Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140569
A. Aleksandrov
New constructions of Lyapunov–Krasovskii functionals are proposed for certain classes of nonlinear mechanical systems with delay. With the aid of these functionals, stability conditions of equilibrium positions and estimates of transient times, as well as stability conditions for corresponding systems with switching force fields are obtained.
{"title":"Construction of Lyapunov–Krasovskii Functionals for Nonlinear Mechanical Systems with Delay","authors":"A. Aleksandrov","doi":"10.1109/STAB49150.2020.9140569","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140569","url":null,"abstract":"New constructions of Lyapunov–Krasovskii functionals are proposed for certain classes of nonlinear mechanical systems with delay. With the aid of these functionals, stability conditions of equilibrium positions and estimates of transient times, as well as stability conditions for corresponding systems with switching force fields are obtained.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127703345","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140565
A. Okhitina, D. Roldugin, S. Tkachev
The three-axis magnetic control for satellite angular motion is considered. The control torque cannot be applied along the geomagnetic induction vector. The system is ultimately controllable. However, the control construction or its parameters adjustment require specific procedures. Biologically inspired optimization algorithm is proposed to find the feedback control gains that accommodate the disturbances influence.
{"title":"Biologically inspired optimization algorithm in satellite attitude control problems","authors":"A. Okhitina, D. Roldugin, S. Tkachev","doi":"10.1109/STAB49150.2020.9140565","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140565","url":null,"abstract":"The three-axis magnetic control for satellite angular motion is considered. The control torque cannot be applied along the geomagnetic induction vector. The system is ultimately controllable. However, the control construction or its parameters adjustment require specific procedures. Biologically inspired optimization algorithm is proposed to find the feedback control gains that accommodate the disturbances influence.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126436418","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140587
O. Anashkin, O. Yusupova
Impulsive differential equations demonstrate rather more complex behavior of solutions than ordinary differential equations. This complexity is due to discontinuities of the integral curves at the moments of impulse actions. We consider a periodic impulsive system in the critical case, when the monodromy matrix of the linear approximation of the system at an equilibrium point has a pair of complex conjugate multipliers on the unit circle. An algorithm for computing of the first Lyapunov value is proposed.
{"title":"Sufficient conditions for stability of the equilibrium position of an impulsive system","authors":"O. Anashkin, O. Yusupova","doi":"10.1109/STAB49150.2020.9140587","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140587","url":null,"abstract":"Impulsive differential equations demonstrate rather more complex behavior of solutions than ordinary differential equations. This complexity is due to discontinuities of the integral curves at the moments of impulse actions. We consider a periodic impulsive system in the critical case, when the monodromy matrix of the linear approximation of the system at an equilibrium point has a pair of complex conjugate multipliers on the unit circle. An algorithm for computing of the first Lyapunov value is proposed.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128029669","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140469
G. Alferov, P. Efimova, V. Korolev, D. Shymanchuk
The article describes the approach to remote control of a space robot with force feedback developed by F. M. Kulakov. This method allows to minimize the effect of delays in signal transmission due to features in the control algorithm. Using of feedback on force is necessary for the interaction space robot with objects having holonomic constraints, which is typical for assembly operations. The article gives a mathematical description of the elements of the bilateral control system and also presents a special case of the motion of the robotic system.
本文介绍了F. M. Kulakov开发的空间机器人力反馈远程控制方法。这种方法允许最小化由于控制算法中的特征而导致的信号传输延迟的影响。空间机器人与具有完整约束的物体的相互作用是装配操作中典型的问题，在这种情况下，必须使用力反馈。本文给出了双边控制系统的数学描述，并给出了机器人系统运动的一个特例。
{"title":"Kulakov’s Method of Bilateral Remote Control of a Space Manipulation Robots","authors":"G. Alferov, P. Efimova, V. Korolev, D. Shymanchuk","doi":"10.1109/STAB49150.2020.9140469","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140469","url":null,"abstract":"The article describes the approach to remote control of a space robot with force feedback developed by F. M. Kulakov. This method allows to minimize the effect of delays in signal transmission due to features in the control algorithm. Using of feedback on force is necessary for the interaction space robot with objects having holonomic constraints, which is typical for assembly operations. The article gives a mathematical description of the elements of the bilateral control system and also presents a special case of the motion of the robotic system.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128126794","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140690
K. Rybakov
For nonlinear stochastic systems driven by the Wiener process and non-Poisson impulses the sufficient epsilon-optimality conditions for the control problem are obtained. These conditions can be used to solve approximately the optimal control problem and to estimate an accuracy of the approximate solution in terms of the quality criterion.
{"title":"Sufficient Epsilon-Optimality Conditions for Stochastic Systems Driven by Non-Poisson Impulses","authors":"K. Rybakov","doi":"10.1109/STAB49150.2020.9140690","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140690","url":null,"abstract":"For nonlinear stochastic systems driven by the Wiener process and non-Poisson impulses the sufficient epsilon-optimality conditions for the control problem are obtained. These conditions can be used to solve approximately the optimal control problem and to estimate an accuracy of the approximate solution in terms of the quality criterion.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128288047","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140608
A. Holub, Y. Selyutskiy, Shyh-Shin Hwang
A mechanical system is considered that represents an elastically mounted double aerodynamic pendulum. Conditions of instability of the trivial equilibrium of the pendulum (where both links are oriented along the flow) are obtained. When these conditions are met, the pendulum can perform oscillations, energy of which can be converted, e.g., into electric power. Dependence of characteristics of oscillatory regimes upon the external load is studied. The load is described by introducing damping into the first joint of the pendulum.
{"title":"Self-sustained oscillations of a double aerodynamic pendulum","authors":"A. Holub, Y. Selyutskiy, Shyh-Shin Hwang","doi":"10.1109/STAB49150.2020.9140608","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140608","url":null,"abstract":"A mechanical system is considered that represents an elastically mounted double aerodynamic pendulum. Conditions of instability of the trivial equilibrium of the pendulum (where both links are oriented along the flow) are obtained. When these conditions are met, the pendulum can perform oscillations, energy of which can be converted, e.g., into electric power. Dependence of characteristics of oscillatory regimes upon the external load is studied. The load is described by introducing damping into the first joint of the pendulum.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126487486","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140470
V. Sokolov
This paper addresses a problem of adaptive optimal robust tracking of discrete-time minimum-phase SISO plant under biased total disturbance in the form of output uncertainty and bounded external disturbance. Coefficients of nominal model, a gain of output uncertainty, an upper bound of external disturbance, and bias are unknown to controller designer. The control criterion in the form of the worst-case steady-state tracking error over permitted uncertainties and disturbances is used as an identification criterion. Solution of the problem is based on polyhedral estimation of data-consistent parameters and computation of optimal current estimates.
{"title":"Adaptive optimal robust tracking of discrete-time minimum-phase plant under biased disturbance","authors":"V. Sokolov","doi":"10.1109/STAB49150.2020.9140470","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140470","url":null,"abstract":"This paper addresses a problem of adaptive optimal robust tracking of discrete-time minimum-phase SISO plant under biased total disturbance in the form of output uncertainty and bounded external disturbance. Coefficients of nominal model, a gain of output uncertainty, an upper bound of external disturbance, and bias are unknown to controller designer. The control criterion in the form of the worst-case steady-state tracking error over permitted uncertainties and disturbances is used as an identification criterion. Solution of the problem is based on polyhedral estimation of data-consistent parameters and computation of optimal current estimates.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131768974","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140571
P. Ryabov
The report presents a retrospective analysis of the works of M.P. Kharlamov on the study of the phase topology of the Kowalevski top in a double field of forces (the case of integrability of A.G. Reiman–M.A. Semenov-Tyan-Shansky without a gyrostatic moment). We will review the method of critical subsystems for the generalized two fields gyrostat, which includes the Kowalevski top in two constant fields.
{"title":"On the works of M. P. Kharlamov on the phase topology of the Kowalevski top in two constant fields","authors":"P. Ryabov","doi":"10.1109/STAB49150.2020.9140571","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140571","url":null,"abstract":"The report presents a retrospective analysis of the works of M.P. Kharlamov on the study of the phase topology of the Kowalevski top in a double field of forces (the case of integrability of A.G. Reiman–M.A. Semenov-Tyan-Shansky without a gyrostatic moment). We will review the method of critical subsystems for the generalized two fields gyrostat, which includes the Kowalevski top in two constant fields.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131799142","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140658
O. Samsonyuk, S. Sorokin
This paper is concerned with an optimal impulsive control problem under intermediate state constraints. The control system of this problem is bilinear with respect to states of bounded variation and impulsive controls given by vector Borel measures. We propose necessary and sufficient optimality conditions based on special functions of the Lyapunov type. These functions possess the property of strong and weak monotonicity with respect to the impulsive control system.
{"title":"Optimality Conditions for Impulsive Processes with Intermediate State Constraints","authors":"O. Samsonyuk, S. Sorokin","doi":"10.1109/STAB49150.2020.9140658","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140658","url":null,"abstract":"This paper is concerned with an optimal impulsive control problem under intermediate state constraints. The control system of this problem is bilinear with respect to states of bounded variation and impulsive controls given by vector Borel measures. We propose necessary and sufficient optimality conditions based on special functions of the Lyapunov type. These functions possess the property of strong and weak monotonicity with respect to the impulsive control system.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"169 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134194244","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}
Pub Date : 2020-06-01DOI: 10.1109/STAB49150.2020.9140454
Y. Mitrishkin, S. Ivanova
The paper aims to synthesize by Quantitative Feedback Theory (QFT) a robust controller represented as a transfer function containing two left zeros and two left poles to stabilize a model of a plasma unstable vertical position in the T-15MD tokamak (Kurchatov Institute, Moscow, Russia). Due to the relatively large overshoot and oscillations of a transient response, the two-cascade robust control system of the plasma position with PID controllers was designed by the QFT. An inner cascade controls a current in a horizontal field coil and an outer cascade stabilizes the plasma vertical position. An actuator is a model of a 6-pulse multiphase thyristor rectifier.
{"title":"Synthesis of a robust control system for an unstable plant using QFT","authors":"Y. Mitrishkin, S. Ivanova","doi":"10.1109/STAB49150.2020.9140454","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140454","url":null,"abstract":"The paper aims to synthesize by Quantitative Feedback Theory (QFT) a robust controller represented as a transfer function containing two left zeros and two left poles to stabilize a model of a plasma unstable vertical position in the T-15MD tokamak (Kurchatov Institute, Moscow, Russia). Due to the relatively large overshoot and oscillations of a transient response, the two-cascade robust control system of the plasma position with PID controllers was designed by the QFT. An inner cascade controls a current in a horizontal field coil and an outer cascade stabilizes the plasma vertical position. An actuator is a model of a 6-pulse multiphase thyristor rectifier.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134321002","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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