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    Wyświetlanie 1-13 z 13
    Tytuł:
    Heating control of a finite rod with a mobile source
    Autorzy:
    Jilavyan, Samvel H.
    Grigoryan, Edmon R.
    Khurshudyan, Asatur Zh.
    Powiązania:
    https://bibliotekanauki.pl/articles/1409386.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    null-controllability
    mobile control
    nonlinear constraints
    triangular wave
    rectangular wave
    Green’s function approach
    heuristic control
    lack of exact controllability
    Opis:
    The Green’s function approach is applied for studying the exact and approximate null-controllability of a finite rod in finite time by means of a source moving along the rod with controllable trajectory. The intensity of the source remains constant. Applying the recently developed Green’s function approach, the analysis of the exact null-controllability is reduced to an infinite system of nonlinear constraints with respect to the control function. A sufficient condition for the approximate null-controllability of the rod is obtained. Since the exact solution of the system of constraints is a long-standing open problem, some heuristic solutions are used instead. The efficiency of these solutions is shown on particular cases of approximate controllability.
    Źródło:
    Archives of Control Sciences; 2021, 31, 2; 417-430
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Weakly nonlinear regression model with constraints I: nonlinear hypothesis
    Autorzy:
    Kubácek, Lubomír
    Tesaríková, Eva
    Powiązania:
    https://bibliotekanauki.pl/articles/729706.pdf
    Data publikacji:
    2005
    Wydawca:
    Uniwersytet Zielonogórski. Wydział Matematyki, Informatyki i Ekonometrii
    Tematy:
    regression model with constraints
    nonlinear hypothesis
    linearization
    Opis:
    The problem considered is under which conditions in weakly nonlinear regression model with constraints I a weakly nonlinear hypothesis can be tested by linear methods. The aim of the paper is to find a region around the approximate value of the regression parameter with the following property. If we are certain that the actual value of the regression parameter is in this region, then the linear method of testing can be used without any significant deterioration of the inference.
    Źródło:
    Discussiones Mathematicae Probability and Statistics; 2005, 25, 1; 115-133
    1509-9423
    Pojawia się w:
    Discussiones Mathematicae Probability and Statistics
    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:
    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:
    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:
    A characterization of stability and sensitivity properties for state-constrained optimal control
    Autorzy:
    Malanowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/970245.pdf
    Data publikacji:
    2007
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sterowanie optymalne
    optimal control
    nonlinear ODEs
    state constraints
    parametric problems
    stability and sensitivity analysis
    Opis:
    In a series of the recent papers of the author, it was shown that the solutions and Lagrange multipliers of state-constrained optimal control problems are locally Lipschitz continuous and directionally differentiable functions of the parameter, under usual constraint qualifications and weakened second order conditions. In this paper, it is shown that those conditions are not only sufficient, but also necessary. Thus, they consitute a characterization of Lipschitz stability and sensitivity properties for state-constrained optimal control problems.
    Źródło:
    Control and Cybernetics; 2007, 36, 3; 711-726
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A Mesh-Independence Principle for Quadratic Penalties Applied to Semilinear Elliptic Boundary Control
    Autorzy:
    Grossman, Christian
    Winkler, Max
    Powiązania:
    https://bibliotekanauki.pl/articles/1373554.pdf
    Data publikacji:
    2012
    Wydawca:
    Uniwersytet Jagielloński. Wydawnictwo Uniwersytetu Jagiellońskiego
    Tematy:
    optimal boundary control
    mesh-independence principle
    penalty methods for control constraints
    weakly nonlinear elliptic equations
    Opis:
    The quadratic loss penalty is a well known technique for optimization and control problems to treat constraints. In the present paper they are applied to handle control bounds in a boundary control problems with semilinear elliptic state equations. Unlike in the case of finite dimensional optimization for infinite dimensional problems the order of convergence could only be roughly estimated, but numerical experiments revealed a clearly better convergence behavior with constants independent of the dimension of the used discretization. The main result in the present paper is the proof of sharp convergence bounds for both, the finite und infinite dimensional problem with a mesh-independence in case of the discretization. Further, to achieve an efficient realization of penalty methods the principle of control reduction is applied, i.e. the control variable is represented by the adjoint state variable by means of some nonlinear function. The resulting optimality system this way depends only on the state and adjoint state. This system is discretized by conforming linear finite elements. Numerical experiments show exactly the theoretically predicted behavior of the studied penalty technique.
    Źródło:
    Schedae Informaticae; 2012, 21; 9-26
    0860-0295
    2083-8476
    Pojawia się w:
    Schedae Informaticae
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Convergence of the Lagrange-Newton Method for Optimal Control Problems
    Autorzy:
    Malanowski, K. D.
    Powiązania:
    https://bibliotekanauki.pl/articles/907971.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie optymalne
    ograniczenia mieszane
    metoda Lagrange'a-Newtona
    optimal control
    nonlinear ODEs
    mixed constraints
    Lagrange-Newton method
    Opis:
    Convergence results for two Lagrange-Newton-type methods of solving optimal control problems are presented. It is shown how the methods can be applied to a class of optimal control problems for nonlinear ODEs, subject to mixed control-state constraints. The first method reduces to an SQP algorithm. It does not require any information on the structure of the optimal solution. The other one is the shooting method, where information on the structure of the optimal solution is exploited. In each case, conditions for well-posedness and local quadratic convergence are given. The scope of applicability is briefly discussed.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 531-540
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Input constraints handling in an MPC/feedback linearization scheme
    Autorzy:
    Deng, J.
    Becerra, V. M.
    Stobart, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/907653.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie predykcyjne
    sterowanie odwrotne
    sieć neuronowa
    system nieliniowy
    predictive control
    feedback linearization
    neural network
    nonlinear system
    constraints
    Opis:
    The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation introduced by feedback linearization. This paper introduces a technique for handling input constraints within a real timeMPC/FL scheme, where the plant model employed is a class of dynamic neural networks. The technique is based on a simple affine transformation of the feasible area. A simulated case study is presented to illustrate the use and benefits of the technique.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 219-232
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    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 computationally efficient stable dual-mode type nonlinear predictive control algorithm
    Autorzy:
    Ławryńczuk, M.
    Tadej, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/971003.pdf
    Data publikacji:
    2008
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    linearyzacja
    optymalizacja
    stabilność
    nonlinear model predictive control
    dual-mode model predictive control
    process control
    linearisation
    optimisation
    quadratic programming
    stability
    constraints
    terminal set
    Opis:
    This paper describes a computationally efficient (sub-optimal) nonlinear predictive control algorithm. The algorithm uses a modified dual-mode approach which guarantees closed-loop stability. In order to reduce the computational burden, instead of online nonlinear optimisation used in the classical dual-mode control scheme, a nonlinear model of the plant is linearised on-line and a quadratic programming problem is solved. Calculation of the terminal set and implementation steps of the algorithm are detailed, especially for input-output models, which are widely used in practice.
    Źródło:
    Control and Cybernetics; 2008, 37, 1; 99-132
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Application of the classical implicit function theorem in sensitivity analysis of parametric optimal control
    Autorzy:
    Malanowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/206654.pdf
    Data publikacji:
    1998
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    równania różniczkowe nieliniowe
    różniczkowalność rozwiązań
    sterowanie optymalne parametryczne
    differentiability of solutions
    implicit function theorem
    nonlinear ordinary differential equations
    parametric optimal control
    state constraints
    Opis:
    A family {(O[sub h])} of parametric optimal control problems for nonlinear ODEs is considered. The problems are subject to pointwise inequality type state constraints. It is assumed that the reference solution is regular. The original problems (O[sub h]) are substituted by problems [...] subject to equality type constraints with the sets of activity depending on the parameter. Using the classical implicit function theorem, conditions are derived under which stationary points of [...] are Frechet differentiable functions of the parameter. It is shown that, under additional conditions, the stationary points of [...] correspond to the solutions and Lagrange multipliers of (O[sub h]9).
    Źródło:
    Control and Cybernetics; 1998, 27, 3; 335-352
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    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
      Wyświetlanie 1-13 z 13

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