A multiple model strategy is implemented in a model predictive control framework. The model bank design requires minimal plant knowledge based on the ranges of gains, dominant time constants and time delays. The application example is the isothermal Van de Vusse reaction in a continuous stirred tank reactor, which exhibits challenging input multiplicity behavior. Disturbances include additive input and output noises and changes in system parameters. Results are compared with an extended Kalman filter (EKF)-based model predictive controller that uses a fundamental model with a disturbance parameter estimated online. The multiple model predictive controller performance is comparable to that demonstrated by the EKF-based model predictive controller.
在模型预测控制框架中实现了多模型策略。模型库的设计需要基于增益范围、主导时间常数和时间延迟的最小植物知识。应用实例为连续搅拌槽式反应器中的等温Van de Vusse反应，该反应具有挑战性的输入多重性。干扰包括输入输出加性噪声和系统参数的变化。结果与基于扩展卡尔曼滤波(EKF)的模型预测控制器进行了比较，该控制器使用在线估计扰动参数的基本模型。多模型预测控制器的性能与基于ekf的模型预测控制器相当。
{"title":"A comparison of fundamental model-based and multiple model predictive control","authors":"B. Aufderheide, Vinay Prasad, B. Bequette","doi":"10.1109/CDC.2001.980977","DOIUrl":"https://doi.org/10.1109/CDC.2001.980977","url":null,"abstract":"A multiple model strategy is implemented in a model predictive control framework. The model bank design requires minimal plant knowledge based on the ranges of gains, dominant time constants and time delays. The application example is the isothermal Van de Vusse reaction in a continuous stirred tank reactor, which exhibits challenging input multiplicity behavior. Disturbances include additive input and output noises and changes in system parameters. Results are compared with an extended Kalman filter (EKF)-based model predictive controller that uses a fundamental model with a disturbance parameter estimated online. The multiple model predictive controller performance is comparable to that demonstrated by the EKF-based model predictive controller.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114630226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The controllability of the linear systems over the field F(z) of rational functions with real coefficients in q independently variable parameters is studied. Some conditions are derived.
研究了q个自变量参数的实系数有理函数在F(z)域上的线性系统的可控性。导出了一些条件。
{"title":"The controllability of linear systems over F(z)","authors":"K. Lu, Yu Jia Tou Campus","doi":"10.1109/CDC.2001.980674","DOIUrl":"https://doi.org/10.1109/CDC.2001.980674","url":null,"abstract":"The controllability of the linear systems over the field F(z) of rational functions with real coefficients in q independently variable parameters is studied. Some conditions are derived.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116363114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This work focuses on output feedback control of a class of MIMO nonlinear systems with time varying uncertain variables and input constraints. A robust dynamic output feedback controller is constructed through combination of a stabilizing bounded robust multivariable state feedback controller with high-gain observers and saturation filters. The state feedback component is designed through Lyapunov-based inverse optimal control techniques and provides an explicit characterization of the state feedback stability region. Using singular perturbation techniques, the output feedback controller is shown to enforce asymptotic stability and robust asymptotic reference input tracking, with an arbitrary degree of attenuation of the effect of uncertainty on the outputs of the constrained closed-loop system, for initial conditions in arbitrarily large compact subsets of the state feedback stability region, provided that the observer gains are sufficiently large. The proposed output feedback controller design is demonstrated for the robust stabilization of a chemical reactor example.
{"title":"Bounded robust control of constrained multivariable systems","authors":"N. El‐Farra, P. Christofides","doi":"10.1109/CDC.2001.980459","DOIUrl":"https://doi.org/10.1109/CDC.2001.980459","url":null,"abstract":"This work focuses on output feedback control of a class of MIMO nonlinear systems with time varying uncertain variables and input constraints. A robust dynamic output feedback controller is constructed through combination of a stabilizing bounded robust multivariable state feedback controller with high-gain observers and saturation filters. The state feedback component is designed through Lyapunov-based inverse optimal control techniques and provides an explicit characterization of the state feedback stability region. Using singular perturbation techniques, the output feedback controller is shown to enforce asymptotic stability and robust asymptotic reference input tracking, with an arbitrary degree of attenuation of the effect of uncertainty on the outputs of the constrained closed-loop system, for initial conditions in arbitrarily large compact subsets of the state feedback stability region, provided that the observer gains are sufficiently large. The proposed output feedback controller design is demonstrated for the robust stabilization of a chemical reactor example.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121644993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper tackles the symmetries of control systems. Main attention has been focused on the linear symmetry of affine nonlinear systems. That is, the symmetry under the action of a sub-group of general linear group GL(n,R). The structure of the groups of symmetry and their Lie algebras is investigated. Using left semi-tensor product, a complete classification of symmetric plane systems is presented. Finally, a set of linear algebraic equations are presented, whose solutions provide the largest Lie algebra. Its connected Lie group is the largest one, with which the system is symmetric.
{"title":"Linear symmetry of nonlinear systems","authors":"D. Cheng, Guowu Yang","doi":"10.1109/CDC.2001.981164","DOIUrl":"https://doi.org/10.1109/CDC.2001.981164","url":null,"abstract":"This paper tackles the symmetries of control systems. Main attention has been focused on the linear symmetry of affine nonlinear systems. That is, the symmetry under the action of a sub-group of general linear group GL(n,R). The structure of the groups of symmetry and their Lie algebras is investigated. Using left semi-tensor product, a complete classification of symmetric plane systems is presented. Finally, a set of linear algebraic equations are presented, whose solutions provide the largest Lie algebra. Its connected Lie group is the largest one, with which the system is symmetric.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":" 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113950793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A common quadratic Lyapunov function (CQLF) guarantees the asymptotic stability of a set of systems. A complete characterization of the set of systems with such a property have been unsuccessful (except for second-order systems). Thus, for both the continuous-time and discrete-time cases, several subsets of linear systems which have a CQLF are known. Some results indicate that there is a parallelism between the continuous-time case and the discrete-time case. In this paper, we show a new subclass for continuous-time systems which have a CQLF by using a property of M-matrices. We also show the discrete-time counterpart of the above new subclass. Next, it is shown that the whole class of continuous-time linear systems having a CQLF is connected directly with its discrete-time counterpart by using a bilinear transformation. For some known subclasses of systems having a CQLF, the transformation gives a one-to-one correspondence between the continuous-time and discrete-time cases. We further show relationships among the obtained results and other, known results.
{"title":"Some new subclasses of systems having a common quadratic Lyapunov function and comparison of known subclasses","authors":"Y. Mori, T. Mori, Y. Kuroe","doi":"10.1109/CDC.2001.980578","DOIUrl":"https://doi.org/10.1109/CDC.2001.980578","url":null,"abstract":"A common quadratic Lyapunov function (CQLF) guarantees the asymptotic stability of a set of systems. A complete characterization of the set of systems with such a property have been unsuccessful (except for second-order systems). Thus, for both the continuous-time and discrete-time cases, several subsets of linear systems which have a CQLF are known. Some results indicate that there is a parallelism between the continuous-time case and the discrete-time case. In this paper, we show a new subclass for continuous-time systems which have a CQLF by using a property of M-matrices. We also show the discrete-time counterpart of the above new subclass. Next, it is shown that the whole class of continuous-time linear systems having a CQLF is connected directly with its discrete-time counterpart by using a bilinear transformation. For some known subclasses of systems having a CQLF, the transformation gives a one-to-one correspondence between the continuous-time and discrete-time cases. We further show relationships among the obtained results and other, known results.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114746706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Geng, G. Xiong, Linli Xie, Yupu Yang, Yu Guo, Qin Ma
Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical.
{"title":"Proposing a novel one-legged robot: control via Poincare map","authors":"T. Geng, G. Xiong, Linli Xie, Yupu Yang, Yu Guo, Qin Ma","doi":"10.1109/CDC.2001.980842","DOIUrl":"https://doi.org/10.1109/CDC.2001.980842","url":null,"abstract":"Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114797792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Time delay does not allow realization of an ideal sliding mode, but implies oscillations in the space of state variables. The delayed relay control algorithms for stabilization of oscillation amplitudes are suggested.
{"title":"Stabilization of oscillations amplitudes via relay delay control","authors":"L. Fridman, V. Strygin, A. Polyakov","doi":"10.1109/CDC.2001.980439","DOIUrl":"https://doi.org/10.1109/CDC.2001.980439","url":null,"abstract":"Time delay does not allow realization of an ideal sliding mode, but implies oscillations in the space of state variables. The delayed relay control algorithms for stabilization of oscillation amplitudes are suggested.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114849384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The state feedback controller is studied for a class of strict-feedback discrete-time nonlinear systems in the presence of bounded disturbances. A Lyapunov-based full state feedback neural network control structure is presented via backstepping, which solves the noncausal problem in the discrete-time backstepping design procedure. The closed-loop system is proven to be semi-globally uniformly ultimately bounded. An arbitrarily small tracking error can be achieved if the size of the neural network is chosen large enough, and the control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.
{"title":"Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems via backstepping","authors":"S. Ge, Guangyong Li, Tong-heng Lee","doi":"10.1109/CDC.2001.980302","DOIUrl":"https://doi.org/10.1109/CDC.2001.980302","url":null,"abstract":"The state feedback controller is studied for a class of strict-feedback discrete-time nonlinear systems in the presence of bounded disturbances. A Lyapunov-based full state feedback neural network control structure is presented via backstepping, which solves the noncausal problem in the discrete-time backstepping design procedure. The closed-loop system is proven to be semi-globally uniformly ultimately bounded. An arbitrarily small tracking error can be achieved if the size of the neural network is chosen large enough, and the control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"80 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124267896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We consider optimal distributed control for linear distributed systems with non-quadratic performance criteria expressed as a power series. Using power series methods, we derive a recursive procedure to obtain the successive power series terms of the optimal value function and state feedback. In the case of spatially invariant systems we show how the state feedback power series terms represented as tensors can be easily constructed using multi-dimensional Fourier transforms.
{"title":"Optimal nonlinear distributed control of spatially-invariant systems","authors":"N. Karlsson, Bassam Bamieh","doi":"10.1109/CDC.2001.980891","DOIUrl":"https://doi.org/10.1109/CDC.2001.980891","url":null,"abstract":"We consider optimal distributed control for linear distributed systems with non-quadratic performance criteria expressed as a power series. Using power series methods, we derive a recursive procedure to obtain the successive power series terms of the optimal value function and state feedback. In the case of spatially invariant systems we show how the state feedback power series terms represented as tensors can be easily constructed using multi-dimensional Fourier transforms.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"17 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125620089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper presents an analytical and experimental evaluation of observer-based methods for estimating the position and speed for switched reluctance motor (SRM) drives. Two observers, the sliding mode observer (SMO) and the standard state observer (SSO), are both found to provide good position and speed estimations. The resolution and reliability of the position estimation scheme are analyzed in detail. Error analysis is carried out under various operating conditions using estimated position and speed in the controller. The results demonstrate the applicability of observer-based sensorless controller for SRM drives.
{"title":"Observers for position and speed estimations in switched reluctance motors","authors":"I. Husain, Mohammad S. Islam","doi":"10.1109/CDC.2001.980586","DOIUrl":"https://doi.org/10.1109/CDC.2001.980586","url":null,"abstract":"The paper presents an analytical and experimental evaluation of observer-based methods for estimating the position and speed for switched reluctance motor (SRM) drives. Two observers, the sliding mode observer (SMO) and the standard state observer (SSO), are both found to provide good position and speed estimations. The resolution and reliability of the position estimation scheme are analyzed in detail. Error analysis is carried out under various operating conditions using estimated position and speed in the controller. The results demonstrate the applicability of observer-based sensorless controller for SRM drives.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122284964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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