Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587205
W. Hunek, K. Latawiec, M. Lukaniszyn, A. Gawdzik
Constrained minimum variance control is offered for nonsquare LTI MIMO systems. A constrained control design takes advantage of the so-called control zeros. The new control strategy is compared with familiar generalized minimum variance control and possible application areas of the two are discussed.
{"title":"Constrained minimum variance control of nonsquare LTI MIMO systems","authors":"W. Hunek, K. Latawiec, M. Lukaniszyn, A. Gawdzik","doi":"10.1109/MMAR.2010.5587205","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587205","url":null,"abstract":"Constrained minimum variance control is offered for nonsquare LTI MIMO systems. A constrained control design takes advantage of the so-called control zeros. The new control strategy is compared with familiar generalized minimum variance control and possible application areas of the two are discussed.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116862174","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 : 2010-08-01DOI: 10.1109/mmar.2010.5587257
K. Jerzy
In the paper, infinite-dimensional, continuous-time control systems described by nonlinear and semilinear abstract differential equations are considered. Using methods of functional analysis sufficient conditions for constrained exact local controllability are formulated and proved. It is generally assumed that the values of controls are in a convex and closed cone with vertex at zero. Illustrative application is also given. Moreover, some remarks and comments on controllability problems for nonlinear dynamical systems are presented.
{"title":"Constrained controllability","authors":"K. Jerzy","doi":"10.1109/mmar.2010.5587257","DOIUrl":"https://doi.org/10.1109/mmar.2010.5587257","url":null,"abstract":"In the paper, infinite-dimensional, continuous-time control systems described by nonlinear and semilinear abstract differential equations are considered. Using methods of functional analysis sufficient conditions for constrained exact local controllability are formulated and proved. It is generally assumed that the values of controls are in a convex and closed cone with vertex at zero. Illustrative application is also given. Moreover, some remarks and comments on controllability problems for nonlinear dynamical systems are presented.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"79 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133373192","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 : 2010-08-01DOI: 10.1109/MMAR.2010.5587248
M. Gugat
In the application of feedback controls, the computation of the controls may cause a delay. For vibrating systems, a constant delay can destroy the stabilizing effect of the control. To avoid this problem we consider a feedback where a certain delay is a part of the control law and not a perturbation. We consider a string that is fixed at one end and controlled with a boundary feedback with constant delay at the other end. We show the exponential stability of this system that is governed by the wave equation. Moreover, we show the robustness of the stability with respect to variations in time of the feedback parameter that appears as a factor in the control law.
{"title":"Stabilizing a vibrating string by time delay","authors":"M. Gugat","doi":"10.1109/MMAR.2010.5587248","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587248","url":null,"abstract":"In the application of feedback controls, the computation of the controls may cause a delay. For vibrating systems, a constant delay can destroy the stabilizing effect of the control. To avoid this problem we consider a feedback where a certain delay is a part of the control law and not a perturbation. We consider a string that is fixed at one end and controlled with a boundary feedback with constant delay at the other end. We show the exponential stability of this system that is governed by the wave equation. Moreover, we show the robustness of the stability with respect to variations in time of the feedback parameter that appears as a factor in the control law.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125429016","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 : 2010-08-01DOI: 10.1109/MMAR.2010.5587267
Z. Kowalczuk, Michał Czubenko
This paper presents a mind model for controlling autonomous robot systems, based on human psychology. A cognitive system and a motivational system (emotions and needs) constitute its main parts. The motivational system controls the reactions of a robot with the use of changeable states of needs. Emotions control the behavior of the robot by modulating certain parameters of needs. The cognitive system controls both the memory of the robot and its data processing.
{"title":"Model of human psychology for controlling autonomous robots","authors":"Z. Kowalczuk, Michał Czubenko","doi":"10.1109/MMAR.2010.5587267","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587267","url":null,"abstract":"This paper presents a mind model for controlling autonomous robot systems, based on human psychology. A cognitive system and a motivational system (emotions and needs) constitute its main parts. The motivational system controls the reactions of a robot with the use of changeable states of needs. Emotions control the behavior of the robot by modulating certain parameters of needs. The cognitive system controls both the memory of the robot and its data processing.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133962251","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 : 2010-08-01DOI: 10.1109/MMAR.2010.5587212
M. Casado, F. Gonzalez
Underwater vehicles present a difficult control-system design due to their nonlinear dynamics, uncertain models, and the presence of disturbances that are difficult to measure or estimate. A multivariable design based on backstepping jointly with a simple optimization algorithm, that minimizes the energy consumption, is able to carry out the control of this system taking into account the uncertainties in the plant's parameters.
{"title":"Non linear and robust control of underwater vehicles","authors":"M. Casado, F. Gonzalez","doi":"10.1109/MMAR.2010.5587212","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587212","url":null,"abstract":"Underwater vehicles present a difficult control-system design due to their nonlinear dynamics, uncertain models, and the presence of disturbances that are difficult to measure or estimate. A multivariable design based on backstepping jointly with a simple optimization algorithm, that minimizes the energy consumption, is able to carry out the control of this system taking into account the uncertainties in the plant's parameters.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"75 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130974751","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 : 2010-08-01DOI: 10.1109/MMAR.2010.5587233
R. Cimochowski
The asymptotic stability of the positive switched discrete-time linear systems is addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched linear systems are established for any switching. The considerations are illustrated by numerical examples.
{"title":"Stability of positive switched discrete-time linear systems","authors":"R. Cimochowski","doi":"10.1109/MMAR.2010.5587233","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587233","url":null,"abstract":"The asymptotic stability of the positive switched discrete-time linear systems is addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched linear systems are established for any switching. The considerations are illustrated by numerical examples.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125177522","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 : 2010-08-01DOI: 10.1109/MMAR.2010.5587215
A. Zhirabok, D. Tkachev
The problem of fault diagnosis in electrical circuits is studied. The suggested method is based on diagnostic observers. The procedure of observer synthesis for circuits described by linear equations is developed. The existence conditions to design the observer invariant with respect to the fault are considered. The example of electrical circuit and simulation results are given.
{"title":"Method of fault isolation in electrical circuits","authors":"A. Zhirabok, D. Tkachev","doi":"10.1109/MMAR.2010.5587215","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587215","url":null,"abstract":"The problem of fault diagnosis in electrical circuits is studied. The suggested method is based on diagnostic observers. The procedure of observer synthesis for circuits described by linear equations is developed. The existence conditions to design the observer invariant with respect to the fault are considered. The example of electrical circuit and simulation results are given.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123746179","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 boundary control problems associated to a semilinear elliptic equation defined in a curved domain Ω are considered. The Dirichlet and Neumann cases are analyzed. To deal with the numerical analysis of these problems, the approximation of Ω by an appropriate domain Ωh (typically polygonal) is required. Here, we do not consider the numerical approximation of the control problems. Instead of it, we formulate the corresponding infinite dimensional control problems in Ωh and we study the influence of the replacement of Ω by Ωh on the solutions of the control problems. Our goal is to compare the optimal controls defined on Γ = δΩ with those defined on Γh = δΩh and to derive some error estimates. The use of a convenient parametrization of the boundary is needed for such estimates. The results for convex domains are given in [1], the results for nonconvex domains are included in a work in progress.
{"title":"Approximation of boundary control problems on curved domains","authors":"E. Casas, J. Sokołowski","doi":"10.1137/090761550","DOIUrl":"https://doi.org/10.1137/090761550","url":null,"abstract":"The boundary control problems associated to a semilinear elliptic equation defined in a curved domain Ω are considered. The Dirichlet and Neumann cases are analyzed. To deal with the numerical analysis of these problems, the approximation of Ω by an appropriate domain Ω<inf>h</inf> (typically polygonal) is required. Here, we do not consider the numerical approximation of the control problems. Instead of it, we formulate the corresponding infinite dimensional control problems in Ω<inf>h</inf> and we study the influence of the replacement of Ω by Ω<inf>h</inf> on the solutions of the control problems. Our goal is to compare the optimal controls defined on Γ = δΩ with those defined on Γ<inf>h</inf> = δΩ<inf>h</inf> and to derive some error estimates. The use of a convenient parametrization of the boundary is needed for such estimates. The results for convex domains are given in [1], the results for nonconvex domains are included in a work in progress.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134438610","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 : 2009-10-01DOI: 10.1109/MMAR.2010.5587255
A. Novotny, J. Sokołowski, A. Zochowski
We consider an elastic body with a rigid inclusion and a crack located at the boundary of the inclusion [11]. It is assumed that non-penetration conditions are imposed at the crack faces which do not allow the opposite crack faces to penetrate each other. The differentiability of the elastic energy with respect to the crack length, for the crack located at the boundary of rigid inclusion, is established [11].
{"title":"Shape and topology sensitivity analysis for cracks in elastic bodies on boundaries of rigid inclusions","authors":"A. Novotny, J. Sokołowski, A. Zochowski","doi":"10.1109/MMAR.2010.5587255","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587255","url":null,"abstract":"We consider an elastic body with a rigid inclusion and a crack located at the boundary of the inclusion [11]. It is assumed that non-penetration conditions are imposed at the crack faces which do not allow the opposite crack faces to penetrate each other. The differentiability of the elastic energy with respect to the crack length, for the crack located at the boundary of rigid inclusion, is established [11].","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125732184","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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