Pub Date : 2018-06-01DOI: 10.23919/ECC.2018.8550440
C. Yilmaz, H. Basturk
This paper focuses on estimation and cancellation of unknown sinusoidal disturbances in a known LTI system with the presence of simultaneous known input-output delay. Parametrizing the disturbance and representing the delays as a transport PDE, the problem is converted to an adaptive control problem for ODE-PDE cascade. An existing state observer is used to estimate the ODE system states. The exponential stability of the equilibrium of the closed-loop and error system is proved. The perfect estimation of the disturbance and state is shown. Moreover, the convergence of the state to zero as $trightarrowinfty$ is achieved in the closed loop system. The effectiveness of the controller is demonstrated in a numerical simulation.
{"title":"Compensation of Simultaneous Input/Output Delay and Unknown Sinusoidal Disturbances for Known LTI Systems","authors":"C. Yilmaz, H. Basturk","doi":"10.23919/ECC.2018.8550440","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550440","url":null,"abstract":"This paper focuses on estimation and cancellation of unknown sinusoidal disturbances in a known LTI system with the presence of simultaneous known input-output delay. Parametrizing the disturbance and representing the delays as a transport PDE, the problem is converted to an adaptive control problem for ODE-PDE cascade. An existing state observer is used to estimate the ODE system states. The exponential stability of the equilibrium of the closed-loop and error system is proved. The perfect estimation of the disturbance and state is shown. Moreover, the convergence of the state to zero as $trightarrowinfty$ is achieved in the closed loop system. The effectiveness of the controller is demonstrated in a numerical simulation.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114360293","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550145
D. Krokavec, A. Filasová
The linear matrix inequalities approach is proposed to discrete-time linear positive system control design, mounting linear quadratic constraints into design conditions. Coupling together the set of linear matrix inequalities warranting the system positive structure, and the additional inequality guaranteing asymptotic stability of the controlled system, the design conditions are outlined to construct the positive closedloop scheme with a state-feedback positive control law gain. Some related properties are deduced to come towards a solution for forced-mode control policy in discrete-time linear positive system using the static decoupling principle. The proposed approaches are numerically illustrated.
{"title":"Quadratic Control of Linear Discrete-time Positive Systems","authors":"D. Krokavec, A. Filasová","doi":"10.23919/ECC.2018.8550145","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550145","url":null,"abstract":"The linear matrix inequalities approach is proposed to discrete-time linear positive system control design, mounting linear quadratic constraints into design conditions. Coupling together the set of linear matrix inequalities warranting the system positive structure, and the additional inequality guaranteing asymptotic stability of the controlled system, the design conditions are outlined to construct the positive closedloop scheme with a state-feedback positive control law gain. Some related properties are deduced to come towards a solution for forced-mode control policy in discrete-time linear positive system using the static decoupling principle. The proposed approaches are numerically illustrated.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114731787","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550434
P. Feketa, N. Bajçinca
This paper studies stability properties of the trivial solution to a system of nonlinear differential equations that undergo impulsive perturbations at non-fixed moments of time. We are motivated by modeling of networked control systems in which the communication between subsystems can be statedependent. This leads to the impulsive system with multiple impulsive time sequences and a distinct jump map for each sequence. Lyapunov-like theorems equipped with novel dwelltime conditions for global asymptotic stability of the origin have been proven. We treat the cases of a stable continuous dynamics that is being destabilized by impulsive perturbations, and vice versa, the case of unstable continuous dynamics that is being stabilized by impulses. Our results are less conservative comparing to the existing ones since we propose the concept of a candidate Lyapunov function with multiple nonlinear rate functions to characterize its behaviour during flows and jumps and account the influence of impulses for each impulsive time sequence separately. Also, we demonstrate the application of the results to stability analysis of impulsive differential equations with fixed moments of jumps and compare them with the existing ones.
{"title":"Stability of nonlinear impulsive differential equations with non-fixed moments of jumps","authors":"P. Feketa, N. Bajçinca","doi":"10.23919/ECC.2018.8550434","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550434","url":null,"abstract":"This paper studies stability properties of the trivial solution to a system of nonlinear differential equations that undergo impulsive perturbations at non-fixed moments of time. We are motivated by modeling of networked control systems in which the communication between subsystems can be statedependent. This leads to the impulsive system with multiple impulsive time sequences and a distinct jump map for each sequence. Lyapunov-like theorems equipped with novel dwelltime conditions for global asymptotic stability of the origin have been proven. We treat the cases of a stable continuous dynamics that is being destabilized by impulsive perturbations, and vice versa, the case of unstable continuous dynamics that is being stabilized by impulses. Our results are less conservative comparing to the existing ones since we propose the concept of a candidate Lyapunov function with multiple nonlinear rate functions to characterize its behaviour during flows and jumps and account the influence of impulses for each impulsive time sequence separately. Also, we demonstrate the application of the results to stability analysis of impulsive differential equations with fixed moments of jumps and compare them with the existing ones.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114815183","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550436
N. A. Nguyen, Sorin Olaru
This paper presents the construction of a convex piecewise affine control Lyapunov function for constrained linear discrete-time systems, affected by bounded additive disturbances. Exploiting the properties of this control Lyapunov function, the closed-loop dynamics are shown to converge to a given full-dimensional robust positively invariant set. Moreover, the proposed method leads to a simple robust control algorithm which only requires solving a linear programming problem at each sampling instant. Finally, the controller design is illustrated via a numerical example.
{"title":"A piecewise affine control Lyapunov function for robust control","authors":"N. A. Nguyen, Sorin Olaru","doi":"10.23919/ECC.2018.8550436","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550436","url":null,"abstract":"This paper presents the construction of a convex piecewise affine control Lyapunov function for constrained linear discrete-time systems, affected by bounded additive disturbances. Exploiting the properties of this control Lyapunov function, the closed-loop dynamics are shown to converge to a given full-dimensional robust positively invariant set. Moreover, the proposed method leads to a simple robust control algorithm which only requires solving a linear programming problem at each sampling instant. Finally, the controller design is illustrated via a numerical example.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117139641","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550130
D. Gromov, F. Castaños, Alexander L. Fradkov
A novel formulation for the description of implicit port-Hamiltonian control systems is proposed and its potential use for the design of the control laws stabilizing a given submanifold described as a zero level set of an admissible energy function is shown. Using the developed formulation, a number of results on the stabilization of port-Hamiltonian systems are presented. The obtained results are formulated in a way that allows for direct application.
{"title":"PROJECTED DYNAMICS OF CONSTRAINED HAMILTONIAN SYSTEMS*","authors":"D. Gromov, F. Castaños, Alexander L. Fradkov","doi":"10.23919/ECC.2018.8550130","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550130","url":null,"abstract":"A novel formulation for the description of implicit port-Hamiltonian control systems is proposed and its potential use for the design of the control laws stabilizing a given submanifold described as a zero level set of an admissible energy function is shown. Using the developed formulation, a number of results on the stabilization of port-Hamiltonian systems are presented. The obtained results are formulated in a way that allows for direct application.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"423 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115929886","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550394
A. Steinhauser, J. Swevers
This paper introduces ROFALT, an open-source, model-based iterative learning control (ILC) tool for nonlinear systems, that aims at closing the gap between the theory of nonlinear ILC and successful applications. Providing a simple yet powerful syntax in MATLAB, ROFALT supports all phases of the design of a nonlinear ILC—from modeling, tuning and execution, to analysis. The theoretical basis is an optimization-based two-step approach that allows an easy trade-off between fast convergence and robustness for generic nonlinear systems. To demonstrate the efficiency of the developed tool, a simulation study on an overhead crane is performed, where a model with introduced parameter deviations is used to iteratively learn the open-loop control inputs. Special attention is paid to the comparison of different possible ways to realize the learning effect and the resulting performance. Moreover, the simplicity of considering constraints and their compliance is demonstrated, while fast convergence is observed.
{"title":"Introducing a Model-based Learning Control Software for Nonlinear Systems: RoFaLT","authors":"A. Steinhauser, J. Swevers","doi":"10.23919/ECC.2018.8550394","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550394","url":null,"abstract":"This paper introduces ROFALT, an open-source, model-based iterative learning control (ILC) tool for nonlinear systems, that aims at closing the gap between the theory of nonlinear ILC and successful applications. Providing a simple yet powerful syntax in MATLAB, ROFALT supports all phases of the design of a nonlinear ILC—from modeling, tuning and execution, to analysis. The theoretical basis is an optimization-based two-step approach that allows an easy trade-off between fast convergence and robustness for generic nonlinear systems. To demonstrate the efficiency of the developed tool, a simulation study on an overhead crane is performed, where a model with introduced parameter deviations is used to iteratively learn the open-loop control inputs. Special attention is paid to the comparison of different possible ways to realize the learning effect and the resulting performance. Moreover, the simplicity of considering constraints and their compliance is demonstrated, while fast convergence is observed.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123202497","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550199
R. Leuthold, J. D. Schutter, E. Malz, G. Licitra, S. Gros, M. Diehl
Multiple-kite airborne wind energy systems (MAWES) aim to efficiently harvest the stronger, less-intermittent winds at high altitude without material-intensive towers. Solving a series of optimal control problems for two-kite MAWES, we show that pumping-cycle MAWES have three distinct operational regions: Region I, where power is consumed to stay aloft; Region II, where the power harvesting factor grows until the design wind speed; and Region III, where the power extraction is curtailed so as to respect the physical limitations of the system. The actuator disk (AD) method is arguably the simplest tool to model aerodynamic induction effects, though its validity is limited. In this paper, we show that AD is not valid for Region I.
{"title":"Operational Regions of a Multi-Kite AWE System","authors":"R. Leuthold, J. D. Schutter, E. Malz, G. Licitra, S. Gros, M. Diehl","doi":"10.23919/ECC.2018.8550199","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550199","url":null,"abstract":"Multiple-kite airborne wind energy systems (MAWES) aim to efficiently harvest the stronger, less-intermittent winds at high altitude without material-intensive towers. Solving a series of optimal control problems for two-kite MAWES, we show that pumping-cycle MAWES have three distinct operational regions: Region I, where power is consumed to stay aloft; Region II, where the power harvesting factor grows until the design wind speed; and Region III, where the power extraction is curtailed so as to respect the physical limitations of the system. The actuator disk (AD) method is arguably the simplest tool to model aerodynamic induction effects, though its validity is limited. In this paper, we show that AD is not valid for Region I.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124784806","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550274
Baptiste Cadalen, P. Lanusse, J. Sabatier, Fabien Griffon, Y. Parlier
Airborne Wind Energy (AWE) systems are among the most promising technologies in terms of clean and green energy.They present an innovative solution to harvest energy from higher altitudes than traditional wind turbines by replacing expensive towers withlightweighttethers. Oneapplication ofan AWE system is using the traction force of a fast-fiying airfoil, or kite, for ship propulsion. This paper considers the design of an automatic pilot capable of generating a sufficient traction force by steering a kite on a desired trajectory. The design requires a kite model, as well as a path-following strategy. Then, a robust controller is proposed to ensure the stability of the system with respect to all the uncertainties that arise in such a complex environment.
{"title":"Robust control of a tethered kite for ship propulsion","authors":"Baptiste Cadalen, P. Lanusse, J. Sabatier, Fabien Griffon, Y. Parlier","doi":"10.23919/ECC.2018.8550274","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550274","url":null,"abstract":"Airborne Wind Energy (AWE) systems are among the most promising technologies in terms of clean and green energy.They present an innovative solution to harvest energy from higher altitudes than traditional wind turbines by replacing expensive towers withlightweighttethers. Oneapplication ofan AWE system is using the traction force of a fast-fiying airfoil, or kite, for ship propulsion. This paper considers the design of an automatic pilot capable of generating a sufficient traction force by steering a kite on a desired trajectory. The design requires a kite model, as well as a path-following strategy. Then, a robust controller is proposed to ensure the stability of the system with respect to all the uncertainties that arise in such a complex environment.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123645460","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550172
Steffen Joos, M. Bitzer, R. Karrelmeyer, K. Graichen
The problem of stabilization by means of state feedback is discussed for linear single input single output systems while satisfying time-varying polytopic constraints on both the states and the control input. The core of the switched control concept derived in this work is a standard state feedback controller, stabilizing the system in the unconstrained case, whereas its control signal is optimally limited in order to achieve feasibility of the states and the input in the constrained case. For the derivation of the limiting function, feasible dynamic limits are designed which correspond to one additional control law per constraint. A switching logic for these limits is then constructed with the solution of an optimization problem. Thereby, an explicit order of constraints prioritization is taken into account in order to obtain a unique switching logic. Throughout the derivation, the property of differential flatness is exploited, which allows the reduction of the respective system to the control of a (constrained) integrator chain. The performance of the control approach as pure feedback as well as in a constrained two-degree-offreedom setup is finally discussed by means of simulation studies. Furthermore, a comparison of the achieved results with a model predictive control approach is carried out.
{"title":"Prioritization-based switched feedback control for linear SISO systems with time-varying state and input constraints","authors":"Steffen Joos, M. Bitzer, R. Karrelmeyer, K. Graichen","doi":"10.23919/ECC.2018.8550172","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550172","url":null,"abstract":"The problem of stabilization by means of state feedback is discussed for linear single input single output systems while satisfying time-varying polytopic constraints on both the states and the control input. The core of the switched control concept derived in this work is a standard state feedback controller, stabilizing the system in the unconstrained case, whereas its control signal is optimally limited in order to achieve feasibility of the states and the input in the constrained case. For the derivation of the limiting function, feasible dynamic limits are designed which correspond to one additional control law per constraint. A switching logic for these limits is then constructed with the solution of an optimization problem. Thereby, an explicit order of constraints prioritization is taken into account in order to obtain a unique switching logic. Throughout the derivation, the property of differential flatness is exploited, which allows the reduction of the respective system to the control of a (constrained) integrator chain. The performance of the control approach as pure feedback as well as in a constrained two-degree-offreedom setup is finally discussed by means of simulation studies. Furthermore, a comparison of the achieved results with a model predictive control approach is carried out.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121590992","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550299
Mario Pisaturo, A. Senatore
Heat power generated in dry clutch systems during repeated engagements could result in marked uncomfort and manifest damage clutch facing materials. Indeed, recent studies have highlighted as during a single launch manoeuvre the interface temperature can amount about 30–35 Celsius degree. Consequently, after only few repeated engagements in short time the clutch material temperature can attain critical values, i.e. 250–300 Celsius degree. For this reason, the electric motor contribution to reduce overheating of clutch material during the slipping phase could represent a good solution to avoid dry clutch damage. In this paper a high-level Model Predictive Controller with time-variant penalty weights accordingly with working conditions has been implemented. The goal of this study is to manage both internal combustion engine and electric motor during clutch engagements in order to relieve dry clutch during a critical launch manoeuvre. Particularly, the following scenario has been assumed: high initial clutch temperature due to previous repeated engagements, up-hill start-up manoeuvre and low initial SOC.
{"title":"Mild-Hybrid Electric Vehicle: EM management to prevent dry clutch overheating","authors":"Mario Pisaturo, A. Senatore","doi":"10.23919/ECC.2018.8550299","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550299","url":null,"abstract":"Heat power generated in dry clutch systems during repeated engagements could result in marked uncomfort and manifest damage clutch facing materials. Indeed, recent studies have highlighted as during a single launch manoeuvre the interface temperature can amount about 30–35 Celsius degree. Consequently, after only few repeated engagements in short time the clutch material temperature can attain critical values, i.e. 250–300 Celsius degree. For this reason, the electric motor contribution to reduce overheating of clutch material during the slipping phase could represent a good solution to avoid dry clutch damage. In this paper a high-level Model Predictive Controller with time-variant penalty weights accordingly with working conditions has been implemented. The goal of this study is to manage both internal combustion engine and electric motor during clutch engagements in order to relieve dry clutch during a critical launch manoeuvre. Particularly, the following scenario has been assumed: high initial clutch temperature due to previous repeated engagements, up-hill start-up manoeuvre and low initial SOC.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121703705","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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