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Tytuł:
Position/force control of manipulator in contact with flexible environment
Autorzy:
Gierlak, Piotr
Powiązania:
https://bibliotekanauki.pl/articles/386967.pdf
Data publikacji:
2019
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
robotics
robot control
nonlinear control systems
Opis:
The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.
Źródło:
Acta Mechanica et Automatica; 2019, 13, 1; 16-22
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The ship control system for trajectory tracking experiments with physical model of tanker
Autorzy:
Morawski, L.
Vinh, N. C.
Pomirski, J.
Rak, A.
Powiązania:
https://bibliotekanauki.pl/articles/258464.pdf
Data publikacji:
2007
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
nonlinear control
ship control
track-keeping
Opis:
This paper presents a cascade system which stabilizes the transverse deviation of the ship in relation to the set path. The ship’s path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The primary controller is the trajectory controller. It generates the set value of heading for the course control system or angular velocity for the turning control system. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the nonlinear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system was tested in Matlab-Simulink environment. The results of tests performed on a lake are presented and discussed.
Źródło:
Polish Maritime Research; 2007, S 2; 49-53
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Neural control of a robotic manipulator in contact with a flexible and uncertain environment
Autorzy:
Gierlak, Piotr
Powiązania:
https://bibliotekanauki.pl/articles/2233648.pdf
Data publikacji:
2023
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
robotics
robot control
nonlinear control systems
Opis:
This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot's dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.
Źródło:
Acta Mechanica et Automatica; 2023, 17, 3; 435--444
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Global linearization of nonlinear systems - A survey
Autorzy:
Čelikovský, Sergej
Powiązania:
https://bibliotekanauki.pl/articles/1359660.pdf
Data publikacji:
1995
Wydawca:
Polska Akademia Nauk. Instytut Matematyczny PAN
Tematy:
exact linearization
nonlinear control
global linearization
Opis:
A survey of the global linearization problem is presented. Known results are divided into two groups: results for general affine nonlinear systems and for bilinear systems. In the latter case stronger results are available. A comparision of various linearizing transformations is performed. Numerous illustrative examples are included.
Źródło:
Banach Center Publications; 1995, 32, 1; 123-137
0137-6934
Pojawia się w:
Banach Center Publications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Realization of nonlinear composite systems
Autorzy:
Mullari, T.
Kotta, U.
Nomm, S.
Tonso, M.
Powiązania:
https://bibliotekanauki.pl/articles/969986.pdf
Data publikacji:
2006
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
nonlinear control systems
realization
composite systems
Opis:
The paper studies the realization problem for series and parallel connections of nonlinear single-input single-output systems, described by higher order differential equations. Necessary and sufficient conditions are given for the existence of the classical state space realization in both cases. It is proved that post- and parallel compensators are of no help in overcoming non-realizability. Results are illustrated by an example.
Źródło:
Control and Cybernetics; 2006, 35, 4; 905-921
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints
Autorzy:
Kabziński, J.
Mosiołek, P.
Powiązania:
https://bibliotekanauki.pl/articles/201256.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion control
nonlinear control
adaptive control
state constraints
Opis:
The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 5; 963--971
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Expert system approach in designing knowladge-based controller
Autorzy:
Ptasznik, P.
Powiązania:
https://bibliotekanauki.pl/articles/1813975.pdf
Data publikacji:
2013
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
nonlinear control
expert systems
reasoning
Al
Opis:
In this article the knowledge-based control approach will be proposed for nonlinear systems. Firstly some basic concepts from the artificial intelligence will be defined, then the expert system design process will be introduced and finally a practical example will be discussed. The principle of this method is to support the controller with the human-like reasoning to determine the appropriate control mode and to estimate unknown parameters. Note that this is the heuristic approach, hence neither optimal steering, nor stability is guaranteed.
Źródło:
Prace Naukowe Instytutu Maszyn, Napędów i Pomiarów Elektrycznych Politechniki Wrocławskiej. Studia i Materiały; 2013, 69, 33; 540--549
1733-0718
Pojawia się w:
Prace Naukowe Instytutu Maszyn, Napędów i Pomiarów Elektrycznych Politechniki Wrocławskiej. Studia i Materiały
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Efficient MPC algorithms with variable trajectories of parameters weighting predicted control errors
Autorzy:
Nebeluk, Robert
Marusak, Piotr
Powiązania:
https://bibliotekanauki.pl/articles/230077.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
model predictive control
nonlinear systems
nonlinear models
nonlinear control
simulation
optimization
Opis:
Model predictive control (MPC) algorithms brought increase of the control system performance in many applications thanks to relatively easily solving issues that are hard to solve without these algorithms. The paper is focused on investigating how to further improve the control system performance using a trajectory of parameters weighting predicted control errors in the performance function of the optimization problem. Different shapes of trajectories are proposed and their influence on control systems is tested. Additionally, experiments checking the influence of disturbances and of modeling uncertainty on control system performance are conducted. The case studies were done in control systems of three control plants: a linear non-minimumphase plant, a nonlinear polymerization reactor and a nonlinear thin film evaporator. Three types of MPC algorithms were used during research: linear DMC, nonlinear DMC with successive linearization (NDMC–SL), nonlinear DMC with nonlinear prediction and linearization (NDMC–NPL). Results of conducted experiments are presented in greater detail for the control system of the polymerization reactor, whereas for the other two control systems only the most interesting results are presented, for the sake of brevity. The experiments in the control system of the linear plant were done as preliminary experiments with the modified optimization problem. In the case of control system of the thin film evaporator the researched mechanisms were used in the control system of a MIMO plant showing possibilities of improving the control system performance.
Źródło:
Archives of Control Sciences; 2020, 30, 2; 325-363
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Anti-synchronization in different new chaotic systems via active nonlinear control
Autorzy:
Khan, A.
Prasad, R. P.
Powiązania:
https://bibliotekanauki.pl/articles/229711.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
new chaotic system
anti-synchronization
active nonlinear control
Opis:
In this paper, we discuss anti-synchronization between two identical new chaotic systems and anti-synchronization between another two identical new chaotic systems by active nonlinear control. The sufficient conditions for achieving the anti-synchronization of two new chaotic systems are derived based on Lyapunov stability theory. Numerical simulations are provided for illustration and verification of the proposed method.
Źródło:
Archives of Control Sciences; 2013, 23, 2; 229-242
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Heuristic control of nonlinear power systems: Application to the infinite bus problem
Autorzy:
Hossain, Musabbir Md
Khurshudyan, Asatur Zh.
Powiązania:
https://bibliotekanauki.pl/articles/229161.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
power systems
nonlinear control
heuristic method
harmonic control
piecewise constant control
Opis:
In this paper, we apply the heuristic method for determination of control functions for controllability analysis of nonlinear power systems. The problem of control of quasi-linear systems under proper assumptions on the nonlinear term is considered in the general statement. Making use of the Green’s function solution of nonlinear systems, the exact and approximate controllability conditions are expressed in terms of unknown controls in an explicit form. The way of resolving controls determination is discussed. As a particular application, a one-machine infinite-bus system is considered described by a coupled system of three first order ordinary differential equations. Two heuristic forms of admissible controls are considered providing approximate controllability within the same amount of time having different intensities. Results of numerical simulations are presented and discussed.
Źródło:
Archives of Control Sciences; 2019, 29, 2; 279-288
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Active noise control with a single nonlinear control filter for a vibrating plate with multiple actuators
Autorzy:
Mazur, K.
Pawełczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/176906.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
active noise-vibration control
active structural acoustic control
adaptive control
nonlinear control
Opis:
Vibrating plates can be used in Active Noise Control (ANC) applications as active barriers or as secondary sources replacing classical loudspeakers. The system with vibrating plates, especially when nonlinear MFC actuators are used, is nonlinear. The nonlinearity in the system reduces performance of classical feedforward ANC with linear control filters systems, because they cannot cope with harmonics generated by the nonlinearity. The performance of the ANC system can be improved by using nonlinear control filters, such as Artificial Neural Networks or Volterra filters. However, when multiple actuators are mounted on a single plate, which is a common practice to provide effective control of more vibration modes, each actuator should be driven by a dedicated nonlinear control filter. This significantly increases computational complexity of the control algorithm, because adaptation of nonlinear control filters is much more computationally demanding than adaptation of linear FIR filters. This paper presents an ANC system with multiple actuators, which are driven with a single nonlinear filter. To avoid destructive interference of vibrations generated by different actuators the control signal is filtered by appropriate separate linear filters. The control system is experimentally verified and obtained results are reported.
Źródło:
Archives of Acoustics; 2013, 38, 4; 537-545
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On generalization of integral control to a class of nonlinear uncertain systems
Autorzy:
Zwierzewicz, Z.
Powiązania:
https://bibliotekanauki.pl/articles/229834.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear control
uncertain systems
adaptive control
integral action
approximator
functional uncertainty
Opis:
The paper concerns a new view on the problem of integral control in the context of nonlinear uncertain systems. It is demonstrated that a standard integral action applied to the linear control system with so-called load disturbances, can be generalized to comprise a class of linearly parameterized nonlinear SISO systems with functional uncertainty. In this case the integral action is turned out to be in fact an adaptation law of unknown parameters. It has been found that the obtained proportional-integral controller's variable gains are the basis functions of the system unknown nonlinearity approximator.
Źródło:
Archives of Control Sciences; 2010, 20, 2; 187-198
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Offset-free nonlinear Model Predictive Control with state-space process models
Autorzy:
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/229638.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear control
predictive control
offset-free control
state-space model
state estimation
Opis:
Offset-free model predictive control (MPC) algorithms for nonlinear state-space process models, with modeling errors and under asymptotically constant external disturbances, is the subject of the paper. The main result of the paper is the presentation of a novel technique based on constant state disturbance prediction. It was introduced originally by the author for linear state-space models and is generalized to the nonlinear case in the paper. First the case with measured state is considered, in this case the technique allows to avoid disturbance estimation at all. For the cases with process outputs measured only and thus the necessity of state estimation, the technique allows the process state estimation only - as opposed to conventional approach of extended process-and-disturbance state estimation. This leads to simpler design with state observer/filter of lower order and, moreover, without the need of a decision of disturbance placement in the model (under certain restrictions), as in the conventional approach. A theoretical analysis of the proposed algorithm is provided, under applicability conditions which are weaker than in the conventional approach. The presented theory is illustrated by simulation results of nonlinear processes, showing competitiveness of the proposed algorithms.
Źródło:
Archives of Control Sciences; 2017, 27, 4; 595-615
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the connections between optimal control, regulation and dynamic network routing
Autorzy:
Karbowski, A.
Powiązania:
https://bibliotekanauki.pl/articles/307694.pdf
Data publikacji:
2003
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
stabilization
nonlinear control
optimal control
dynamic programming
data networks
routing algorithms
Opis:
The paper is devoted to studying general features of dynamic network routing problems. It is shown that these problems may be interpreted as receding horizon optimal control problems or simply regulation problems. In the basic formulation it is assumed, that the nodes have no dynamics and the only goal of the optimization mechanism is to find the shortest paths from the source to the destination nodes. In this problem the optimization mechanism (i.e. the Bellman-Ford algorithm) may be interpreted as a receding horizon optimal control routine. Moreover, there is one-toone correspondence between the Bellman optimal cost-to-go function in the shortest path problem and the Lyapunov function in the regulation problem. At the end some results of the application of the routing optimization algorithm to an inverted pendulum regulation problem are presented.
Źródło:
Journal of Telecommunications and Information Technology; 2003, 3; 67-72
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal control of dynamic systems using a new adjoining cell mapping method with reinforcement learning
Autorzy:
Arribas-Navarro, T.
Prieto, S.
Plaza, M.
Powiązania:
https://bibliotekanauki.pl/articles/205725.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
cells mapping
state space
reinforcement learning
stability
nonlinear control
controllability
Opis:
This work aims to improve and simplify the procedure used in the Control Adjoining Cell Mapping with Reinforcement Learning (CACM-RL) technique, for the tuning process of an optimal contro ller during the pre-learning stage (controller design), making easier the transition from a simulation environment to the real world. Common problems, encountered when working with CACM-RL, are the adjustment of the cell size and the long-term evolution error. In this sense, the main goal of the new approach, developed for CACM-RL that is proposed in this work (CACMRL*), is to give a response to both problems for helping engineers in defining of the control solution with accuracy and stability criteria instead of cell sizes. The new approach improves the mathematical analysis techniques and reduces the engineering effort during the design phase. In order to demonstrate the behaviour of CACM-RL*, three examples are described to show its application to real problems. In All the examples, CACM-RL* improves with respect to the considered alternatives. In some cases, CACM- RL* improves the average controllability by up to 100%.
Źródło:
Control and Cybernetics; 2015, 44, 3; 369-387
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the robustness of the integrable trajectories of the control systems with limited control resources
Autorzy:
Huseyin, Nesir
Huseyin, Anar
Guseinov, Khalik G.
Powiązania:
https://bibliotekanauki.pl/articles/27321481.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
nonlinear control system
integral equation
integral constraint
integrable trajectory
robustness
Opis:
The control system described by Urysohn type integral equation is considered where the system is nonlinear with respect to the phase vector and is affine with respect to the control vector. The control functions are chosen from the closed ball of the space Lq(Ω; ℝm), q > 1, with radius r and centered at the origin. The trajectory of the system is defined as p-integrable multivariable function from the space Lp(Ω; ℝn), (1/q) + (1/p) = 1, satisfying the system’s equation almost everywhere. It is shown that the system’s trajectories are robust with respect to the fast consumption of the remaining control resource. Applying this result it is proved that every trajectory can be approximated by the trajectory obtained by full consumption of the total control resource.
Źródło:
Archives of Control Sciences; 2023, 33, 3; 527--537
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Geometry and flatness of m-crane systems
Autorzy:
Nowicki, M.
Respondek, W.
Piasek, J.
Kozłowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/201728.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
differential flatness
crane
chained systems
feedback equivalence
accessibility
nonlinear control
Opis:
We propose a class of m-crane control systems that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 893-903
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A stability based neural networks controller design method
Autorzy:
Song, J.
Xu, X.
He, X.
Powiązania:
https://bibliotekanauki.pl/articles/206120.pdf
Data publikacji:
1998
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sieć neuronowa
stabilność
sterowanie nieliniowe
neural networks control
nonlinear control
sliding mode
stability
Opis:
The use of neural networks in control systems can be seen as a natural step in the evolution of control methodology to meet new challenges. Many attempts have been made to apply the neural networks to deal with non-linearities and uncertainties of the control systems. Research in neural network applications to control can be classified according to the major methods depending on structures of the control system, such as NN-based NON-linear System Identification, NN-based Supervised Control, NN-based Direct Control, NN-based Indirect Control, NN-based Adaptive Control, NN-based Self-learning Control, NN-based Fuzzy Control, and NN Variable Structure Control. All these control methods cannot, however, effectively guarantee system stability, i.e. none of these neural network controls, except for NN-based Variable Structure Control, is based on system stability. This also limits the application and development of the neural networks in control theory. The paper shows the effort to solve this difficulty and give a way for the design method of the stability based neural networks controller using Lyapunov second stability theorem. This kind of controller can not only guarantee system stability, but also fully compensate for the influence of system uncertainties and non-linearities.Simulation results also show the effectiveness of the controller.
Źródło:
Control and Cybernetics; 1998, 27, 1; 119-133
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:
Designing a ship course controller by applying the adaptive backstepping method
Autorzy:
Witkowska, A.
Śmierzchalski, R.
Powiązania:
https://bibliotekanauki.pl/articles/331255.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
autopilot
sterowanie adaptacyjne
sterowanie nieliniowe
algorytm genetyczny
adaptive control
nonlinear control
backstepping
genetic algorithms
Opis:
The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic full-scale simulation model of the B-481 type vessel including wave and wind effects was applied to simulate the control algorithm by using time domain analysis.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 4; 985-997
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modeling and Control of Induction Motors
Autorzy:
Delaleau, E.
Louis, J. P.
Ortega, R.
Powiązania:
https://bibliotekanauki.pl/articles/908324.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
silnik indukcyjny
sterowanie
induction motors
field oriented control
passivity based control
flatness based control
nonlinear control
Opis:
This paper is devoted to the modeling and control of the induction motor. The well-established field oriented control is recalled and two recent control strategies are exposed, namely the passivity-based control and the flatness-based control.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 1; 105-129
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sub-Optimal Nonlinear Predictive and Adaptive Control Based on the Parametric Volterra Model
Autorzy:
Haber, R.
Bars, R.
Lengyel, O.
Powiązania:
https://bibliotekanauki.pl/articles/908307.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
sterowanie optymalne
układ nieliniowy
adaptacyjny układ sterowania
predictive control
nonlinear control
optimal control
nonlinear systems
adaptive control
Opis:
Predictive control algorithms have been worked out mainly to control linear plants. There is a great demand to apply different control ideas to nonlinear systems. Using predictive control algorithms for nonlinear systems is a promising technique. Extended horizon one-step-ahead and long-range optimal predictive control algorithms are given here for the parametric Volterra model (which includes also the generalized Hammerstein model). A quadratic cost function is minimized which considers the quadratic deviations of the reference signal and the output signal at a future point (or points) beyond the dead time and also penalizes large control signal increments. For prediction of the output signal, a predictive model is applied which uses information about the input and output signals up to the current time. A predictive transformation of the nonlinear dynamic model is given. The incremental model is advantageous since the cost function contains the control increment and not the control signal itself. An incremental transformation of the predictive forms is also described. Sub-optimal solutions to the optimal control algorithms are discussed with different assumptions for the control signal during the control horizon. The effect of the different strategies and the effect of the tuning parameters is investigated through simulation examples.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 161-173
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Cooperation of model predictive control with steady-state economic optimisation
Autorzy:
Ławryńczuk, M.
Marusak, P. M.
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/971007.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne
optymalizacja
predictive control
optimal control
optimisation
economic steady-state optimisation
nonlinear control systems
constrained control
Opis:
The problem of cooperation of Model Predictive Control (MPC) algorithms with steady-state economic optimisation is investigated in this paper. It is particularly important when the dynamics of disturbances is comparable with the dynamics of the process, since in such a case the classical hierarchical multilayer structure is likely to be not efficient and give the economic yield smaller than expected. This is because the economic nonlinear optimisation problem cannot be then solved on-line to update the optimal operating point as frequently as needed. On the other hand, simple target set-point optimisation based on linear models can be also insufficiently accurate. This paper introduces approximate formulations of the target set-point optimisation problem which tightly cooperates with the MPC and is solved as frequently as the MPC controller executes. Linear, linear-quadratic and piecewise-linear formulations are discussed, tuning guidelines are also given.
Źródło:
Control and Cybernetics; 2008, 37, 1; 133-158
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear control of underwater robotic vehicle in plane motion
Nieliniowe sterowanie ruchem płaskim robota podwodnego
Autorzy:
Garus, J.
Powiązania:
https://bibliotekanauki.pl/articles/222514.pdf
Data publikacji:
2016
Wydawca:
Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
Tematy:
underwater robot
autopilot
nonlinear control
genetic algorithms
robot podwodny
układ nieliniowy
algorytmy genetyczne
Opis:
A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint line-of-sight scheme and nonlinear PD control law are applied to calculate command signals. Parameters of the proposed control law are tuned using genetic algorithms. The validity and advantages of the approach are illustrated through numerical simulation results.
W artykule przedstawiono koncepcję system automatycznego sterowania ruchem płaskim robota podwodnego wzdłuż trajektorii odniesienia. Układem odpowiedzialnym za wyznaczanie sygnałów sterujących jest autopilot, w którym zaimplementowano nieliniowy regulator PD. Parametry regulatora dostrojono z wykorzystaniem algorytmów genetycznych. Zamieszczono wyniki badań symulacyjnych ruchu robota w płaszczyźnie poziomej z wykorzystaniem zaproponowanego algorytmu sterowania.
Źródło:
Zeszyty Naukowe Akademii Marynarki Wojennej; 2016, R. 57 nr 3 (206), 3 (206); 15-23
0860-889X
Pojawia się w:
Zeszyty Naukowe Akademii Marynarki Wojennej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A sufficient condition for small-time local attainability of a set
Autorzy:
Krastanov, M.
Powiązania:
https://bibliotekanauki.pl/articles/205840.pdf
Data publikacji:
2002
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
nieliniowy system sterowania
nonlinear control systems
small-time local attainability of a set
Opis:
The notion of small-time local attainability (STLA) of a closed set with respect to a nonlinear control system is discussed and a new sufficient STLA condition is proved.
Źródło:
Control and Cybernetics; 2002, 31, 3; 739-750
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship course control system taking into account the steering gear dynamic properties
Sterownie kursem statku z uwzględnieniem własności dynamicznych maszyny sterowej
Autorzy:
Witkowska, A.
Śmierzchalski, R.
Powiązania:
https://bibliotekanauki.pl/articles/359682.pdf
Data publikacji:
2012
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
autopilot
nieliniowe sterowanie
metoda backstepping
algorytm genetyczny
nonlinear control
backstepping method
genetic algorithm
Opis:
The article presents various configurations of nonlinear ship course controllers. The controllers were designed based on backstepping method, the PD and sliding mode control. The controller versions at the design stage take into account the dynamic properties of the steering gear. A simplified simulation model of the B-481 type vessel, including wave and wind effects, was applied to simulate the control algorithm by using time domain analysis. The results of computer simulations have shown the advantages of control algorithms taking into account the dynamics of steering gear such as the increasing the economic efficiency of system operation, the reducing rudder activity and increasing the average speed of the vessel during the voyage.
W artykule zostały przedstawione różne konfiguracje regulatorów nieliniowych do sterowania kursem statku. Dwie z nich uwzględniają na etapie projektowania liniowe własności dynamiczne urządzenia wykonawczo-sterującego maszyny sterowej. Projekty regulatorów oparto na metodzie backstepping, regulatorze PD oraz sterowaniu ślizgowym. Dokonano analizy porównawczej jakości pracy rozpatrywanych struktur sterowania podczas badań symulacyjnych na pełnowymiarowym modelu symulacyjnym statku typu B-481. Wyniki badań symulacji komputerowych wykazały przewagę algorytmów sterowania z uwzględnieniem dynamiki maszyny sterowej poprzez zwiększenie wydajności ekonomicznej pracy układu, zmniejszenie aktywności steru oraz zwiększenie średniej prędkości statku podczas podróży.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2012, 30 (102); 158-165
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear controller design of a ship autopilot
Autorzy:
Tomera, M.
Powiązania:
https://bibliotekanauki.pl/articles/907758.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie ślizgowe
sterowanie nieliniowe
eliminacja zakłóceń
sterowanie statkiem
sliding-mode control
nonlinear control
disturbance rejection
ship control
Opis:
The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 2; 271-280
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A numerically efficient fuzzy MPC algorithm with fast generation of the control signal
Autorzy:
Marusak, Piotr M.
Powiązania:
https://bibliotekanauki.pl/articles/1838187.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model predictive control
fuzzy system
fuzzy control
nonlinear control
sterowanie predykcyjne
system rozmyty
sterowanie rozmyte
sterowanie nieliniowe
Opis:
Model predictive control (MPC) algorithms are widely used in practical applications. They are usually formulated as optimization problems. If a model used for prediction is linear (or linearized on-line), then the optimization problem is a standard, i.e., quadratic, one. Otherwise, it is a nonlinear, in general, nonconvex optimization problem. In the latter case, numerical problems may occur during solving this problem, and the time needed to calculate control signals cannot be determined. Therefore, approaches based on linear or linearized models are preferred in practical applications. A novel, fuzzy, numerically efficient MPC algorithm is proposed in the paper. It can offer better performance than the algorithms based on linear models, and very close to that of the algorithms based on nonlinear optimization. Its main advantage is the short time needed to calculate the control value at each sampling instant compared with optimization-based numerical algorithms; it is a combination of analytical and numerical versions of MPC algorithms. The efficiency of the proposed approach is demonstrated using control systems of two nonlinear control plants: the first one is a chemical CSTR reactor with a van de Vusse reaction, and the second one is a pH reactor.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2021, 31, 1; 59-71
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Data probes, vertical trajectories and classification: A tentative study
Autorzy:
Pearson, D. W.
Powiązania:
https://bibliotekanauki.pl/articles/911252.pdf
Data publikacji:
2007
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
klasyfikacja
zerowanie wyjścia
sterowanie nieliniowe
geometria różniczkowa
classification
output zeroing
nonlinear control
differential geometry
Opis:
In this paper we introduce a method of classification based on data probes. Data points are considered as point masses in space and a probe is simply a particle that is launched into the space. As the probe passes by data clusters, its trajectory will be influenced by the point masses. We use this information to help us to find vertical trajectories. These are trajectories in the input space that are mapped onto the same value in the output space and correspond to the data classes.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2007, 17, 1; 107-112
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Suboptimal Nonlinear Predictive Controllers
Autorzy:
Declercq, F.
De Keyser, R.
Powiązania:
https://bibliotekanauki.pl/articles/908312.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
programowanie sekwencyjne
równanie diofantyczne
predictive control
nonlinear control
sequential quadratic programming
diophantine equations
Opis:
Predictive control based on linear models has become a mature technology in the last decade. Many successful real-time applications can be found in almost every sector of industry. Nonlinear predictive control can further increase the performance of this easy-to-understand control strategy. One of the main problems of implementing nonlinear predictive control is the computational aspect, which is of most importance in real-life applications. In this paper, suboptimal nonlinear predictive control strategies are proposed and compared. The nonlinear predictors are built based on neural identification methods or by white modelling. The use of diophantine equations, which is a common technique to calculate the optimal contribution of the noise model, is avoided by using a more natural method. The comparison between the control algorithms is made based on a simulated discrete multivariable nonlinear system and a continuous stirred tank reactor.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 129-148
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A backstepping approach to ship course control
Autorzy:
Witkowska, A.
Tomera, M.
Śmierzchalski, R.
Powiązania:
https://bibliotekanauki.pl/articles/911245.pdf
Data publikacji:
2007
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie nieliniowe
algorytm genetyczny
sterowanie statkiem
funkcja Lapunowa
backstepping
nonlinear control
genetic algorithms
ship control
Lyapunov function
Opis:
As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of nonlinear controllers, which are then applied to ship course control. The parameters of the obtained nonlinear control structures are tuned to optimise the operation of the control system. The optimisation is performed using genetic algorithms. The quality of operation of the designed control algorithms is checked in simulation tests performed on the mathematical model of a tanker. In order to obtain reference results to be used for comparison with those recorded for nonlinear controllers designed using the backstepping method, a control system with the PD controller is examined as well.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2007, 17, 1; 73-85
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fundamental limitations of the decay of generalized energy in controlled (discrete-time) nonlinear systems subject to state and input constraints
Autorzy:
Selek, István
Ikonen, Enso
Powiązania:
https://bibliotekanauki.pl/articles/330074.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
decay rate maximization
Lyapunov function
nonlinear control system
rozkład wykładniczy
funkcja Lapunowa
układ sterowania nieliniowy
Opis:
This paper is devoted to the analysis of fundamental limitations regarding closed-loop control performance of discrete-time nonlinear systems subject to hard constraints (which are nonlinear in state and manipulated input variables). The control performance for the problem of interest is quantified by the decline (decay) of the generalized energy of the controlled system. The paper develops (upper and lower) barriers bounding the decay of the system’s generalized energy, which can be achieved over a set of asymptotically stabilizing feedback laws. The corresponding problem is treated without the loss of generality, resulting in a theoretical framework that provides a solid basis for practical implementations. To enhance understanding, the main results are illustrated in a simple example.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 629-639
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modified algorithms of direct power control of AC/DC converter co-operating with the grid
Autorzy:
Kulikowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/141289.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
DPC
optymalizacja sposobu DPC
nieliniowe sterowanie
optimization of DPC method
three-level converter
nonlinear control
Opis:
This paper briefly describes direct power control methods for two- and threelevel AC/DC converters and their modified DPC 3H 2-? and the DPC 5H2-? algorithms. It also presents two new control methods DPC-3Am (direct power control 3 areas with modification) and the DPC-3L-3Am (direct power control 3 levels 3 areas with modification). The research results were used to compare the described methods. The comparison was based on an average value of switching frequency and current distortion coefficient. Experimental investigations into the methods have shown that the use of the modified DPC methods reduces the number of switchings by more than 70% compared with the standard DPC method.
Źródło:
Archives of Electrical Engineering; 2012, 61, 3; 373-388
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Noise sensitivity of selected kinematic path following controllers for a unicycle
Autorzy:
Libal, U.
Płaskonka, J.
Powiązania:
https://bibliotekanauki.pl/articles/200552.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheeled mobile robots
path following
Serret-Frenet frame
model-based control
nonlinear control systems
nonholonomic constraints
probabilistic robotics
Opis:
In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 3-13
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A control Lyapunov function approach to adaptive control of HIV-1 infection
Autorzy:
Lemos, J. M.
Barao, M. S.
Powiązania:
https://bibliotekanauki.pl/articles/229511.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear adaptive control
HIV-1 infection
immunology
exact linearization
control Lyapunov function
Opis:
This paper presents an algorithm for nonlinear adaptive control of the viral load in HIV-1 infection. The infection model considered is a reduced complexity nonlinear state-space model with two state variables, that represent the plasma concentration of uninfected and infected CD4+ T-cells of the human immune system. The viral load is assumed to be proportional to the concentration of infected cells. First, a change of variables that exactly linearizes the system is obtained. For the resulting linear system the manipulated variable is obtained by state feedback. To compensate for the uncertainty in the infection parameter of the model an estimator based on a Control Lyapunov Function is designed.
Źródło:
Archives of Control Sciences; 2012, 22, 3; 273-284
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Infinitesimal Brunovský form for nonlinear systems with applications to Dynamic Linearization
Autorzy:
Aranda-Bricaire, E.
Moog, C.
Pomet, J.
Powiązania:
https://bibliotekanauki.pl/articles/1359653.pdf
Data publikacji:
1995
Wydawca:
Polska Akademia Nauk. Instytut Matematyczny PAN
Tematy:
flat systems
dynamic feedback linearization
Brunovský canonical form
nonlinear control systems
endogenous dynamic feedback
Pfaffian systems
linearized control system
Opis:
We define, in an infinite-dimensional differential geometric framework, the 'infinitesimal Brunovský form' which we previously introduced in another framework and link it with equivalence via diffeomorphism to a linear system, which is the same as linearizability by 'endogenous dynamic feedback'.
Źródło:
Banach Center Publications; 1995, 32, 1; 19-33
0137-6934
Pojawia się w:
Banach Center Publications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
Autorzy:
Yarza, A.
Santibanez, V.
Moreno-Valenzuela, J.
Powiązania:
https://bibliotekanauki.pl/articles/330314.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
adaptive control
robot control
nonlinear control
output feedback
Lyapunov UGAS stability
sterowanie adaptacyjne
sterowanie robotem
sterowanie nieliniowe
sprzężenie zwrotne
stabilność Lyapunova
Opis:
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2013, 23, 3; 599-611
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Supervisory predictive control and on-line set-point optimization
Autorzy:
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/929583.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
linearyzacja
model niepewności
sterowność wymuszona
optymalizacja
predictive control
nonlinear control
linearisation
model uncertainty
constrained control
set-point optimization
Opis:
The subject of this paper is to discuss selected effective known and novel structures for advanced process control and optimization. The role and techniques of model-based predictive control (MPC) in a supervisory (advanced) control layer are first shortly discussed. The emphasis is put on algorithm efficiency for nonlinear processes and on treating uncertainty in process models, with two solutions presented: the structure of nonlinear prediction and successive linearizations for nonlinear control, and a novel algorithm based on fast model selection to cope with process uncertainty. Issues of cooperation between MPC algorithms and on-line steady-state set-point optimization are next discussed, including integrated approaches. Finally, a recently developed two-purpose supervisory predictive set-point optimizer is discussed, designed to perform simultaneously two goals: economic optimization and constraints handling for the underlying unconstrained direct controllers.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 3; 483-495
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-Dimensional Control of Nonlinear Parabolic Pde Systems With Time-Dependent Spatial Domains Using Empirical Eigenfunctions
Autorzy:
Armaou, A.
Christofides, P. D.
Powiązania:
https://bibliotekanauki.pl/articles/908332.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie nieliniowe
sterowanie skończenie wymiarowe
Karhunen-Loeve expansion
Galerkin's method
nonlinear control
diffusion-reaction processes with moving boundaries
Opis:
This article presents a methodology for the synthesis of finite-dimensional nonlinear output feedback controllers for nonlinear parabolic partial differential equation (PDE) systems with time-dependent spatial domains. Initially, the nonlinear parabolic PDE system is expressed with respect to an appropriate time-invariant spatial coordinate, and a representative (with respect to different initial conditions and input perturbations) ensemble of solutions of the resulting time-varying PDE system is constructed by computing and solving a high-order discretization of the PDE. Then, the Karhunen-Loeve expansion is directly applied to the ensemble of solutions to derive a small set of empirical eigenfunctions (dominant spatial patterns) that capture almost all the energy of the ensemble of solutions. The empirical eigenfunctions are subsequently used as basis functions within a Galerkin model reduction framework to derive low-order ordinary differential equation (ODE) systems that accurately describe the dominant dynamics of the PDE system. The ODE systems are subsequently used for the synthesis of nonlinear output feedback controllers using geometric control methods. The proposed control method is used to stabilize an unstable steady-state of a diffusion-reaction process with nonlinearities, spatially-varying coefficients and time-dependent spatial domain, and is shown to lead to the construction of accurate low-order models and the synthesis of low-order controllers. The performance of the low-order models and controllers is successfully tested through computer simulations.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 287-317
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Approximation of optimal control problems with bound constraints by control parameterization
Autorzy:
Alt, W.
Powiązania:
https://bibliotekanauki.pl/articles/970516.pdf
Data publikacji:
2003
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne nieliniowe
metoda Newtona
nonlinear optimal control
bound constraints
Newton's method
control parameterization
Opis:
We consider nonlinear optimal control problems with bound constraints for the controls. Under the assumption that the optimal control is continuous and has finitely many smooth boundary arcs, we show that the system of optimahty conditions can be reduced to a system of operator equations. Based on this system we investigate convergence of approximations by control parameterization.
Źródło:
Control and Cybernetics; 2003, 32, 3; 451-472
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sensitivity analysis for state constrained optimal control problems
Autorzy:
Malanowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/206110.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sensitivity analysis
cone-constrained optimization problems
nonlinear optimal control
first order state constraints
Opis:
A sensitivity result for cone-constrained optimization problem in abstract Hilbert spaces is obtained, using a slight modification of Haraux's theorem on differentiability of the metric projection onto polyhedric sets. This result is applied to sensitivity analysis for nonlinear optimal control problems subject to first order state constraints.
Źródło:
Control and Cybernetics; 2011, 40, 4; 1043-1058
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A novel method for the design of switching surfaces for discretized MIMO nonlinear systems
Autorzy:
Luis-Delgado, J. D.
Al-Hadithi, B. M.
Jiménez, A.
Powiązania:
https://bibliotekanauki.pl/articles/331143.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
discrete sliding mode
variable structure control
nonlinear control
optimal control
MIMO system
sterowanie dyskretne
sterowanie ślizgowe
sterowanie o zmiennej strukturze
sterowanie nieliniowe
sterowanie optymalne
system MIMO
Opis:
Designing variable structure control with sliding mode (VSC-SM) control schemes needs a switching function or a sliding surface which guarantees the global stability of the closed-loop system. Despite the fact that a wide range of design approaches has been proposed for solving this mathematical problem, the number of proposed methodologies for nonlinear systems is not very extensive, especially for discrete time nonlinear MIMO systems, and most of them require some coordinate system transformation. Therefore, it is not an easy task to find a design scheme that can be applied to discrete time nonlinear MIMO systems. The proposed methodology introduces a mathematical tool: a switching surface equation for a class of MIMO nonlinear systems through an explicit equation without any coordinate transformation. This equation makes use of an implicit linearizing process via the Taylor expansion that allows the use of linear procedures for the design of switching surfaces and the forward Euler method to obtain a discrete time dynamics representation. An illustrative example is included to show the advantages of the proposed design methodology.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 1; 5-17
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Tracking control of a balancing robot – a model-based approach
Sterowanie śledzące robota zachowującego równowagę – podejście oparte na modelu
Autorzy:
Zaiczek, T
Franke, M
Powiązania:
https://bibliotekanauki.pl/articles/140122.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
single-axle mobile robot
nonholonomic constraints
Hamel's equation
cascade control structure
input-output linearization
tracking control
nonlinear control
jednoosiowy robot mobilny
równanie ruchu Hamela
kontrola nieliniowa
Opis:
This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.
W artykule przedstawiono koncepcję sterowania ruchem jednoosiowego robota poruszającego się po płaszczyźnie poziomej. Model matematyczny nieholonomicznego systemu mechanicznego wyprowadzono korzystając z równań ruchu Hamela. Opisano następnie szczegółowo koncepcję sterownika śledzącego. Sterownik prowadzi poruszający się robot po zadanej trajektorii utrzymując go jednocześnie w pozycji pionowej. Cel sterowania jest osiągnięty przy zastosowaniu kaskadowej struktury sterowania. Dzięki odpowiedniej transformacji danych wejściowych, w podsystemie istnieje możliwość linearyzacji wejście-wyjście. Dla dynamiki pozostałej części zaprezentowano prawo liniowego sterowania stałowartościowego. Ostatecznie, jakość działania zastosowanych praw sterowania zilustrowano wynikami symulacji.
Źródło:
Archive of Mechanical Engineering; 2014, LXI, 2; 331-346
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Feed-forward compensation for nonlinearity of vibrating plate as the sound source for active noise control
Kompensacja nieliniowości płyty drgającej jako źródła dźwięku dla systemów aktywnej redukcji hałasu
Autorzy:
Mazur, K.
Pawełczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/368955.pdf
Data publikacji:
2011
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
aktywna redukcja hałasu
płyta drgająca
nieliniowe sterowanie
kompensacja
emisja dźwięku
adaptacja
ekwalizacja
active noise control
active structural acoustic control
vibrating plate
sound radiation
adaptation
feed-forward
equalization
nonlinear control
Opis:
Active Noise Control (ANC) systems are usually designed in the feed-forward structure with adaptive linear control filters. However, performance of such systems, when a vibrating plate is used as the secondary source, may be poor due to significant non-linearity of the plate response. The linear systems are then unable to cope with higher harmonics generated by the nonlinearity. One solution to this problem is to apply a nonlinear ANC algorithm. However, it adds additional complexity to this layer. It is particularly severe for multichannel systems, where the algorithms are complex by themselves, and making them nonlinear may significantly reduce their scalability. In this paper, another approach is proposed. Multiple actuators are mounted on a single plate, in order to effectively excite more vibration modes and generate a higher acoustic power, than in case of a single actuator. The response of the vibrating plate as the sound source is then linearized with a set of nonlinear finite impulse response filters, operating individually for each actuator. The Filtered-x LMS algorithm is adopted to update parameters of the nonlinear filters. The control system is experimentally verified and obtained results are reported.
Systemy aktywnej redukcji hałasu zwykle projektowane są w strukturze kompensacyjnej z adaptacyjnymi liniowymi filtrami sterującymi. Wówczas, w przypadku zastosowania płyty drgającej jako źródła dźwięku, skuteczność działania może być zmniejszona z powodu występujących nieliniowości w torze wtórnym. Liniowy układ kompensacji nie jest w stanie poradzić sobie z wyższymi harmonicznymi generowanymi przez nieliniowości. Jednym z rozwiązań jest zastosowanie nieliniowego algorytmu aktywnej redukcji hałasu. Zwiększa to jednak złożoność układu w tej warstwie sterowania. W przypadku wielokanałowych systemów aktywnej redukcji hałasu, które same w sobie są złożone, wprowadzenie nieliniowości w algorytmie znacząco zmniejsza skalowalność całego systemu. W niniejszym artykule zaproponowane jest inne podejście. Aby zapewnić efektywne pobudzenie większej liczby mod i uzyskanie większej mocy akustycznej jak w przypadku pojedynczego elementu wzbudzającego, zastosowano wiele elementów wykonawczych wzbudzających drgania. Odpowiedź płyty drgającej pełniącej rolę złożonego źródła dźwięku jest linearyzowana przez zbiór nieliniowych filtrów o skończonej odpowiedzi impulsowej działających niezależnie na poszczególne elementy wykonawcze. Do aktualizacji parametrów filtrów nieliniowych zastosowany jest algorytm Filtered-x LMS. Zaproponowany system sterowania został poddany weryfikacji eksperymentalnej, a uzyskane wyniki zostały zaprezentowane i skomentowane.
Źródło:
Mechanics and Control; 2011, 30, 3; 146-150
2083-6759
2300-7079
Pojawia się w:
Mechanics and Control
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear control for a diesel engine: A CLF-based approach
Autorzy:
Kuzmych, O.
Aitouche, A.
El-Hajjaji, A.
Bosche, J.
Powiązania:
https://bibliotekanauki.pl/articles/331262.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
turbocharged diesel engine
control Lyapunov function
nonlinear control design
stability analysis
diesel virtual test bench
silnik wysokoprężny
turbodoładowanie
funkcja Lapunowa
sterowanie nieliniowe
analiza stabilności
stanowisko badawcze
Opis:
In this paper, we propose a control Lyapunov function based on a nonlinear controller for a turbocharged diesel engine. A model-based approach is used which predicts the experimentally observed engine performance for a biodiesel. The basic idea is to develop an inverse optimal control and to employ a Lyapunov function in order to achieve good performances. The obtained controller gain guarantees the global convergence of the system and regulates the flows for the variable geometry turbocharger as well as exhaust gas recirculation systems in order to minimize the NOx emission and the smoke of a biodiesel engine. Simulation of the control performances based on professional software and experimental results show the effectiveness of this approach.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2014, 24, 4; 821-835
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Schauders fixed-point theorem in nonlinear controllability problems
Autorzy:
Klamka, J.
Powiązania:
https://bibliotekanauki.pl/articles/206701.pdf
Data publikacji:
2000
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
nieliniowy system sterowania
sterowalność
twierdzenie o punkcie stałym
continuous-time systems
controllability
fixed-point theorems
nonlinear control systems
Schauder's fixed point theorem
Opis:
This paper refers to application of the Schauder's fixed point theorem together with linear controllability results in getting the sufficient controllability conditions for various kinds of controllability and for different types of nonlinear control systems. The following nonlinear control systems are considered : finite-dimensional systems, systems with delays in control or in the state variables, and infinite-dimensional systems. The paper presents the review of results existing in the literature which show how Schauder's fixed-point theorem can be practically used to solve several controllability problems for different types of nonlinear control systems.
Źródło:
Control and Cybernetics; 2000, 29, 1; 153-165
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of poli-criterial linearization for control problem of stochastic dynamic systems
Zastosowanie wielokryterialnej linearyzacji w problemie sterowania stochastycznych nieliniowych układów dynamicznych
Autorzy:
Socha, L.
Powiązania:
https://bibliotekanauki.pl/articles/279864.pdf
Data publikacji:
2005
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
Stochastic control of nonlinear systems
LQG control problem
stochastic linearization
Pareto optimal solution
Opis:
The problem of the determination of response characteristics and quasi-optimal control for nonlinear stochastic dynamic systems by using a multi-criteria linearization technique is presented in this paper. This idea was first introduced in previous author's paper (Socha, 1999a) for a simple dynamic system. In this paper, it is extended, and detailed analysis is given for a nonlinear oscillator with Gaussian external excitations and for a few criteria of statistical linearization. The obtained results are illustrated by a numerical example for Duffing's oscillator.
W pracy przedstawiono problem wyznaczania quasi-optymalnego sterowania w nieliniowych stochastycznych układach dynamicznych za pomocą wielokryterialnej metody linearyzacji stochastycznej. Pomysł wielokryterialnej linearyzacji został zasygnalizowany we wcześniejszej pracy autora (Socha, 1999a). W niniejszym artykule jest on rozwinięty i zastosowany do problemu sterowania, a szczegółowa analiza jest przeprowadzona dla nieliniowego oscylatora z addytywnym wymuszeniem Gaussa.
Źródło:
Journal of Theoretical and Applied Mechanics; 2005, 43, 3; 675-693
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive control scheme based on the least squares support vector machine network
Autorzy:
Mahmoud, T. K.
Powiązania:
https://bibliotekanauki.pl/articles/930155.pdf
Data publikacji:
2011
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
modelowanie systemu
system nieliniowy
system sterowania
sieć neuronowa
maszyna wektorów wspierających
support vector machine (SVM)
neural network
nonlinear system modeling
nonlinear system control
pH control
Opis:
Recently, a new type of neural networks called Least Squares Support Vector Machines (LS-SVMs) has been receiving increasing attention in nonlinear system identification and control due to its generalization performance. This paper develops a stable adaptive control scheme using the LS-SVM network. The developed control scheme includes two parts: the identification part that uses a modified structure of LS-SVM neural networks called the multi-resolution wavelet least squares support vector machine network (MRWLS-SVM) as a predictor model, and the controller part that is developed to track a reference trajectory. By means of the Lyapunov stability criterion, stability analysis for the tracking errors is performed. Finally, simulation studies are performed to demonstrate the capability of the developed approach in controlling a pH process.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 685-696
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust Control of Nonlinear Time-Delay Systems
Autorzy:
Antoniades, C.
Christofides, P. D.
Powiązania:
https://bibliotekanauki.pl/articles/908267.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model niepewności
sterowanie solidne nieliniowe
opóźnienie czasowe
model uncertainty
time delays
nonlinear robust control
fluidized catalytic cracker
Opis:
This paper focuses on single-input single-output nonlinear differential difference equation (DDE) systems with uncertain variables. For such systems, a general methodology is developed for the synthesis of robust nonlinear state feedback controllers that guarantee boundedness of the states and ensure that the ultimate discrepancy between the output and the external reference input in the closed-loop system can be made arbitrarily small by an appropriate choice of controller parameters. The controllers are synthesized by using a novel combination of geometric and Lyapunov-based techniques and enforce the above properties in the closed-loop system independently of the size of the state delay. The proposed control method is successfully applied to a fluidized catalytic cracking unit with a time-varying uncertain variable and is shown to outperform a proportional integral (PI) controller, a nonlinear controller that does not account for the uncertainty, and anonlinear controller that does not account for the state delays.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 811-837
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear model predictive control for processes with complex dynamics: A parameterisation approach using Laguerre functions
Autorzy:
Ławryńczuk, Maciej
Powiązania:
https://bibliotekanauki.pl/articles/329999.pdf
Data publikacji:
2020
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
process control
nonlinear model predictive control
Laguerre functions
linearisation
sterowanie procesami
model nieliniowy
sterowanie predykcyjne
funkcje Laguerre’a
Opis:
Classical model predictive control (MPC) algorithms need very long horizons when the controlled process has complex dynamics. In particular, the control horizon, which determines the number of decision variables optimised on-line at each sampling instant, is crucial since it significantly affects computational complexity. This work discusses a nonlinear MPC algorithm with on-line trajectory linearisation, which makes it possible to formulate a quadratic optimisation problem, as well as parameterisation using Laguerre functions, which reduces the number of decision variables. Simulation results of classical (not parameterised) MPC algorithms and some strategies with parameterisation are thoroughly compared. It is shown that for a benchmark system the MPC algorithm with on-line linearisation and parameterisation gives very good quality of control, comparable with that possible in classical MPC with long horizons and nonlinear optimisation.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2020, 30, 1; 35-46
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
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