane control schemes that include nonlinear elements such as dead zone and ideal relay. To evaluate phase plane control robustness, stability margin prediction methods must be developed. Absolute stability is extended to predict stability margins and to define an abort condition. A constrained optimization approach is also used to design flex filters for roll control. The design goal is to optimize vehicle tracking performance while maintaining adequate stability margins. Absolute stability is shown to provide satisfactory stability constraints for the optimization.
Buckley, Theresa M. (Inventor)
A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.
Loranty, MM; Berner, LT; Goetz, SJ; Jin, Y; Randerson, JT
The snow-masking effect of vegetation exerts strong control on albedo in northern high latitude ecosystems. Large-scale changes in the distribution and stature of vegetation in this region will thus have important feedbacks to climate. The snow-albedo feedback is controlled largely by the contrast between snow-covered and snow-free albedo (Δα), which influences predictions of future warming in coupled climate models, despite being poorly constrained at seasonal and century time scales. Here, ...
Van den Hout, Michiel; Hall, Adam R; Wu Mengyue; Zandbergen, Henny W; Dekker, Cees; Dekker, Nynke H
Solid-state nanopores are considered a promising tool for the study of biological polymers such as DNA and RNA, due largely to their flexibility in size, potential in device integration and robustness. Here, we show that the precise shape of small nanopores (∼5 nm diameter in 20 nm SiN membranes) can be controlled by using transmission electron microscope (TEM) beams of different sizes. However, when some of these small nanopores are immersed in an aqueous solution, their resistance is observed to decrease over time. By comparing nanopores of different shapes using (scanning) TEM both before and after immersion in aqueous solution, we demonstrate that the stability of small nanopores is related to their three-dimensional geometry, which depends on the TEM beam size employed during pore fabrication. Optimal stability is obtained using a TEM beam size of approximately the same size as the intended nanopore diameter. In addition, we show that thermal oxidation can serve as a means to independently control nanopore size following TEM fabrication. These observations provide key guidelines for the fabrication of stable solid-state nanopores on the scale of nucleic acids and small proteins.
Okosun Kazeem Oare
Full Text Available The aim of this paper is to investigate the effectiveness and cost-effectiveness of leptospirosis control measures, preventive vaccination and treatment of infective humans that may curtail the disease transmission. For this, a mathematical model for the transmission dynamics of the disease that includes preventive, vaccination, treatment of infective vectors and humans control measures are considered. Firstly, the constant control parameters’ case is analyzed, also calculate the basic reproduction number and investigate the existence and stability of equilibria. The threshold condition for disease-free equilibrium is found to be locally asymptotically stable and can only be achieved when the basic reproduction number is less than unity. The model is found to exhibit the existence of multiple endemic equilibria. Furthermore, to assess the relative impact of each of the constant control parameters measures the sensitivity index of the basic reproductive number to the model’s parameters are calculated. In the time-dependent constant control case, Pontryagin’s Maximum Principle is used to derive necessary conditions for the optimal control of the disease. The cost-effectiveness analysis is carried out by first of all using ANOVA to check on the mean costs. Then followed by Incremental Cost-Effectiveness Ratio (ICER for all the possible combinations of the disease control measures. Our results revealed that the most cost-effective strategy for the control of leptospirosis is the combination of the vaccination and treatment of infective livestocks. Though the combinations of all control measures is also effective, however, this strategy is not cost-effective and so too costly. Therefore, more efforts from policy makers on vaccination and treatment of infectives livestocks regime would go a long way to combat the disease epidemic.
The control of flexible link manipulators has gained an increasing importance in robotics, in recent years. To control the tip of a flexible manipulator, the joint angles should converge to the desired positions fast and elastic deflections must be effectively suppressed. In this study, a two-link flexible manipulator is controlled by three methods and the results are compared. These methods are, Pd control, PD control augmented by a nonlinear correction term feedback, where the correction term is a function of the deflection of each link, and an adaptive fuzzy controller with the nonlinear correction term feedback. Simulations have been carried out to compare the performances of all three methods.
Yan-Jun Liu; Shu Li; Shaocheng Tong; Chen, C L Philip
In this paper, an adaptive control approach-based neural approximation is developed for a class of uncertain nonlinear discrete-time (DT) systems. The main characteristic of the considered systems is that they can be viewed as a class of multi-input multioutput systems in the nonstrict feedback structure. The similar control problem of this class of systems has been addressed in the past, but it focused on the continuous-time systems. Due to the complicacies of the system structure, it will become more difficult for the controller design and the stability analysis. To stabilize this class of systems, a new recursive procedure is developed, and the effect caused by the noncausal problem in the nonstrict feedback DT structure can be solved using a semirecurrent neural approximation. Based on the Lyapunov difference approach, it is proved that all the signals of the closed-loop system are semiglobal, ultimately uniformly bounded, and a good tracking performance can be guaranteed. The feasibility of the proposed controllers can be validated by setting a simulation example.
Balas, Mark J.; Thapa Magar, Kaman S.; Frost, Susan A.
A theory called Adaptive Disturbance Tracking Control (ADTC) is introduced and used to track the Tip Speed Ratio (TSR) of 5 MW Horizontal Axis Wind Turbine (HAWT). Since ADTC theory requires wind speed information, a wind disturbance generator model is combined with lower order plant model to estimate the wind speed as well as partial states of the wind turbine. In this paper, we present a proof of stability and convergence of ADTC theory with lower order estimator and show that the state feedback can be adaptive.
Bashkirtseva, Irina [Ural Federal University, Lenina, 51, Ekaterinburg, 620000 (Russian Federation)
We consider a nonlinear dynamic stochastic system with control. A problem of stochastic sensitivity synthesis of the equilibrium is studied. A mathematical technique of the solution of this problem is discussed. This technique is applied to the problem of the stabilization of the operating mode for the stochastic gas discharge system. We construct a feedback regulator that reduces the stochastic sensitivity of the equilibrium, suppresses large-amplitude oscillations, and provides a proper operation of this engineering device.
Ma, Zhidan; Ning, Lijuan
We aim to investigate bifurcation behaviors in a stochastic birhythmic van der Pol (BVDP) system subjected to delay self-control feedback. First, the harmonic approximation is adopted to drive the delay self-control feedback to state variables without delay. Then, Fokker-Planck-Kolmogorov (FPK) equation and stationary probability density function (SPDF) for amplitude are obtained by applying stochastic averaging method. Finally, dynamical scenarios of the change of delay self-control feedback as well as noise that markedly influence bifurcation performance are observed. It is found that: the big feedback strength and delay will suppress the large amplitude limit cycle (LC) while the relatively big noise strength facilitates the large amplitude LC, which imply the proposed regulation strategies are feasible. Interestingly enough, the inner LC is never destroyed due to noise. Furthermore, the validity of analytical results was verified by Monte Carlo simulation of the dynamics.
Eom, Myunghwan; Chwa, Dongkyoung; Baang, Dane
This paper presents a robust disturbance observer-based feedback linearization control method using a fuzzy-based power change rate limiting method for a research reactor. The proposed controller has been designed for a nonlinear model of the reactor. Compared to the conventional control methods, the proposed scheme shows better control performance as it provides effective compensation for the steady-state error, due to a specific type of unmodeled dynamics. To cope with system uncertainties such as parameter uncertainties, unmodeled dynamics, and even external disturbance, we propose a robust disturbance observer-based feedback linearization controller. Moreover, the fuzzy-based power change rate limiting method is proposed, which is practically required for safe operation to limit the power change rate within a pre-designed safety range. In addition, a motor control input is considered and obtained by using the inverse model for the power control system. We show by numerical simulation that the proposed control law guarantees asymptotic stability as well as improved performance even in the presence of disturbance.
Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.
This paper discusses the utilization of the so-called twisting algorithm when applied in output feedback position control schemes for electro-hydraulic cylinder drives. The twisting controller was the first second order sliding controller ever introduced, and can structure-wise be considered...... contributions in literature. This paper considers the twisting algorithm when applied directly for output feedback control, and with the design based on a reduced order model representation of an arbitrary valve driven hydraulic cylinder drive. The consequence of implementing such a controller with the well...... feedback controller may be successfully applied to hydraulic valve driven cylinder drives, with performance being on the level with a conventional surface based first order sliding mode controller....
Hamdy, M; Hamdan, I
In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Full Text Available The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.
Cipriani, Christian; Segil, Jacob L; Clemente, Francesco; ff Weir, Richard F; Edin, Benoni
Providing functionally effective sensory feedback to users of prosthetics is a largely unsolved challenge. Traditional solutions require high band-widths for providing feedback for the control of manipulation and yet have been largely unsuccessful. In this study, we have explored a strategy that relies on temporally discrete sensory feedback that is technically simple to provide. According to the Discrete Event-driven Sensory feedback Control (DESC) policy, motor tasks in humans are organized in phases delimited by means of sensory encoded discrete mechanical events. To explore the applicability of DESC for control, we designed a paradigm in which healthy humans operated an artificial robot hand to lift and replace an instrumented object, a task that can readily be learned and mastered under visual control. Assuming that the central nervous system of humans naturally organizes motor tasks based on a strategy akin to DESC, we delivered short-lasting vibrotactile feedback related to events that are known to forcefully affect progression of the grasp-lift-and-hold task. After training, we determined whether the artificial feedback had been integrated with the sensorimotor control by introducing short delays and we indeed observed that the participants significantly delayed subsequent phases of the task. This study thus gives support to the DESC policy hypothesis. Moreover, it demonstrates that humans can integrate temporally discrete sensory feedback while controlling an artificial hand and invites further studies in which inexpensive, noninvasive technology could be used in clever ways to provide physiologically appropriate sensory feedback in upper limb prosthetics with much lower band-width requirements than with traditional solutions.
Jeffrey T. Fairbrother
Full Text Available The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA and low activity (LA participants were assigned to self-control (SC and yoked (YK feedback conditions, creating four groups: Self-Control High Activity (SC-HA; Self-Control Low Activity (SC-LA; Yoked High Activity (YK-HA; and Yoked Low Activity (YK-LA. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be good trials; those in the YK condition indicated that they would have preferred to receive feedback after good trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity.
Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.
Stabilization of the business cycles of interconnected finance agents is performed with the use of a new nonlinear optimal control method. First, the dynamics of the interacting finance agents and of the associated business cycles is described by a modeled of coupled nonlinear oscillators. Next, this dynamic model undergoes approximate linearization round a temporary operating point which is defined by the present value of the system's state vector and the last value of the control inputs vector that was exerted on it. The linearization procedure is based on Taylor series expansion of the dynamic model and on the computation of Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms in the Taylor series expansion is considered as a disturbance which is compensated by the robustness of the control loop. Next, for the linearized model of the interacting finance agents, an H-infinity feedback controller is designed. The computation of the feedback control gain requires the solution of an algebraic Riccati equation at each iteration of the control algorithm. Through Lyapunov stability analysis it is proven that the control scheme satisfies an H-infinity tracking performance criterion, which signifies elevated robustness against modelling uncertainty and external perturbations. Moreover, under moderate conditions the global asymptotic stability features of the control loop are proven.
Al-Jundi, Wissam; Elsharif, Mohamed; Anderson, Melanie; Chan, Phillip; Beard, Jonathan; Nawaz, Shah
Constructive feedback plays an important role in learning during surgical training. Standard feedback is usually given verbally following direct observation of the procedure by a trained assessor. However, such feedback requires the physical presence of expert faculty members who are usually busy and time-constrained by clinical commitments. We aim to evaluate electronic feedback (e-feedback) after video observation of surgical suturing in comparison with standard face-to-face verbal feedback. A prospective, blinded, randomized controlled trial comparing e-feedback with standard verbal feedback was carried out in February 2015 using a validated pro formas for assessment. The study participants were 38 undergraduate medical students from the University of Sheffield, UK. They were recorded on video performing the procedural skill, completed a self-evaluation form, and received e-feedback on the same day (group 1); observed directly by an assessor, invited to provide verbal self-reflection, and then received standard verbal feedback (group 2). In both groups, the feedback was provided after performing the procedure. The participants returned 2 days later and performed the same skill again. Poststudy questionnaire was used to assess the acceptability of each feedback among the participants. Overall, 19 students in group 1 and 18 students in group 2 completed the study. Although there was a significant improvement in the overall mean score on the second performance of the task for all participants (first performance mean 11.59, second performance mean 15.95; p ≤ 0.0001), there was no difference in the overall mean improvement score between group 1 and group 2 (4.74 and 3.94, respectively; p = 0.49). The mean overall scores for the e-feedback group at baseline recorded by 2 independent investigators showed good agreement (mean overall scores of 12.84 and 11.89; Cronbach α = 0.86). Poststudy questionnaire demonstrated that both e-feedback and standard verbal feedback
Full Text Available In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD. In particular, upon the derivation of the feasible signal-to-noise ratio (SNR region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP, and (ii an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as “balanced SNR” and “unbalanced SNR,” respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO scenario, where the sensors observe noisy versions of a common binary information sequence and the AP’s goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm.
Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S
Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.
Hanan Mikhael Habbi
Full Text Available To damp the low-frequency oscillations which occurred due to the disturbances in the electrical power system, the generators are equipped with Power System Stabilizer (PSS that provide supplementary feedback stabilizing signals. The low-frequency oscillations in power system are classified as local mode oscillations, intra-area mode oscillation, and interarea mode oscillations. A suitable PSS model was selected considering the low frequencies oscillation in the inter-area mode based on conventional PSS and Fuzzy Logic Controller. Two types of (FIS Mamdani and suggeno were considered in this paper. The software of the methods was executed using MATLAB R2015a package.
Wingrove, R. C.
Linear control analysis is applied as an aid in understanding the fluctuations of business cycles in the past, and to examine monetary policies that might improve stabilization. The analysis shows how different policies change the frequency and damping of the economic system dynamics, and how they modify the amplitude of the fluctuations that are caused by random disturbances. Examples are used to show how policy feedbacks and policy lags can be incorporated, and how different monetary strategies for stabilization can be analytically compared. Representative numerical results are used to illustrate the main points.
Puzyrev, D.; Yanchuk, S.; Vladimirov, A. G.; Gurevich, S. V.
We perform bifurcation analysis of plane wave solutions in one-dimensional cubic-quintic Ginzburg-Landau equation with delayed feedback. Our study reveals how multistability and snaking behavior of plane waves emerge as time delay is introduced. For intermediate values of the delay, bifurcation diagrams are obtained by a combination of analytical and numerical methods. For large delays, using an asymptotic approach we classify plane wave solutions into strongly unstable, weakly unstable, and ...
Taylor, P. C.; Boeke, R.; Hegyi, B.
Arctic low clouds strongly affect the Arctic surface energy budget. Through this impact Arctic low clouds influence other important aspects of the Arctic climate system, namely surface and atmospheric temperature, sea ice extent and thickness, and atmospheric circulation. Arctic clouds are in turn influenced by these Arctic climate system elements creating the potential for Arctic cloud-climate feedbacks. To further our understanding of the potential for Arctic cloud-climate feedbacks, we quantify the influence of atmospheric state on the surface cloud radiative effect (CRE). In addition, we quantify the covariability between surface CRE and sea ice concentration (SIC). This paper builds on previous research using instantaneous, active remote sensing satellite footprint data from the NASA A-Train. First, the results indicate significant differences in the surface CRE when stratified by atmospheric state. Second, a statistically insignificant covariability is found between CRE and SIC for most atmospheric conditions. Third, we find a statistically significant increase in the average surface longwave CRE at lower SIC values in fall. Specifically, a +3-5 W m-2 larger longwave CRE is found over footprints with 0% versus 100% SIC. Because systematic changes on the order of 1 W m-2 are sufficient to explain the observed long-term reductions in sea ice extent, our results indicate a potentially significant amplifying sea ice-cloud feedback that could delay the fall freeze-up and influence the variability in sea ice extent and volume, under certain meteorological conditions. Our results also suggest that a small change in the frequency of occurrence of atmosphere states may yield a larger Arctic cloud feedback than any cloud response to sea ice.
The role of the internet and mobile devices in the control and feedback of irrigation systems is reviewed. This role is placed in the larger context of four distinct components required for irrigation management, including 1. the control panel; 2. remote control; 3. soil, plant, and weather (SPW) se...
Beerten, Jef; Eriksson, Robert; Van Hertem, Dirk
In this paper, a new approach to DC voltage control in a High Voltage Direct Current (HVDC) grid is introduced. In an HVDC grid, the power sharing after a converter outage can be influenced by the droop control values. However, when relying on a local feedback signal, the DC voltage drops...... voltage feedback signals to solve problems locally which can reduce the stress on the AC system. Furthermore, it provides no direct means to obtain different system responses for different converter outages. The control approach presented in this paper aims at improving the DC voltage droop control...... by combining the local voltage signal available at the converter terminals with remote voltage signals at different locations in the DC system by means of communication. The local voltage feedback control is used for a fast, reliable system response. The introduction of the remote voltage signals...
Bever, James D
The common occurrence of mutualistic interactions between plants and root symbionts is problematic. As the delivery of benefit to hosts involves costs to symbionts, symbionts that provide reduced benefit to their host are expected to increase in frequency. Plants have been shown to allocate preferentially to the most efficient symbiont and this preferential allocation may stabilize the mutualism. I construct a general model of the interactive feedbacks of host preferential allocation and the dynamics of root symbiont populations to evaluate the stability of nutritional mutualisms. Preferential allocation can promote the evolution of mutualism even when the cost to the symbiont is very large. Moreover, the physiological plasticity of preferential allocation likely leads to coexistence of beneficial and nonbeneficial symbionts. For arbuscular mycorrhizal fungi, which facilitate plant uptake of phosphorus (P), the model predicts greater P transfer from these fungi per unit carbon invested with decreasing concentrations of soil P and with increasing concentrations of atmospheric CO2 , patterns that have been observed in laboratory and field studies. This framework connects physiological plasticity in plant allocation to population processes that determine mutualism stability and, as such, represents a significant step in understanding the stability and environmental patterns in mutualism. © 2015 The Author. New Phytologist © 2015 New Phytologist Trust.
Gladyshev, G P
The creation of structural hierarchies in open natural biosystems within the framework of quasi-closed systems is investigated by the methods of hierarchic thermodynamics (thermostatics). During the evolution of natural open systems, every higher hierarchic level j appears as a consequence of thermodynamic self-organization (self-assembly) of the structures of the lower (j-1)-th level. Such a self-assembly proceeds as a result of stabilization of the j-th level. This is related to the Gibbs' (Helmholtz') specific function of formation of the structure of the j-th level tending to a minimum. As a result of action of the principle of substance (matter) stability, the structures of the j-th level are enriched with less stable structures of the (j-1)-th level in the course of evolution. This provides a thermodynamic feedback between the structures of the higher j-th level and lower (j-1)-th level, thus preventing full structural stabilization of the j-th level and causing "thermodynamic rejuvenation" of biosystems. The latter enhances "thermodynamic" deceleration of evolution and practically unlimited maintenance of life. Examples of quantitative correlations are provided that call for further application of the substance stability principle to living and nonliving hierarchic structures.
Gunn, J.; Bucalossi, J.; Costanzo, L.; Grisolia, C.; Ghendrih, Ph.; Grosman, A.; Loarer, T.; Martin, G.; Monier-Garbet, P.; Moulin, D.; Pascal, J.Y.; Saint-Laurent, F.
Real time control of deuterium or helium gas injection by feedback on Langmuir probe signals is implemented in Tore Supra ergodic divertor discharges. The feedback schemes are based on the robust experimental observation that the density limit coincides with edge temperature T e ∼ 10 eV. Three control algorithms are used: (1) proportional feedback on the central line-averaged density with real-time attenuation of the system gain and security cut-off of the gas injection if the edge temperature becomes too low; (2) proportional feedback on the central line-averaged density with security cut-off controlled by the degree of detachment (DoD); (3) proportional feedback on edge temperature with security cut-off on the DoD. The DoD is defined for deuterium discharges, but not for helium since those do not detach. All three feedback modes permit operation close to the density limit and have been successfully applied for plasma currents 0.4 p p =1.4 MA with up to 4 MW of ICRH power. (author)
the traditional mathematical induction method. Indeed, we develop a new method to study the globally asymptotic stability by introducing a series of specific inequalities. Moreover, an example and its simulations are given to illustrate the theoretical result.
Brakhane, Stefan; Alt, Wolfgang; Martinez-Dorantes, Miguel; Kampschulte, Tobias; Reimann, Rene; Meschede, Dieter [Institut fuer Angewandte Physik, Universitaet Bonn, Wegelerstr. 8, 53115 Bonn (Germany); Widera, Artur [Institut fuer Angewandte Physik, Universitaet Bonn, Wegelerstr. 8, 53115 Bonn (Germany); Fachbereich Physik, TU Kaiserslautern, Erwin-Schroedinger-Str., 67663 Kaiserslautern (Germany)
Detection and manipulation of atomic spin states is essential for many experimental realizations of quantum gates. Feedback schemes to stabilize the states and their superpositions can counteract perturbations caused by the environment. In our experiment we deduce the atomic spin state of one or two Caesium atoms by measuring the transmission of a probe laser through a high-finesse cavity. Depending on the number of atoms in the hyperfine state that strongly couples to the cavity, the resonance of the cavity is shifted and the probe laser transmission is decreased. We employ a Bayesian update formalism to obtain time-dependent probabilities for the atomic states of one and two atoms. I present an experimental implementation using a digital signal processor which allows us to determine the atomic spin state in real-time. First experimental results of an extension to a feedback loop for the preparation and stabilization of atomic states are shown.
de Melker Worms, Jonathan L A; Stins, John F; Beek, Peter J; Loram, Ian D
Vestibular sensation contributes to cervical-head stabilization and fall prevention. To what extent fear of falling influences the associated vestibular feedback processes is currently undetermined. We used galanic vestibular stimulation (GVS) to induce vestibular reflexes while participants stood at ground level and on a narrow walkway at 3.85 m height to induce fear of falling. Fear was confirmed by questionnaires and elevated skin conductance. Full-body kinematics was measured to differentiate the whole-body centre of mass response (CoM) into component parts (cervical, axial trunk, appendicular short latency, and medium latency). We studied the effect of fear of falling on each component to discern their underlying mechanisms. Statistical parametric mapping analysis provided sensitive discrimination of early GVS and height effects. Kinematic analysis revealed responses at 1 mA stimulation previously believed marginal through EMG and force plate analysis. The GVS response comprised a rapid, anode-directed cervical-head acceleration, a short-latency cathode-directed acceleration (cathodal buckling) of lower extremities and pelvis, an anode-directed upper thorax acceleration, and subsequently a medium-latency anode-directed acceleration of all body parts. At height, head and upper thorax early acceleration were unaltered, however, short-latency lower extremity acceleration was increased. The effect of height on balance was a decreased duration and increased rate of change in the CoM acceleration pattern. These results demonstrate that fear modifies vestibular control of balance, whereas cervical-head stabilization is governed by different mechanisms unaffected by fear of falling. The mechanical pattern of cathodal buckling and its modulation by fear of falling both support the hypothesis that short-latency responses contribute to regulate balance. © 2017 The Authors. Physiological Reports published by Wiley Periodicals, Inc. on behalf of The Physiological
Alhazza, Khaled A; Alajmi, Mohammed; Masoud, Ziyad N
A single-mode delayed-feedback control strategy is developed to reduce the free vibrations of a flexible beam using a piezoelectric actuator. A nonlinear variational model of the beam based on the von Kàrmàn nonlinear type deformations is considered. Using Galerkin's method, the resulting governing partial differential equations of motion are reduced to a system of nonlinear ordinary differential equations. A linear model using the first mode is derived and is used to characterize the damping produced by the controller as a function of the controller's gain and delay. Three-dimensional figures showing the damping magnitude as a function of the controller gain and delay are presented. The characteristic damping of the controller as predicted by the linear model is compared to that calculated using direct long-time integration of a three-mode nonlinear model. Optimal values of the controller gain and delay using both methods are obtained, simulated and compared. To validate the single-mode approximation, numerical simulations are performed using a three-mode full nonlinear model. Results of the simulations demonstrate an excellent controller performance in mitigating the first-mode vibration
The paper gives Lyapunov type sufficient conditions for partial finite-time and asymptotic stability in which some state variables converge to zero while the rest converge to constant values that possibly depend on the initial conditions. The paper then presents partially asymptotically stabilizing controllers for many nonlinear control systems for which continuous asymptotically stabilizing (in the usual sense) controllers are known not to exist.
Nataraj, Raviraj; Audu, Musa L; Triolo, Ronald J
Functional neuromuscular stimulation (FNS) can restore standing capabilities following spinal cord injury. Feedback control of these systems can optimize performance by reducing the required upper extremity support. However, tuning these control systems can be intensive and clinically inconvenient. This case study investigated a clinical method to efficiently tune feedback gains for a control system utilizing feedback of total body center of mass acceleration to modulate stimulation levels to targeted paralyzed musculature of the lower extremities and trunk. Gains for this control system were tuned to minimize the stabilization loading by one arm against internal postural perturbations volitionally-generated during manipulation of an object using the other arm. An algorithm based on a modified form of the Newton-Raphson method was employed to find the optimal feedback gains with lower subject effort than that to determine the original tuning curves. This method accurately (<6.2% error) approximated the optimal gains with 70% fewer manipulations by the subject. These results suggest that optimal feedback gains for the specific FNS control system can be determined systematically with considerably less effort than heuristic gain tuning. This demonstrates the potential for devising simple, convenient methods for effective system re-tuning during clinical usage.
Kelkar, Atul G.; Joshi, Suresh M.
Global asymptotic stability of a class of nonlinear multibody flexible space structures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore, for the second case, the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems, including flexible space structures with articulated flexible appendages.
Bidram, Ali; Davoudi, Ali; Lewis, Frank
This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors. The dist......This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors...... parameters can be tuned to obtain a desired response speed. The effectiveness of the proposed control methodology is verified by the simulation of a microgrid test system....
Kim, Dong Hyun; Lee, Sang Wook; Park, Hyung-Soon
Many hand exoskeleton devices have recently been developed for hand rehabilitation of stroke survivors, but most hand exoskeletons focused on implementing joint movement driven by individual actuator located at the finger joints rather than considering function of hand muscle-tendons and their coordination. In order to achieve hand rehabilitation targeted on restoration of specific muscle-tendon functions, a biomimetic hand exotendon device (BiomHED) was introduced recently. This paper introduces a ring-type design of exotendon device for easier donning and the design of a feedback control system for controlling posture of the finger. Technical details of the feedback sensor and controller with preliminary experimental results are presented.
Husman, M A B; Maqbool, H F; Awad, M I; Abouhossein, A; Dehghani-Sanij, A A
Haptic feedback to lower limb amputees is essential to maximize the functionality of a prosthetic device by providing information to the user about the interaction with the environment and the position of the prostheses in space. Severed sensory pathway and the absence of connection between the prosthesis and the Central Nervous System (CNS) after lower limb amputation reduces balance control, increases visual dependency and increases risk of falls among amputees. This work describes the design of a wearable haptic feedback device for lower limb amputees using lateral skin-stretch modality intended to serve as a feedback cue during ambulation. A feedback scheme was proposed based on gait event detection for possible real-time postural adjustment. Preliminary perceptual test with healthy subjects in static condition was carried out and the results indicated over 98% accuracy in determining stimuli location around the upper leg region, suggesting good perceptibility of the delivered stimuli.
Souder, Jason S; Mack, John Hunter; Hedrick, J. Karl; Dibble, Robert W
Homogeneous charge compression ignition (HCCI) engines lack direct in-cylinder mechanisms, such as spark plugs or direct fuel injection, for controlling the combustion timing. Many indirect methods have been used to control the combustion timing in an HCCI engine. With any indirect method, it is important to have a measure of the combustion timing so the control inputs can be adjusted for the next cycle. In this paper, it is shown that microphones and knock sensors can be used to detect combu...
Kawagoe, Aika; Nakashima, Satoshi; Luhar, Mitul; Fukagata, Koji
Suboptimal control for turbulent friction drag reduction has been studied extensively. Nakashima et al. (accepted) extended resolvent analysis to suboptimal control, and for the control where the streamwise wall shear stress is used as an input (Case ST), they revealed the control effect across spectral space is mixed: there are regions of drag increase as well as reduction. This suggests that control performance may be improved if the control is applied for selective wavelengths, or if a new law is designed to suppress the spectral region leading to drag increase. In the present study, we first assess the effect of suboptimal control for selective wavelengths via DNS. The friction Reynolds number is set at 180. For Case ST, resolvent analysis predicts drag reduction at long streamwise wavelengths. DNS with control applied only for this spectral region, however, did not result in drag reduction. Then, we seek an effective control law using resolvent analysis and propose a new law. DNS results for this law are consistent with predictions from resolvent analysis, and about 10% drag reduction is attained. Further, we discuss how this law reduces the drag from a dynamical and theoretical point of view. This work was supported through Grant-in-Aid for Scientic Research (C) (No. 25420129) by Japan Society for the Promotion of Science (JSPS).
Subramaniam, Karuna; Kothare, Hardik; Mizuiri, Danielle; Nagarajan, Srikantan S; Houde, John F
Self-agency is the experience of being the agent of one's own thoughts and motor actions. The intact experience of self-agency is necessary for successful interactions with the outside world (i.e., reality monitoring) and for responding to sensory feedback of our motor actions (e.g., speech feedback control). Reality monitoring is the ability to distinguish internally self-generated information from outside reality (externally-derived information). In the present study, we examined the relationship of self-agency between lower-level speech feedback monitoring (i.e., monitoring what we hear ourselves say) and a higher-level cognitive reality monitoring task. In particular, we examined whether speech feedback monitoring and reality monitoring were driven by the capacity to experience self-agency-the ability to make reliable predictions about the outcomes of self-generated actions. During the reality monitoring task, subjects made judgments as to whether information was previously self-generated (self-agency judgments) or externally derived (external-agency judgments). During speech feedback monitoring, we assessed self-agency by altering environmental auditory feedback so that subjects listened to a perturbed version of their own speech. When subjects heard minimal perturbations in their auditory feedback while speaking, they made corrective responses, indicating that they judged the perturbations as errors in their speech output. We found that self-agency judgments in the reality-monitoring task were higher in people who had smaller corrective responses ( p = 0.05) and smaller inter-trial variability ( p = 0.03) during minimal pitch perturbations of their auditory feedback. These results provide support for a unitary process for the experience of self-agency governing low-level speech control and higher level reality monitoring.
Ni, Junkang; Liu, Chongxin; Liu, Hang
This paper presents a continuous composite control scheme to achieve fixed-time stabilization for nonlinear systems with mismatched disturbances. The composite controller is constructed in two steps: First, uniformly finite time exact disturbance observers are proposed to estimate and compensate the disturbances. Then, based on adding a power integrator technique and fixed-time stability theory, continuous fixed-time stable state feedback controller and Lyapunov functions are constructed to achieve global fixed-time system stabilization. The proposed control method extends the existing fixed-time stable control results to high order nonlinear systems with mismatched disturbances and achieves global fixed-time system stabilization. Besides, the proposed control scheme improves the disturbance rejection performance and achieves performance recovery of nominal system. Simulation results are provided to show the effectiveness, the superiority and the applicability of the proposed control scheme.
Sakthivel, R.; Karthik Raja, U.; Mathiyalagan, K.; Leelamani, A.
This paper is concerned with the problem of robust stabilization and H∞ control for a class of uncertain stochastic neural networks with time-varying delays and time-varying norm-bounded parameter uncertainties. The delay is of a time-varying nature, and the activation functions are assumed to be neither differentiable nor strictly monotonic. Moreover, the description of the activation functions is more general than the commonly used Lipschitz conditions. By using the Lyapunov function approach together with the linear matrix inequality (LMI) technique, for the robust stabilization we propose a state feedback controller to ensure that the closed loop system is robustly asymptotically stable in the mean square for all admissible parameter uncertainties. For the robust H∞ control problem, a state feedback controller is designed such that in addition to the requirement of robust stability, a prescribed H∞ performance level is to be satisfied. The results obtained are formulated in terms of LMIs which can be easily checked by the MATLAB LMI control toolbox. Numerical examples are presented to illustrate the effectiveness of the obtained method and the improvement over some existing results.
De Doncker, R.W.A.A.; King, R.D.; Sanza, P.C.; Haefner, K.B.
A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation. 1 figure.
Chen, Xiao; Wang, Qian; Srebric, Jelena
Highlights: • This study evaluates an occupant-feedback driven Model Predictive Controller (MPC). • The MPC adjusts indoor temperature based on a dynamic thermal sensation (DTS) model. • A chamber model for predicting chamber air temperature is developed and validated. • Experiments show that MPC using DTS performs better than using Predicted Mean Vote. - Abstract: In current centralized building climate control, occupants do not have much opportunity to intervene the automated control system. This study explores the benefit of using thermal comfort feedback from occupants in the model predictive control (MPC) design based on a novel dynamic thermal sensation (DTS) model. This DTS model based MPC was evaluated in chamber experiments. A hierarchical structure for thermal control was adopted in the chamber experiments. At the high level, an MPC controller calculates the optimal supply air temperature of the chamber heating, ventilation, and air conditioning (HVAC) system, using the feedback of occupants’ votes on thermal sensation. At the low level, the actual supply air temperature is controlled by the chiller/heater using a PI control to achieve the optimal set point. This DTS-based MPC was also compared to an MPC designed based on the Predicted Mean Vote (PMV) model for thermal sensation. The experiment results demonstrated that the DTS-based MPC using occupant feedback allows significant energy saving while maintaining occupant thermal comfort compared to the PMV-based MPC.
Wang Faqiang; Liu Chongxin
Based on the characteristic of the chaotic or hyperchaotic system and linear feedback control method, synchronization of the two identical chaotic or hyperchaotic systems with different initial conditions is studied. The range of the control parameter for synchronization is derived. Simulation results are provided to show the effectiveness of the proposed synchronization method
Erneux, T.; Reiss, E.L.; Magnan, J.F.; Jayakumar, P.K.
Passive techniques for nonlinear stability control are presented for a model of fluidelastic instability. They employ the phenomena of λ-bifurcation and a generalization of it. λ-bifurcation occurs when a branch of flutter solutions bifurcates supercritically from a basic solution and terminates with an infinite period orbit at a branch of divergence solutions which bifurcates subcritically from the basic solution. The shape of the bifurcation diagram then resembles the greek letter λ. When the system parameters are in the range where flutter occurs by λ-bifurcation, then as the flow velocity increase the flutter amplitude also increases, but the frequencies of the oscillations decrease to zero. This diminishes the damaging effects of structural fatigue by flutter, and permits the flow speed to exceed the critical flutter speed. If generalized λ-bifurcation occurs, then there is a jump transition from the flutter states to a divergence state with a substantially smaller amplitude, when the flow speed is sufficiently larger than the critical flutter speed
Janssens, S; Collette, E; Esposito, M; Fernandez Carmona, P; Guinchard, M; Hauviller, C; Kuzmin, A; Leuxe, R; Pfingstner, J; Schulte, D; Snuverink, J
The conceptual design of the active stabilization and nano-positioning of the CLIC main beam quadrupoles was validated in models and experimentally demonstrated on test benches. Although the mechanical vibrations were reduced to within the specification of 1.5 nm at 1 Hz, additional input for the stabilization system control was received fromintegrated luminosity simulations that included the measured stabilization transfer functions. Studies are ongoing to obtain a transfer function which is more compatible with beam based orbit feedback; it concerns the controller layout, new sensors and their combination. In addition, the gain margin must be increased in order to reach the requirements froma higher vibration background. For this purpose, the mechanical support is adapted to raise the frequency of some resonances in the system and the implementation of force sensors is considered. Furthermore, this will increase the speed of repositioning the magnets between beam pulses. This paper describes the improvement...
The measurement-based quantum feedback scheme developed and implemented by Haroche and collaborators to actively prepare and stabilize specific photon number states in cavity quantum electrodynamics (CQED) is a milestone achievement in the active protection of quantum states from decoherence. This feat was achieved by injecting, after each weak dispersive measurement of the cavity state via Rydberg atoms serving as cavity sensors, a low average number classical field (coherent state) to steer the cavity towards the targeted number state. This talk will present the generalization of the theory developed for targeting number states in order to prepare and stabilize desired superpositions of two cavity photon number states. Results from realistic simulations taking into account decoherence and imperfections in a CQED set-up will be presented. These demonstrate the validity of the generalized theory and points to the experimental feasibility of preparing and stabilizing such superpositions. This is a further step towards the active protection of more complex quantum states than number states. This work, cast in the context of CQED, is also almost readily applicable to circuit QED. YBL acknowledges financial support from the Institut Quantique through a Canada First Research Excellence Fund.
Full Text Available For a class of MIMO nonaffine block nonlinear systems, a neural network- (NN- based dynamic feedback backstepping control design method is proposed to solve the tracking problem. This problem is difficult to be dealt with in the control literature, mainly because the inverse controls of block nonaffine systems are not easy to resolve. To overcome this difficulty, dynamic feedback, backstepping design, sliding mode-like technique, NN, and feedback linearization techniques are incorporated to deal with this problem, in which the NNs are used to approximate and adaptively cancel the uncertainties. It is proved that the whole closed-loop system is stable in the sense of Lyapunov. Finally, simulations verify the effectiveness of the proposed scheme.