Pub Date : 2014-07-09DOI: 10.1109/CONTROL.2014.6915141
Joao Miguel da Rocha Pinto, P. Ricco, G. Papadakis
This paper presents theoretical and numerical results on the penetration of small-amplitude free-stream vortical disturbances into an incompressible laminar boundary layer, and the wall-based adjoint feedback control of the resulting streamwise-elongated, low-frequency fluctuations within the boundary layer. The theoretical formulation of the low-frequency disturbances, also called laminar streaks or Klebanoff modes, follows the work of Leib, Wundrow & Goldstein [13] and is based on the incompressible linearised unsteady boundary region equations. The outer boundary conditions of this system synthesize the mutual interaction between the boundary layer and the free-stream vortical fluctuations, which generated the low-frequency streaks. Adjoint theory is applied to the equations of motion, and wall-transpiration is employed to attenuate the Klebanoff modes. Our results extend the findings of the adjoint-based work by Cathalifaud & Luchini [5], which utilised the steady boundary region equations without including the effect of free-stream disturbances in the formulation.
{"title":"Wall-transpiration feedback control of laminar streaks using an adjoint approach","authors":"Joao Miguel da Rocha Pinto, P. Ricco, G. Papadakis","doi":"10.1109/CONTROL.2014.6915141","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915141","url":null,"abstract":"This paper presents theoretical and numerical results on the penetration of small-amplitude free-stream vortical disturbances into an incompressible laminar boundary layer, and the wall-based adjoint feedback control of the resulting streamwise-elongated, low-frequency fluctuations within the boundary layer. The theoretical formulation of the low-frequency disturbances, also called laminar streaks or Klebanoff modes, follows the work of Leib, Wundrow & Goldstein [13] and is based on the incompressible linearised unsteady boundary region equations. The outer boundary conditions of this system synthesize the mutual interaction between the boundary layer and the free-stream vortical fluctuations, which generated the low-frequency streaks. Adjoint theory is applied to the equations of motion, and wall-transpiration is employed to attenuate the Klebanoff modes. Our results extend the findings of the adjoint-based work by Cathalifaud & Luchini [5], which utilised the steady boundary region equations without including the effect of free-stream disturbances in the formulation.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126096189","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915139
K. Busawon, P. Canyelles-Pericas, L. Latchooman, M. Farza, M. Msaad
In this paper, we propose an output observer design methodology for linear single output systems for fault detection purposes. Unlike traditional observers that are based on the the state-space representation of the system, the proposed observer design is based on the input output representation of the system. The main advantage of the proposed observer is its simplicity of design and it has a lower order that the original system.
{"title":"Output observer design for fault detection","authors":"K. Busawon, P. Canyelles-Pericas, L. Latchooman, M. Farza, M. Msaad","doi":"10.1109/CONTROL.2014.6915139","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915139","url":null,"abstract":"In this paper, we propose an output observer design methodology for linear single output systems for fault detection purposes. Unlike traditional observers that are based on the the state-space representation of the system, the proposed observer design is based on the input output representation of the system. The main advantage of the proposed observer is its simplicity of design and it has a lower order that the original system.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127969294","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915134
Chi-Lun Wang, J. Tu
Dynamically substructured system testing method divides an original system into several substructures. In the numerical substructure, linear components are simulated via real-time computation. In the physical substructure, a transfer system, which includes actuators and sensors, is installed to interface the numerical and physical parts. During the test, the unwanted disturbances and noise from the actuator inevitably cause synchronization errors between the outputs of numerical and physical substructures at the interface, and consequently result in unsuccessful tests. Therefore, this study proposes advanced control using the feedforward state-space linear substructuring controller plus the mixed H2/H∞ feedback controller to ensure optimal and robust synchronization. The synchronization problem is transformed to tracking design according to a numerical-substructure-based framework and is solved based on Riccati-like equations and linear matrix inequality. A multivariable mass-spring-damper substructured system is developed to verify the proposed control strategy via numerical studies.
{"title":"Mixed H2/H∞ feedback control of multivariable dynamically substructured systems","authors":"Chi-Lun Wang, J. Tu","doi":"10.1109/CONTROL.2014.6915134","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915134","url":null,"abstract":"Dynamically substructured system testing method divides an original system into several substructures. In the numerical substructure, linear components are simulated via real-time computation. In the physical substructure, a transfer system, which includes actuators and sensors, is installed to interface the numerical and physical parts. During the test, the unwanted disturbances and noise from the actuator inevitably cause synchronization errors between the outputs of numerical and physical substructures at the interface, and consequently result in unsuccessful tests. Therefore, this study proposes advanced control using the feedforward state-space linear substructuring controller plus the mixed H2/H∞ feedback controller to ensure optimal and robust synchronization. The synchronization problem is transformed to tracking design according to a numerical-substructure-based framework and is solved based on Riccati-like equations and linear matrix inequality. A multivariable mass-spring-damper substructured system is developed to verify the proposed control strategy via numerical studies.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128045979","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915157
R. Kalaivani, P. Lakshmi, K. Sudhagar
In this paper a hybrid Differential Evolution based Biogeography Based Optimization (DEBBO) which converge quickly rather than algorithms without hybridization has been proposed for the tuning of Fuzzy Logic Controller (FLC) applied to a Quarter Car (QC) model with the RMS value of body acceleration as the performance index. It has been proven that the proposed controller works better than the conventional Proportional Integral Differential (PID) controller, DEBBO based PID (DEBBOPID) and intelligent FLC with the same control structure by performing the simulation in MATLABI Simulink environment.
{"title":"Hybrid (DEBBO) Fuzzy Logic Controller for quarter car model: DEBBOFLC for Quarter Car model","authors":"R. Kalaivani, P. Lakshmi, K. Sudhagar","doi":"10.1109/CONTROL.2014.6915157","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915157","url":null,"abstract":"In this paper a hybrid Differential Evolution based Biogeography Based Optimization (DEBBO) which converge quickly rather than algorithms without hybridization has been proposed for the tuning of Fuzzy Logic Controller (FLC) applied to a Quarter Car (QC) model with the RMS value of body acceleration as the performance index. It has been proven that the proposed controller works better than the conventional Proportional Integral Differential (PID) controller, DEBBO based PID (DEBBOPID) and intelligent FLC with the same control structure by performing the simulation in MATLABI Simulink environment.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130038526","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915142
Liang Lu, L. Agostini, P. Ricco, G. Papadakis
A framework for active wall-transpiration control of spatially developing, pre-transitional, boundary-layer flows over flat and concave walls (in the streamwise direction) is developed. The controller is designed to suppress the energy growth of streaks and Görtler vortices (with emphasis on the latter) induced by free-stream vortical disturbances within an incompressible boundary layer. The control framework uses the primitive variables, velocity and pressure. The flow model is based on the linearised unsteady boundary-region (LUBR) equations, which are the rigorous asymptotic form of the Navier-Stokes equations in the limit of low frequency and long-streamwise wavelength. At a particular wavenumber, the effect of free-stream turbulence appears as explicit forcing of these equations which is obtained by asymptotic matching with the far field conditions. An optimal control problem that accounts for this explicit forcing is formulated and solved. The objective cost function that is minimised comprises the weighted energy of the streaks/Cortler vortices and of the actuation. Results show the effectiveness of the developed control approach.
{"title":"Optimal state feedback control of streaks and görtler vortices induced by free-stream vortical disturbances","authors":"Liang Lu, L. Agostini, P. Ricco, G. Papadakis","doi":"10.1109/CONTROL.2014.6915142","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915142","url":null,"abstract":"A framework for active wall-transpiration control of spatially developing, pre-transitional, boundary-layer flows over flat and concave walls (in the streamwise direction) is developed. The controller is designed to suppress the energy growth of streaks and Görtler vortices (with emphasis on the latter) induced by free-stream vortical disturbances within an incompressible boundary layer. The control framework uses the primitive variables, velocity and pressure. The flow model is based on the linearised unsteady boundary-region (LUBR) equations, which are the rigorous asymptotic form of the Navier-Stokes equations in the limit of low frequency and long-streamwise wavelength. At a particular wavenumber, the effect of free-stream turbulence appears as explicit forcing of these equations which is obtained by asymptotic matching with the far field conditions. An optimal control problem that accounts for this explicit forcing is formulated and solved. The objective cost function that is minimised comprises the weighted energy of the streaks/Cortler vortices and of the actuation. Results show the effectiveness of the developed control approach.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126200936","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915164
Adilson de Souza Candido, Roberto Kawakami Harrop Galvão, T. Yoneyama
The availability of sufficient energy reserves and the performance of the autopilot constitute serious limiting factors in order to guarantee the completion of missions by battery-powered quadrotor helicopters. In this context, this article proposes methods aimed at improving the mission-level functional reliability through enhanced system self-awareness and adaptive mission planning. The central idea is to use system prognosis to estimate the available energy along the mission. In view of the possibility of occurrence of faults, the controller adopted for the quadrotor is of cascade switching multi-model predictive type, based on a set of piecewise affine models for the helicopter's displacement dynamics. The mission reconfiguration is carried out by casting it in the form of a Mixed Integer Linear Programming (MILP). The proposed methods were evaluated by numerical simulation under a variety of realistic scenarios. The results were satisfactory in terms of mission reconfiguration while performing accurate reference tracking.
{"title":"Control and energy management for quadrotor","authors":"Adilson de Souza Candido, Roberto Kawakami Harrop Galvão, T. Yoneyama","doi":"10.1109/CONTROL.2014.6915164","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915164","url":null,"abstract":"The availability of sufficient energy reserves and the performance of the autopilot constitute serious limiting factors in order to guarantee the completion of missions by battery-powered quadrotor helicopters. In this context, this article proposes methods aimed at improving the mission-level functional reliability through enhanced system self-awareness and adaptive mission planning. The central idea is to use system prognosis to estimate the available energy along the mission. In view of the possibility of occurrence of faults, the controller adopted for the quadrotor is of cascade switching multi-model predictive type, based on a set of piecewise affine models for the helicopter's displacement dynamics. The mission reconfiguration is carried out by casting it in the form of a Mixed Integer Linear Programming (MILP). The proposed methods were evaluated by numerical simulation under a variety of realistic scenarios. The results were satisfactory in terms of mission reconfiguration while performing accurate reference tracking.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122429405","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915133
Salman Zaffar, A. Memon
Robust and Optimal stabilization of a class of a Linear Time Invariant (LTI) systems is discussed which exhibit linear time varying (LTV) behavior due to the presence of parametric variations and uncertainties. Linear quadratic methods offer global optimal control solutions for LTI systems. Such methods offer optimal solutions only locally for systems which become LTV due to parametric uncertainties. We propose that such an LTV system can be divided into two or more LTI systems in terms of the operating conditions ranging from nominal to most uncertain. In our proposed approach, two linear quadratic regulators would each be separately designed for nominal operating conditions and the uncertain conditions in a system. It is shown that the switchings between the two regulators depend upon the size of the uncertainty. A machine learning algorithm such as the support vector machine has been used to design a switching surface as a function of only the parametric uncertainties of the system. Extended high gain observers are used to estimate the parametric uncertainties needed for switching between the two regulators. Simulation results are included to demonstrate the performance of the proposed approach.
{"title":"Robust and optimal stabilization of uncertain linear systems using LQR methods","authors":"Salman Zaffar, A. Memon","doi":"10.1109/CONTROL.2014.6915133","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915133","url":null,"abstract":"Robust and Optimal stabilization of a class of a Linear Time Invariant (LTI) systems is discussed which exhibit linear time varying (LTV) behavior due to the presence of parametric variations and uncertainties. Linear quadratic methods offer global optimal control solutions for LTI systems. Such methods offer optimal solutions only locally for systems which become LTV due to parametric uncertainties. We propose that such an LTV system can be divided into two or more LTI systems in terms of the operating conditions ranging from nominal to most uncertain. In our proposed approach, two linear quadratic regulators would each be separately designed for nominal operating conditions and the uncertain conditions in a system. It is shown that the switchings between the two regulators depend upon the size of the uncertainty. A machine learning algorithm such as the support vector machine has been used to design a switching surface as a function of only the parametric uncertainties of the system. Extended high gain observers are used to estimate the parametric uncertainties needed for switching between the two regulators. Simulation results are included to demonstrate the performance of the proposed approach.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"170 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123284519","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915132
N. Khalid, A. Memon
This paper investigates the application of a novel robust output feedback stabilizing controller to an Inertia Wheel Pendulum (IWP) - a bench mark problem in the control of under-actuated mechanical systems. The proposed scheme uses a Sliding Mode Control (SMC) design for the stabilization of an IWP having unstable zero dynamics. Starting with the system equations of motion in standard form, a normal form representation of the system is derived, and a sliding mode controller is synthesized for robust stabilization of the system. The state feedback control design is extended to an output feedback control using a high gain observer. It is shown that the system response under the output feedback controller converges to that of the state feedback controller and the estimated states converge to actual states arbitrarily fast.
{"title":"Output feedback stabilization of an Inertia Wheel Pendulum using Sliding Mode Control","authors":"N. Khalid, A. Memon","doi":"10.1109/CONTROL.2014.6915132","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915132","url":null,"abstract":"This paper investigates the application of a novel robust output feedback stabilizing controller to an Inertia Wheel Pendulum (IWP) - a bench mark problem in the control of under-actuated mechanical systems. The proposed scheme uses a Sliding Mode Control (SMC) design for the stabilization of an IWP having unstable zero dynamics. Starting with the system equations of motion in standard form, a normal form representation of the system is derived, and a sliding mode controller is synthesized for robust stabilization of the system. The state feedback control design is extended to an output feedback control using a high gain observer. It is shown that the system response under the output feedback controller converges to that of the state feedback controller and the estimated states converge to actual states arbitrarily fast.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115361370","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915152
Fathi Abugchem, M. Short, Donglai Xu
In this paper, the jitter sensitivity of a real-time embedded implementation of a self-tuning generalized predictive control algorithm will be experimentally investigated using a hardware-in-the-loop testing technique. The aim of the study was to explore the potential impacts of slew rate limits of the input of the controlled system on the performance of the controller when jitter is present. The paper also examines the effects of different preemption levels of the underlying earliest deadline first scheduler on the performance of the control system.
{"title":"Jitter sensitivity of a self-tuning input-constrained predictive controller","authors":"Fathi Abugchem, M. Short, Donglai Xu","doi":"10.1109/CONTROL.2014.6915152","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915152","url":null,"abstract":"In this paper, the jitter sensitivity of a real-time embedded implementation of a self-tuning generalized predictive control algorithm will be experimentally investigated using a hardware-in-the-loop testing technique. The aim of the study was to explore the potential impacts of slew rate limits of the input of the controlled system on the performance of the controller when jitter is present. The paper also examines the effects of different preemption levels of the underlying earliest deadline first scheduler on the performance of the control system.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131506505","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915136
I. Zajic, K. Burnham
This paper presents a proposal of a novel parameter adjustment procedure for a class of continuous-time bilinear models. This procedure allows the user to adjust the operating point dependent dynamic characteristics of the considered bilinear model to match the dynamic characteristics of the same model however operated at different working point. This procedure finds its application in system identification and simulation of bilinear models as well as in the area of bilinear model based control.
{"title":"Operating point adjustment procedure for a class of continuous-time bilinear models","authors":"I. Zajic, K. Burnham","doi":"10.1109/CONTROL.2014.6915136","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915136","url":null,"abstract":"This paper presents a proposal of a novel parameter adjustment procedure for a class of continuous-time bilinear models. This procedure allows the user to adjust the operating point dependent dynamic characteristics of the considered bilinear model to match the dynamic characteristics of the same model however operated at different working point. This procedure finds its application in system identification and simulation of bilinear models as well as in the area of bilinear model based control.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125370124","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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