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    Wyświetlanie 1-10 z 10
    Tytuł:
    Stability analysis of variational inequalities for bang-singular-bang controls
    Autorzy:
    Felgenhauer, U.
    Powiązania:
    https://bibliotekanauki.pl/articles/206215.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    parametric optimal control problems bang-singular control structure
    approximation of extremals
    Opis:
    The paper is related to parameter dependent optimal control problems for control-affine systems. The case of scalar reference control with bang-singular-bang structure is considered. The analysis starts from a variational inequality (VI) formulation of Pontryagin’s Maximum Principle. In a first step, under appropriate higher-order sufficient optimality conditions, the existence of solutions for the linearized problem (LVI) is proven. In a second step, for a certain class of right-hand side perturbation, it is show that the controls from LVI have bang-singular-bang structure and, in L1 topology, depend Lipschitz continuously on the data. Applying finally a common fixed-point approach to VI, the results are brought together to obtain existence and structural stability results for extremals of the original control problem under parameter perturbation.
    Źródło:
    Control and Cybernetics; 2013, 42, 3; 557-592
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    On some nonconventional problem of a state filtration
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/970607.pdf
    Data publikacji:
    2008
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    hierarchical control structure
    nonconventional state filtration
    modified innovations
    orthogonality principle
    Opis:
    In the paper nonconventional linear equations of state filtration are derived. They are useful for some two-level hierarchical control system structure with coordinator and local controllers having different information. It is assumed that the system considered is described by a linear output equation and a linear state equation with control being a random variable for the coordinator generated by decision rules of the local controllers. The approach to state filtration is based on modified innovations and orthogonality principle. A simple numerical example is presented.
    Źródło:
    Control and Cybernetics; 2008, 37, 3; 531-547
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
    Autorzy:
    Martins, N. A.
    Alencar, M.
    Lombardi, W. C.
    Bertol, D. W.
    Pieri, E. R.
    Filho, H. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/971045.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    wheeled mobile robot
    trajectory tracking
    kinematic control
    variable structure control
    dynamic control
    sliding mode theory
    neural networks
    Lyapunov theory
    Opis:
    This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.
    Źródło:
    Control and Cybernetics; 2015, 44, 1; 47-98
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task
    Autorzy:
    Begnini, M.
    Bertol, W.
    Martins, N. A.
    Powiązania:
    https://bibliotekanauki.pl/articles/971054.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nonholonomic mobile robot
    trajectory tracking
    variable structure control
    uncertainties and disturbances
    fuzzy compensator
    Lyapunov theory
    Opis:
    A robust adaptive kinematic control strategy, based on the methodology of variable structure control is considered in this paper. Because the dynamics of mobile robots is subject to uncertainties and disturbances, a fuzzy compensator is adopted to estimate them. In order to minimize the tracking errors and to attenuate the chattering phenomenon, an adaptation law for the fuzzy compensator is obtained by Lyapunov stability theory so as to asymptotically stabilize the control system as well as guarantee the convergence of the tracking errors. In terms of comparison with the boundary layer variable structure controller, simulations and experiments verify the feasibility and effectiveness of the proposed kinematic control strategy for the nonholonomic mobile robots under the incidence of uncertainties and disturbances.
    Źródło:
    Control and Cybernetics; 2018, 47, 3; 239-275
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Strong stability of a model of an overhead crane
    Autorzy:
    Conrad, F.
    Mifdal, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/205869.pdf
    Data publikacji:
    1998
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    boundary control
    feedback stabilization
    flexible structure
    Opis:
    In this paper, a strong stability result is given for a model of an overhead crane which consists of a motorized platform moving along an horizontal beam with a flexible cable, holding a load mass M. A non uniform stability result is also shown.
    Źródło:
    Control and Cybernetics; 1998, 27, 3; 363-374
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Chattering attenuation in sliding mode control systems
    Autorzy:
    Bartoszewicz, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/206731.pdf
    Data publikacji:
    2000
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nieliniowy system sterowania
    nonlinear control system
    compensation
    control nonlinearities
    sliding mode control
    variable structure systems
    Opis:
    In this paper sliding mode control systems are considered and a new technique to attenuate chattering is proposed. The technique employs simple, first-order dynamical devices, i.e. an integrator or a low-pass filter, to compensate in part for unknown and changing disturbance. As a result of this compensation, the magnitude of the discontinuous control term is essentially reduced. The term does not depend on the admissible disturbance or its change rate, but only on the uncertainty of the disturbance at the initial time t = t[sub o]. The technique proposed in this paper attenuates the undesirable chattering without any deterioration of the system performance.
    Źródło:
    Control and Cybernetics; 2000, 29, 2; 585-584
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A Bolza optimal synthesis problem for singular estimate control systems
    Autorzy:
    Lasiecka, I.
    Tuffaha, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/970760.pdf
    Data publikacji:
    2009
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    Bolza problem
    Riccati equation
    singular estimate control systems
    fluid-structure interaction
    Opis:
    Bolza problem governed by PDE control systems with unbounded controls is considered. The motivating example is fluid structure interaction model with boundary-interface controls. The aim of the work is to provide optimal feedback synthesis associated with well denned gain operator constructed from the Riccati equation. The dynamics considered is of mixed parabolic-hyperbolic type which prevents applicability of tools developed earlier for analytic semigroups. It is shown, however, that the control operator along with the generator of the semigroup under consideration satisfy singular estimate referred to as Revisited Singular Estimate (RSE). This estimate, which measures "unboundedness" of control actions, is a generalization and a weaker form of Singular Estimate (SE) treated in the past literature. The main result of the paper provides Riccati theory developed for this new class of control systems labeled as RSECS (Revisited Singular Estimate Control Systems). The important feature is that the gain operator, constructed via Riccati operator, is consistent with the optimal feedback synthesis. The gain operator, though unbounded, has a controlled algebraically singularity at the terminal point. This enables one to establish well-posedness of the Riccati solutions and of the optimal feedback representation. An application of the theoretical framework to boundary control of a fluid-structure interaction model is given.
    Źródło:
    Control and Cybernetics; 2009, 38, 4B; 1429-1460
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Controllability of a class of infinite dimensional systems with age structure
    Autorzy:
    Maity, Debayan
    Tucsnak, Marius
    Zuazua, Enrique
    Powiązania:
    https://bibliotekanauki.pl/articles/1839149.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    infinite dimensional linear system
    age structure
    admissible control operator
    null controllability
    population dynamics
    Opis:
    Given a linear dynamical system, we investigate the linear infinite dimensional system obtained by grafting an age structure. Such systems appear essentially in population dynamics with age structure when phenomena like spatial diffusion or transport are also taken into consideration. We first show that the new system preserves some of the wellposedness properties of the initial one. Our main result asserts that if the initial system is null controllable in a time small enough then the structured system is also null controllable in a time depending on the various involved parameters.
    Źródło:
    Control and Cybernetics; 2019, 48, 2; 231-260
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Stabilization of a fluid structure interaction with nonlinear damping
    Autorzy:
    Lasiecka, I.
    Lu, Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/206598.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    fluid structure interaction
    interface
    Navier-Stokes equation
    system of elasticity
    feedback boundary control
    strong stability
    uniform stability
    optimal control
    passive damping
    active damping
    dynamic and static damping
    Opis:
    Asymptotic stability of finite energy solutions to a fluid-structure interaction with a static interface in a bounded domain Ω ∈ Rn, n = 2 is considered. It is shown that the undamped model subject to ”partial flatness” geometric condition on the in- terface produces solutions whose energy converges strongly to zero; while with a stress type feedback control applied on the interface of the structure, the model produces solutions whose energy is exponentially stable. An addition of a static damping on the interface produces solutions whose full norm in the phase space is exponentially stable. Without a static damping an interesting phenomenon occurs that steady state solutions (equilibria) might generate genuinely growing in time solutions. This is purely nonlinear phenomenon captured by newly developed techniques amenable to handle instability of steady state solutions arising from nonlinearity.
    Źródło:
    Control and Cybernetics; 2013, 42, 1; 155-181
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hard and soft sub-time-optimal controllers for a mechanical system with uncertain mass
    Autorzy:
    Kulczycki, P.
    Wisniewski, R.
    Kowalski, P.
    Krawiec, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/970463.pdf
    Data publikacji:
    2004
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sterowanie optymalne
    odporność
    system mechaniczny
    masa niepewna
    proces stochastyczny
    budowa podoptymalna
    optimal control
    mechanical system
    uncertain mass
    stochastic process
    suboptimal structure
    robustness
    Opis:
    An essential limitation in using the classical optimal control has been its limited robustness to modeling inadequacies and perturbations. This paper presents the concepts of two practical control structures based on the time-optimal approach, a hard and soft one. The hard structure is defined by the parameters selected in accordance with the rules of the statistical decision theory: however, the soft structure allows additionally for elimination of rapid changes in control values. The object is a basic mechanical system, with uncertain (also non-stationary) mass treated as a stochastic process. The methodology proposed here is of a universal nature and may easily be applied with respect to other elements of uncertainty of time-optimal controlled mechanical systems.
    Źródło:
    Control and Cybernetics; 2004, 33, 4; 573-587
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-10 z 10

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