Search results for "Control theory"
showing 10 items of 1333 documents
Stability and -gain controller design for positive switched systems with mixed time-varying delays
2013
This paper investigates the problems of stability and L"1-gain controller design for positive switched systems with mixed time-varying delays. The mixed time-varying delays are presented in the forms of discrete delay and distributed delay. The purpose of this paper is to design a class of switching signals and a state feedback controller for the considered system such that the resulting closed-loop system is exponentially stable with L"1-gain performance. By constructing an appropriate co-positive type Lyapunov-Krasovskii functional and using the average dwell time approach, we propose a sufficient condition to ensure the exponential stability with weighted L"1-gain performance for the sys…
Stochastic analysis of dynamical systems with delayed control forces
2006
Abstract Reduction of structural vibration in actively controlled dynamical system is usually performed by means of convenient control forces dependent of the dynamic response. In this paper the existent studies will be extended to dynamical systems subjected to non-normal delta-correlated random process with delayed control forces. Taylor series expansion of the control forces has been introduced and the statistics of the dynamical response have been obtained by means of the extended Ito differential rule. Numerical application provided shows the capabilities of the proposed method to analyze stochastic dynamic systems with delayed actions under delta-correlated process contrasting statist…
Optimal nonlinear damping control of second-order systems
2020
Novel nonlinear damping control is proposed for the second-order systems. The proportional output feedback is combined with the damping term which is quadratic to the output derivative and inverse to the set-point distance. The global stability, passivity property, and convergence time and accuracy are demonstrated. Also the control saturation case is explicitly analyzed. The suggested nonlinear damping is denoted as optimal since requiring no design additional parameters and ensuring a fast convergence, without transient overshoots for a non-saturated and one transient overshoot for a saturated control configuration.
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
2021
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…
Dual-model approach for safety-critical embedded systems
2020
Abstract The paper presents the design of digital controllers based on two models: the Petri net model, and the UML state machine. These two approaches differ in many aspects of design flow, such as conceptual modelling, and analysis and synthesis. Each of these approaches can be used individually to design an efficient logic controller, and such solutions are well-known, but their interoperability can contribute to a much better understanding of logic controller design and validation. This is especially important in the case of safety- or life-critical embedded systems, and apart from this, a dual-model controller design can make up redundant system increasing its reliability.
Crowd-Averse Cyber-Physical Systems: The Paradigm of Robust Mean-Field Games
2016
For a networked controlled system, we illustrate the paradigm of robust mean-field games. This is a modeling framework at the interface of differential game theory, mathematical physics, and $H_{\infty}$ - optimal control that tries to capture the mutual influence between a crowd and its individuals. First, we establish a mean-field system for such games including the effects of adversarial disturbances. Second, we identify the optimal response of the individuals for a given population behavior. Third, we provide an analysis of equilibria and their stability.
Continuous Monitoring of Parasitic Elements in Boost Converter Circuit
2021
The given paper explains the necessity of condition monitoring for DC/DC boost converter circuit. Further, an analytical model of circuit parasitic estimation is presented based on measured quantities in the circuit. The implementation of continuous estimation of circuit parasitic elements is analytically explained and verified by simulations and experimental results. Obtained results are acceptable for condition monitoring.
Lazy consensus for networks with unknown but bounded disturbances
2007
We consider stationary consensus protocols for networks of dynamic agents. The measure of the neighbors' state is affected by Unknown But Bounded disturbances. Here the main contribution is the formulation and solution of what we call the isin-consensus problem, where the states are required to converge in a tube of ray isin asymptotically or in finite time.
Kinematic calibration method for a 5-DOF Gantry-Tau parallel kinematic machine
2013
In this paper a new step-wise approach to kinematic calibration of a 5-DOF Gantry-Tau parallel kinematic machine (PKM) is presented. The approach can be adapted to the modular design of the PKM and the calibration could easily perform part of the assembly instructions for the machine. By using measurements from a laser tracker and least-squares estimates of polynomial functions, a typical accuracy of about 20 micrometer was achieved for the base actuators. The remaining set of 30 general parameters for the hexapod link structure and spherical joint connections were successfully estimated using the Complex search-based evolutionary algorithm.
Rolling, Pitching and Yawing of a Superconducting Maglev Vehicle
1995
The dynamic characteristics of a Maglev vehicle are influenced by both the translational and the rotational degrees of freedom. As a result, the rolling, pitching and yawing motion modes must be included in a complete description of the dynamic features of a Maglev vehicle. Furthermore, the analysis of this motion modes is also very useful in order to obtain the highest achievable riding comfort.