Skocz do pozycji: 1.

Tytuł:

An efficient microgrid model based on Markov fuzzy demand-side management

Autorzy:

Jabash Samuel, G. K.
Sivagama Sundari, M. S.
Bhavani, R.
Jasmine Gnanamalar, A.

Powiązania:

https://bibliotekanauki.pl/articles/27311444.pdf

Data publikacji:

2023

Wydawca:

Polska Akademia Nauk. Czasopisma i Monografie PAN

Tematy:

smart grid
fuzzy Markov decision process
power scheduling
operating cost
nonlinear model predictive control
inteligentna sieć
planowanie mocy
koszt operacyjny
proces decyzyjny Markowa rozmyty
regulator predykcyjny nieliniowego modelu

Opis:

Today’s electricity management mainly focuses on smart grid implementation for better power utilization. Supply-demand balancing, and high operating costs are still considered the most challenging factors in the smart grid. To overcome this drawback, a Markov fuzzy real-time demand-side manager (MARKOV FRDSM) is proposed to reduce the operating cost of the smart grid system and maintain a supply-demand balance in an uncertain environment. In addition, a non-linear model predictive controller (NMPC) is designed to give a global solution to the non-linear optimization problem with real-time requirements based on the uncertainties over the forecasted load demands and current load status. The proposed MARKOV FRDSM provides a faster scale power allocation concerning fuzzy optimization and deals with uncertainties and imprecision. The implemented results show the proposed MARKOV FRDSM model reduces the cost of operation of the microgrid by 1.95%, 1.16%, and 1.09% than the existing method such as differential evolution and real coded genetic algorithm and maintains the supply-demand balance in the microgrid.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e145569
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

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Skocz do pozycji: 2.

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

/5

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Skocz do pozycji: 3.

Tytuł:

Nieliniowe sterowanie predykcyjne ramion manipulatorów
Nonlinear Predictive Control of Manipulator Arms

Autorzy:

Tatjewski, Piotr

Powiązania:

https://bibliotekanauki.pl/articles/27312429.pdf

Data publikacji:

2023

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

sterowanie manipulatorów
sterowanie nieliniowe
sterowanie predykcyjne
opóźnienie sterowania
szybkie próbkowanie
manipulator control
nonlinear control
model predictive control
control delay
fast sampling

Opis:

Przedmiotem artykułu są algorytmy sterowania predykcyjnego (typu MPC - Model Predictive Control) ramion manipulatorów sztywnych. Zastosowano MPC z modelem w przestrzeni stanów i wykorzystano najnowszą technikę tłumienia zakłóceń i błędów modelowania, pozwalającą uniknąć dynamicznego modelowania zakłóceń lub uciekania się do dodatkowych technik ich eliminowania, takich jak SMC. Rozważane są przede wszystkim najbardziej efektywne obliczeniowo algorytmy MPC-NPL (NPL - Nonlinear Prediction and Linearization), w dwóch wersjach: z optymalizacją QP (Quadratic Programming) z ograniczeniami i z jawną optymalizacją bez ograniczeń i spełnieniem ograniczeń nierównościowych a posteriori. Dla wszystkich rozważanych algorytmów przeprowadzono kompleksową analizę symulacyjną sterowania manipulatorem z napędem bezpośrednim, przy dwóch rodzajach zakłócenia: zewnętrznym i parametrycznym. Wyniki porównano z uzyskanymi dla znanego algorytmu CTC-PID (CTC - Computer Torque Control), uzyskując lepszą jakość regulacji algorytmami MPC. Zbadano wpływ długości okresu próbkowania i obliczeniowego opóźnienia sterowania na jakość regulacji, co jest istotne dla algorytmów z szybkim próbkowaniem opartych na modelach.
The subject of the article are predictive control algorithms (of MPC type - Model Predictive Control) for rigid manipulator arms. MPC with a state-space model and with the latest disturbance and modeling error suppression technique was applied, which avoids dynamic disturbance modeling or resorting to additional disturbance cancellation techniques, such as SMC. First of all, the most computationally efficient MPC-NPL (Nonlinear Prediction and Linearization) algorithms are considered, in two versions: the first with constrained QP (Quadratic Programming) optimization and the second with explicit (analytical) optimization without constraints and satisfying a posteriori inequality constraints. For all considered algorithms, a comprehensive simulation analysis was carried out for a direct drive manipulator, with two kinds of disturbances: external and parametric. The obtained results were compared with those for the well-known CTC-PID algorithm (CTC - Computer Torque Control), showing better control quality with MPC algorithms. In addition, the influence of the length of the sampling period and of the computational delay on control quality was investigated, which is important for model-based algorithms with fast sampling.

Źródło:

Pomiary Automatyka Robotyka; 2023, 27, 2; 47--58
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 4.

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

/5

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Skocz do pozycji: 5.

Tytuł:

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

Autorzy:

Sánchez-Meza, Victor-Gabriel
Lozano-Hernández, Yair
Gutiérrez-Frías, Octavio
Lozada-Castillo, Norma
Luviano-Juárez, Alberto

Powiązania:

https://bibliotekanauki.pl/articles/24200696.pdf

Data publikacji:

2023

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

flat filtering control
generalized proportional integral control
nonlinear system
tail rotor disturbance
two degrees of freedom helicopter
sterowanie całkujące
układ nieliniowy
zakłócenia wirnika

Opis:

This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2023, 33, 4; 521--535
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 6.

Tytuł:

Algorytm regulacji odpornej ADRC - dobór nastaw i sposób dyskretnej implementacji
Robust ADRC Control - Tuning and Discrete Implementation

Autorzy:

Michalski, Jacek
Kozierski, Piotr
Retinger, Marek
Puchalski, Radosław

Powiązania:

https://bibliotekanauki.pl/articles/2090883.pdf

Data publikacji:

2022

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

sterowanie ADRC
regulator PID
sprzężenie od stanu
rozszerzony obserwator stanu
dobór nastaw
wielowymiarowy obiekt nieliniowy
ADRC control
PID controller
state feedback
extended state observer
tuning methods
multidimensional nonlinear system

Opis:

W niniejszej pracy został przedstawiony algorytm regulacji odpornej Active Disturbance Rejection Control obiektem aerodynamicznym o dwóch stopniach swobody. Pokazano pełne wyprowadzenia równań algorytmu regulacji oraz wartości nastaw w zależności od pożądanych właściwości układu, na podstawie dynamiki obiektu oscylacyjnego drugiego rzędu. Dokonano dyskretyzacji równań algorytmu regulacji i zaproponowano jego dyskretną implementację. Testy przeprowadzono na laboratoryjnym zestawie aerodynamicznym firmy Inteco, którego model matematyczny jest silnie nieliniowy, ma dwa stopnie swobody i sprzężenia skrośne. Jakość działania oceniona została na podstawie przebiegów czasowych, a także całkowych wskaźników jakości. Przeprowadzone badania pokazują przewagę zastosowanego algorytmu nad regulacja PID dla badanego systemu. Przedstawiony algorytm regulacji cechuje się także większą przenośnością - nastawy dobierane są tylko w oparciu o rząd obiektu i teoretycznie raz dobrane są właściwe, niezależnie od modelu matematycznego. Zaproponowane równania dyskretne mogą zostać zaimplementowane z użyciem dowolnego języka programowania dla teoretycznie dowolnego obiektu, przy uwzględnieniu rzędu jego dynamiki.
This paper presents the robust Active Disturbance Rejection Control method in an aerodynamical object with two degrees of freedom. Full derivation of control algorithm equations and the settings values depending on the desired properties of the system, based on the dynamics of the second order oscillating object, have been shown. The equations of the control algorithm were discretized and its discrete implementation was proposed. The tests were carried out on the Inteco aerodynamical laboratory kit, whose mathematical model is strongly non-linear, has two degrees of freedom and crosscoupling. The quality of operation was assessed on the basis of time graphs as well as integral quality indices. The conducted research shows the advantage of the applied algorithm over PID control for the tested system. The presented control algorithm is also more portable - the settings are selected only on the basis of the object order and once selected are correct regardless of the mathematical model. The proposed discrete equations can be implemented using any programming language theoretically for any object, taking into account the order of its dynamics.

Źródło:

Pomiary Automatyka Robotyka; 2022, 26, 2; 5--13
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 7.

Tytuł:

An improved dynamic surface sliding mode method for autonomous cooperative formation control of underactuated USVS with complex marine environment disturbances

Autorzy:

Dong, Zaopeng
Qi, Shijie
Yu, Min
Zhang, Zhengqi
Zhang, Haisheng
Li, Jiakang
Liu, Yang

Powiązania:

https://bibliotekanauki.pl/articles/32909478.pdf

Data publikacji:

2022

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

underactuated USV
dynamic surface sliding mode control
lateral velocity tracking differentiator
nonlinear disturbance observer

Opis:

In this paper, a novel dynamic surface sliding mode control (DSSMC) method, combined with a lateral velocity tracking differentiator (LVTD), is proposed for the cooperative formation control of underactuated unmanned surface vehicles (USVs) exposed to complex marine environment disturbances. Firstly, in view of the kinematic and dynamic models of USVs and the design idea of a virtual control law in a backstepping approach, the trajectory tracking control problem of USVs’ cooperative formation is transformed into a stabilisation problem of the virtual control law of longitudinal and lateral velocities. Then, aiming at the problem of differential explosion caused by repeated derivation in the process of backstepping design, the first-order low-pass filter about the virtual longitudinal velocity and intermediate state quantity of position is constructed to replace differential calculations during the design of the control law, respectively. In order to reduce the steady-state error when stabilising the virtual lateral velocity control law, the integral term is introduced into the design of the sliding mode surface with a lateral velocity error, and then the second-order sliding mode surface with an integral is structured. In addition, due to the problem of controller oscillation and the role of the tracking differentiator (TD) in active disturbance rejection control (ADRC), the LVTD is designed to smooth the state quantity of lateral velocity. Subsequently, based on the dynamic model of USV under complex marine environment disturbances, the nonlinear disturbance observer is designed to observe the disturbances and compensate the control law. Finally, the whole cooperative formation system is proved to be uniformly and ultimately bounded, according to the Lyapunov stability theory, and the stability and validity of the method is also verified by the simulation results.

Źródło:

Polish Maritime Research; 2022, 3; 47-60
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 8.

Tytuł:

Analysis and control of nonlinear vibration of autonomous vehicle passing through hybrid consecutive speed control humps

Autorzy:

Yang, Zhiyong
Wang, Long
Yu, Yanjun
Mou, Zhenping
Ou, Minghui

Powiązania:

https://bibliotekanauki.pl/articles/2173727.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

autonomous vehicles
hybrid consecutive speed control humps
nonlinear vibration
safety
comfort
pojazd autonomiczny
próg zwalniający
wibracje nieliniowe
bezpieczeństwo
komfort

Opis:

In order to improve the safety and comfort of autonomous vehicles passing through the expressway, relevant departments of expressway construction often design and lay consecutive speed control humps (SCHs) with cross-sections of different shapes according to different road conditions, such as the combination of trapezoidal and sinusoidal SCHs. In this paper, we conduct a study about the nonlinear dynamic characteristics of the autonomous vehicle passing through hybrid SCHs. Firstly, a four-degree-of-freedom (4-DOF) nonlinear model of the vehicle suspension and the speed coupling excitation model under hybrid SCHs are established. Then the fourth-fifth order Runge–Kutta method is used to simulate the nonlinear system, and its nonlinear dynamic characteristics are analyzed. The results show that chaotic motion occurs when the vehicle passes through hybrid SCHs, and the speed range of chaotic motion is obtained. Then, a direct variable feedback control method is used to suppress the chaotic vibration of semi-active suspension vehicles, and the effect is verified by simulation experiments. Finally, this paper presents a multi-objective optimization model based on a genetic algorithm (GA) for active suspension vehicles. The optimization model selects the vertical displacement and pitching angle of the vehicle body as the objective function. The research results of this paper can provide information on the ride comfort’s optimization for autonomous vehicles passing through hybrid SCHs and on the design of vehicle suspension system.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 6; art. no. e143643
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 9.

Tytuł:

Analysis of a nonlinear tuned mass damper by using the multi-scale method

Autorzy:

Liu, Junfeng
Yao, Ji
Huang, Kun
Zhang, Qing
Ze, Li

Powiązania:

https://bibliotekanauki.pl/articles/2104766.pdf

Data publikacji:

2022

Wydawca:

Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej

Tematy:

nonlinear characteristics
complex average method
multi-scale method
nonlinear design
control performance

Opis:

A tuned mass damper is a kind of vibration damping device which has been widely used in tall buildings, machinery, bridges, aerospace engineering and other fields. In practical engineering applications, due to large deformation caused by large displacement, errors in engineering constructions and the existence of limit devices, the structure and tuned mass dampers inevitably produce some nonlinear characteristics, but these nonlinearities are often ignored. The results of this study confirm that the nonlinearity of the structure and the mass damper should be considered in the process of optimal frequency design, otherwise there will be a large deviation between the design optimal frequency of the mass damper and the actual optimal frequency. In this paper, nonlinear characteristics of the tuned mass damper and the main structure are considered. The first-order differential equations are obtained by using the complex average method, and the nonlinear equations of the tuned mass damper system are derived by using the multi-scale method. On this basis, the parameters are determined. The numerical results show that the error of the approximate solution method is small in the given example. The nonlinear tuned mass damper with nonlinear design exhibits a better control performance.

Źródło:

Journal of Theoretical and Applied Mechanics; 2022, 60, 3; 463--477
1429-2955

Pojawia się w:

Journal of Theoretical and Applied Mechanics

Dostawca treści:

Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:

Computationally efficient nonlinear model predictive controller using parallel particle swarm optimization

Autorzy:

Diwan, Supriya P.
Deshpande, Shraddha S.

Powiązania:

https://bibliotekanauki.pl/articles/2173694.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

nonlinear model predictive control
particle swarm optimization
PSO
fast dynamic systems
rotary inverted pendulum
divide approach
conquer approach
kontrola predykcyjna modelu nieliniowa
optymalizacja roju cząstek
system dynamiczny szybki
wahadło obrotowe odwrócone

Opis:

As nonlinear optimization techniques are computationally expensive, their usage in the real-time era is constrained. So this is the main challenge for researchers to develop a fast algorithm that is used in real-time computations. This work proposes a fast nonlinear model predictive control approach based on particle swarm optimization for nonlinear optimization with constraints. The suggested algorithm divide and conquer technique improves computing speed and disturbance rejection capability, demonstrating its suitability for real-time applications. The performance of this approach under constraints is validated using a highly nonlinear fast and dynamic real-time inverted pendulum system. The solution presented through work is computationally feasible for smaller sampling times and it gives promising results compared to the state of art PSO algorithm

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 4; art. no. e140696
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:

Fault-tolerant tracking control for a non-linear twin-rotor system under ellipsoidal bounding

Autorzy:

Kukurowski, Norbert
Mrugalski, Marcin
Pazera, Marcin
Witczak, Marcin

Powiązania:

https://bibliotekanauki.pl/articles/2124781.pdf

Data publikacji:

2022

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

fault tolerant control
simultaneous fault
external disturbances
nonlinear system
robust fault estimation
fault detection
fault diagnosis
sterowanie tolerujące uszkodzenia
uszkodzenie równoczesne
zakłócenia zewnętrzne
układ nieliniowy
szacowanie błędu
wykrywanie uszkodzenia
diagnoza uszkodzenia

Opis:

A novel fault-tolerant tracking control scheme based on an adaptive robust observer for non-linear systems is proposed. Additionally, it is presumed that the non-linear system may be faulty, i.e., affected by actuator and sensor faults along with the disturbances, simultaneously. Accordingly, the stability of the robust observer as well as the fault-tolerant tracking controller is achieved by using the ℋ∞ approach. Furthermore, unknown actuator and sensor faults and states are bounded by the uncertainty intervals for estimation quality assessment as well as reliable fault diagnosis. This means that narrow intervals accompany better estimation quality. Thus, to cope with the above difficulty, it is assumed that the disturbances are over-bounded by an ellipsoid. Consequently, the performance and correctness of the proposed fault-tolerant tracking control scheme are verified by using a non-linear twin-rotor aerodynamical laboratory system.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2022, 32, 2; 171--183
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

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Skocz do pozycji: 12.

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

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Skocz do pozycji: 13.

Tytuł:

Comparative Study of AMPL, Pyomo and JuMP Optimization Modeling Languages on a Flood Control Problem Example
Studium porównawcze języków modelowania optymalizacyjnego AMPL, Pyomo i JuMP na przykładzie zadania sterowania falą powodziową

Autorzy:

Karbowski, Andrzej
Wyskiel, Krzysztof

Powiązania:

https://bibliotekanauki.pl/articles/2068672.pdf

Data publikacji:

2021

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

optimization
modeling languages
programming
flood control problem
nonlinear programming
optimal control
optymalizacja
języki modelowania
programowanie
sterowanie falą powodziową
programowanie nieliniowe
sterowanie optymalne

Opis:

The purpose of this work is a comparative study of three languages (environments) of optimization modeling: AMPL, Pyomo and JuMP. The comparison will be based on three implementations of an optimal discrete-time flood control problem formulated as a nonlinear programming problem. The codes for individual models and differences between them will be presented and discussed. Various aspects will be taken into account, e.g. simplicity and intuitiveness of implementation.
Celem pracy jest badanie porównawcze trzech języków (środowisk) modelowania optymalizacyjnego: AMPL, Pyomo i JuMP. Porównanie jest oparte na trzech implementacjach zadania optymalnego sterowania falą powodziową z czasem dyskretnym, sformułowanego jako zadanie programowania nieliniowego. Przedstawione i omówione zostaną kody poszczególnych modeli oraz różnice między nimi. Uwzględnione zostaną różne aspekty, m.in. prostota i intuicyjność implementacji.

Źródło:

Pomiary Automatyka Robotyka; 2021, 25, 4; 19--24
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

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Skocz do pozycji: 14.

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

/5

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Skocz do pozycji: 15.

Tytuł:

Method of cooperative formation control for underactuated USVs based on nonlinear backstepping and cascade system theory

Autorzy:

Dong, Zaopeng
Liu, Yang
Wang, Hao
Qin, Tao

Powiązania:

https://bibliotekanauki.pl/articles/1573634.pdf

Data publikacji:

2021

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

unmanned surface vehicle (USV)
cooperative formation control
underactuated system
nonlinear backstepping
cascade system theory

Opis:

This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fixed distance from the leader USV and a specific heading angle in order to maintain a certain type of formation. A global differential homeomorphism transformation is then designed to create a tracking error system for the follower USVs, in order to simplify the description of the control system. This makes the complex formation control system easy to analyse, and allows it to be decomposed into a cascaded system. In addition, several intermediate state variables and virtual control laws are designed based on nonlinear backstepping, and actual control algorithms for the follower USVs to control the surge force and yaw moment are presented. A global system that can ensure uniform asymptotic stability of the USVs’ cooperative formation control is achieved by combining Lyapunov stability theory and cascade system theory. Finally, several simulation experiments are carried out to verify the validity, stability and reliability of our cooperative formation control method.

Źródło:

Polish Maritime Research; 2021, 1; 149-162
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 16.

Tytuł:

NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties

Autorzy:

Sun, Xiaoqiang
Wang, Yujun
Cai, Yingfeng
Wong, Pak Kin
Chen, Long

Powiązania:

https://bibliotekanauki.pl/articles/2173619.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

autonomous electric vehicles
direct yaw moment control
DYC
tire nonlinear mechanical properties
nonsingular fast terminal sliding mode
NFTSM
trust-region interior-point method
pojazd elektryczny autonomiczny
kontrola momentu odchylenia bezpośrednia
właściwości mechaniczne opon nieliniowe
niesingularny tryb szybkiego przesuwania terminala
metoda punktu wewnętrznego regionu zaufania

Opis:

To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137065
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 17.

Tytuł:

NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties

Autorzy:

Sun, Xiaoqiang
Wang, Yujun
Cai, Yingfeng
Wong, Pak Kin
Chen, Long

Powiązania:

https://bibliotekanauki.pl/articles/2128162.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

autonomous electric vehicles
direct yaw moment control
DYC
tire nonlinear mechanical properties
nonsingular fast terminal sliding mode
NFTSM
trust-region interior-point method
pojazd elektryczny autonomiczny
kontrola momentu odchylenia bezpośrednia
właściwości mechaniczne opon nieliniowe
niesingularny tryb szybkiego przesuwania terminala
metoda punktu wewnętrznego regionu zaufania

Opis:

To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137065, 1--13
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 18.

Tytuł:

Output tracking control of an aircraft subject to additive state dependent disturbance: an optimal control approach

Autorzy:

Tanyer, Ilker
Tatlicioglu, Enver
Zergeroglu, Erkan

Powiązania:

https://bibliotekanauki.pl/articles/1409414.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

optimal control
aerospace applications
nonlinear systems
mechanical applications
mechatronics applications
robust control

Opis:

In this paper, model reference output feedback tracking control of an aircraft subject to additive, uncertain, nonlinear disturbances is considered. In order to present the design steps in a clear fashion: first, the aircraft dynamics is temporarily assumed as known with all the states of the system available. Then a feedback linearizing controller minimizing a performance index while only requiring the output measurements of the system is proposed. As the aircraft dynamics is uncertain and only the output is available, the proposed controller makes use of a novel uncertainty estimator. The stability of the closed loop system and global asymptotic tracking of the proposed method are ensured via Lyapunov based arguments, asymptotic convergence of the controller to an optimal controller is also established. Numerical simulations are presented in order to demonstrate the feasibility and performance of the proposed control strategy.

Źródło:

Archives of Control Sciences; 2021, 31, 2; 267-286
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 19.

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

/5

Artykuł

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Skocz do pozycji: 20.

Tytuł:

Control of complex dynamic nonlinear loading process for electromagnetic mill

Autorzy:

Ogonowski, Szymon
Bismor, Dariusz
Ogonowski, Zbigniew

Powiązania:

https://bibliotekanauki.pl/articles/229680.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

predictive control
pole placement
nonlinear dynamics
neural modelling
electromagnetic mill

Opis:

Electromagnetic mill installation for dry grinding represents a complex dynamical system that requires specially designed control system. The paper presents model-based predictive control which locates closed loop poles in arbitrary places. The controller performs as gains cheduling prototype where nonlinear model – artificial recurrent neural network, is parameterized with additional measurements and serves as a basis for local linear approximation. Application of such a concept to control electromagnetic mill load allows for stable performance of the installation and assures fulfilment of the product quality as well as the optimization of the energy consumption.

Źródło:

Archives of Control Sciences; 2020, 30, 3; 471-500
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 21.

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

/5

Artykuł

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Skocz do pozycji: 22.

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

/5

Artykuł

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Skocz do pozycji: 23.

Tytuł:

On a finding the coefficient of one nonlinear wave equation in the mixed problem

Autorzy:

Safarova, Zimrud R.

Powiązania:

https://bibliotekanauki.pl/articles/229359.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

hyperbolic equation
nonlinear wave equation
optimal control problem
necessary condition

Opis:

The paper is devoted to the finding of the coefficient of one nonlinear wave equation in the mixed problem. The considered problem is reduced to the optimal control problem with proper functional. Differentiability of functional is proved and the necessary optimality conditions are derived in the form of the variational inequality. Existence of the optimal control is proved.

Źródło:

Archives of Control Sciences; 2020, 30, 2; 199-212
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 24.

Tytuł:

Stabilność nieliniowych układów dynamicznych

Autorzy:

Kabziński, Jacek
Mosiołek, Przemysław

Powiązania:

https://bibliotekanauki.pl/articles/302670.pdf

Data publikacji:

2020

Wydawca:

Wydawnictwo Druk-Art

Tematy:

dynamika
teoria sterowania
nieliniowy układ dynamiczny
dynamics
control theory
nonlinear dynamical system

Opis:

Teoria stabilności nieliniowych układów dynamicznych wchodzi w zakres podstawowego kursu teorii sterowania dla studentów automatyki i robotyki oraz mechatroniki. Zazwyczaj omawia się podstawowe definicje stabilności i twierdzenia najważniejsze dla bezpośredniej metody Lapunowa, służące do badania stabilności punktów równowagi układów stacjonarnych i autonomicznych. Tymczasem w ostatnich dziesięcioleciach teoria stabilności układów nieliniowych była ciągle rozwijana i sukcesywnie pojawiały się twierdzenia rozszerzające jej zastosowania. Rozdziały w tej części książki mają charakter encyklopedycznego przeglądu aktualnego stanu wiedzy w tym zakresie. Podano najpierw definicje precyzujące różne pojęcia stabilności (rozdział pierwszy), a następnie twierdzenia, które można zastosować przy badaniu stabilności układów stacjonarnych (rozdział drugi) i niestacjonarnych (rozdział trzeci). Przedstawione pojęcia zilustrowano kilkoma przykładami. Dowody twierdzeń podano jedynie wtedy, gdy ułatwiają one zrozumienie istoty zjawisk. Sporo miejsca poświęcono ograniczoności i ostatecznej ograniczoności trajektorii, które są bardzo „praktycznym” rodzajem stabilności układów nieliniowych.

Źródło:

Napędy i Sterowanie; 2020, 22, 4; 74-78
1507-7764

Pojawia się w:

Napędy i Sterowanie

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 25.

Tytuł:

A robust model free controller for a class of SISO nonaffine nonlinear systems: Application to an electropneumatic actuator

Autorzy:

Boubakir, Ahsene
Labiod, Salim
Boudjema, Fares

Powiązania:

https://bibliotekanauki.pl/articles/229193.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

dynamic inversion control
model free controller
nonaffine nonlinear systems
singular perturbation theory

Opis:

This paper presents a robust model free controller (RMFC) for a class of uncertain continuous-time single-input single-output (SISO) minimum-phase nonaffine-in-control systems. Firstly, the existence of an unknown dynamic inversion controller that can achieve control objectives is demonstrated. Afterwards, a fast approximator is designed to estimate as best as possible this dynamic inversion controller. The proposed robust model free controller is an equivalent realization of the designed fast approximator. The perturbation theory and Tikhonov’s theorem are used to analyze the stability of the overall closed-loop system. The performance of the developped controller are verified experimentally in the position control of a pneumatic actuator system.

Źródło:

Archives of Control Sciences; 2019, 29, 3; 437-458
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 26.

Tytuł:

Chaos synchronization of uncertain coronary artery systems through sliding mode

Autorzy:

Qian, D. W.
Xi, Y. F.
Tong, S. W.

Powiązania:

https://bibliotekanauki.pl/articles/201501.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaos synchronization
coronary artery systems
sliding mode control
nonlinear dynamics
synchronizacja chaosu
system tętnic wieńcowych
kontroler trybu przesuwnego
dynamika nieliniowa

Opis:

The chaotic phenomena of coronary artery systems are hazardous to health and may induce illness development. From the perspective of engineering, the potential harm can be eliminated by synchronizing chaotic coronary artery systems with a normal one. This paper investigates the chaos synchronization problem in light of the methodology of sliding mode control (SMC). Firstly, the nonlinear dynamics of coronary artery systems are presented. Since the coronary artery systems suffer from uncertainties, the technique of derivative-integral terminal SMC is employed to achieve the chaos synchronization task. The stability of such a control system is proven in the sense of Lyapunov. To verify the feasibility and effectiveness of the proposed method, some simulation results are illustrated in comparison with a benchmark.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 455-462
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 27.

Tytuł:

Dynamic Contraction Method approach to digital longitudinal aircraft flight controller design

Autorzy:

Czyba, Roman
Stajer, Lukasz

Powiązania:

https://bibliotekanauki.pl/articles/229293.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

nonlinear systems
MIMO systems
aircraft control
digital controller
singular perturbation

Opis:

This paper presents the design of digital controller for longitudinal aircraft model basedon the Dynamic Contraction Method. The control task is formulated as a tracking problem of velocity and flight path angle, where decoupled output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. The design of digital controller based on the pseudo-continuous approach is presented, where the digital controller is the result of continuous-time controller discretization. A resulting output feedback controller has a simple form of a combination of low-order linear dynamical systems and a matrix whose entries depend nonlinearly on certain known process variables. Simulation results for an aircraft model confirm theoretical expectations.

Źródło:

Archives of Control Sciences; 2019, 29, 1; 97-109
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

Artykuł

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Skocz do pozycji: 28.

Tytuł:

Fast optimal feedback controller for electric linear actuator used in spreading systems of road spreaders

Autorzy:

Dobrowolski, D.
Dobrowolski, J.
Piekarska, W.
Stępień, S.

Powiązania:

https://bibliotekanauki.pl/articles/201515.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

linear electric actuator
nonlinear modelling
optimal feedback control

Opis:

Modern and innovative road spreaders are now equipped with a special swiveling mechanism of the spreading disc. It allows for adjusting asymmetrical or a symmetrical spreading pattern and provides for the possibility to maintain the size of the spreading surface and achieve an accurately defined spreading pattern with spreading widths. Thus the paper presents a modelling and control design methodology, and the concept is proposed to design high-performance and optimal drive systems for spreading devices. The paper deals with a nonlinear model of an electric linear actuator and solution of the new intelligent/optimal control problem for the actuator.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 6; 1041-1047
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 29.

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

/5

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Skocz do pozycji: 30.

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

/5

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Skocz do pozycji: 31.

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

/5

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Skocz do pozycji: 32.

Tytuł:

LMI-based robust control of uncertain nonlinear systems via polytopes of polynomials

Autorzy:

Sánchez, Marcelino
Bernal, Miguel

Powiązania:

https://bibliotekanauki.pl/articles/330548.pdf

Data publikacji:

2019

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

robust control
uncertain system
nonlinear system
linear parameter-varying systems
LMIs
sterowanie odporne
układ niepewny
układ nieliniowy
układ liniowy niestacjonarny

Opis:

This investigation is concerned with robust analysis and control of uncertain nonlinear systems with parametric uncertainties. In contrast to the methodologies from the field of linear parameter varying systems, which employ convex structures of the state space representation in order to perform analysis and design, the proposed approach makes use of a polytopic form of a generalisation of the characteristic polynomial, which proves to outperform former results on the subject. Moreover, the derived conditions have the advantage of being cast as linear matrix inequalities under mild assumptions.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2019, 29, 2; 275-283
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 33.

Tytuł:

On optimal and quasi-optimal controls in coefficients for multi-dimensional thermistor problem with mixed Dirichlet-Neumann boundary conditions

Autorzy:

Kogut, Peter I.

Powiązania:

https://bibliotekanauki.pl/articles/970117.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

nonlinear elliptic equations
control in coefficients
p(x)-Laplacian
approximation approach
thermistor problem

Opis:

In this paper we deal with an optimal control problem in coefficients for the system of two coupled elliptic equations, also known as the thermistor problem, which provides a simultaneous description of the electric field u = u(x) and temperature θ(x). The coefficients of the operator div (B(x)∇θ(x)) are used as the controls in L∞(Ω). The optimal control problem is to minimize the discrepancy between a given distribution θd ∈ Lr(Ω) and the temperature of thermistor θ ∈ W1,γ 0 (Ω) by choosing an appropriate anisotropic heat conductivity matrix B. Basing on the perturbation theory of extremal problems and the concept of fictitious controls, we propose an “approximation approach” and discuss the existence of the so-called quasi-optimal and optimal solutions to the given problem.

Źródło:

Control and Cybernetics; 2019, 48, 1; 31-68
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 34.

Tytuł:

On real order passivity

Autorzy:

Gallegos, J. A.
Duarte-Mermoud, M. A.

Powiązania:

https://bibliotekanauki.pl/articles/200762.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

passivity
dissipativeness
adaptive
passivation
nonlinear mixed-order system
positive realness
control of nonlinear systems
pasywność
rozproszenie
adaptacja
pasywacja

Opis:

The aim of this paper is to show that a real order generalization of the dissipative concepts is a useful tool to determine the stability (in the Lyapunov and in the input-output sense) and to design control strategies not only for fractional order non-linear systems, but also for systems composed of integer and fractional order subsystems (mixed-order systems). In particular, the fractional control of integer order system (e.g. PI? control) can be formalized. The key point is that the gradations of dissipativeness, passivity and positive realness concepts are related among them. Passivating systems is used as a strategy to stabilize them, which is studied in the non-adaptive as well as in the adaptive case.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 445-454
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 35.

Tytuł:

Optimal control of a frictionless unilateral contact problem
Optymalne sterowanie w zagadnieniu bezpośredniej styczności ciał stałych przesuwanych jednokierunkowo

Autorzy:

Touzaline, Arezki

Powiązania:

https://bibliotekanauki.pl/articles/1837596.pdf

Data publikacji:

2019

Wydawca:

Łódzkie Towarzystwo Naukowe

Tematy:

optimal control
nonlinear elastic
unilateral contact
sterowanie optymalne
zagadnienie nieliniowe jednokierunkowego kontaktu elastycznego

Opis:

We consider a mathematical model which describes a contact between a nonlinear elastic body and a foundation. The contact is frictionless with Signorini’s conditions with a gap.b The goal of this paper is to study an optimal control problem which consists of leading the stress tensor as close as possible to a given target, by acting with a control on the boundary of the body. We state an optimal control problem which has at least one solution. Also we prove a convergence result of a penalized control problem.
Rozpatrujemy model matematyczny określający styczność poruszającego się ciała elastycznego względem podłoża. Zakładamy, że zmiany wzajemnego położenia następują bez tarcia z zachowaniem warunków Signoriniego odnośnie do luk. Podjęte jest zagadnienie optymalnego sterowania tensorem naprężenia ciała względem podłoża. Sterowanie działa jednokierunkowo w odniesieniu do brzegu elastycznej tarczy.

Źródło:

Bulletin de la Société des Sciences et des Lettres de Łódź, Série: Recherches sur les déformations; 2019, 69, 1; 43-56
1895-7838
2450-9329

Pojawia się w:

Bulletin de la Société des Sciences et des Lettres de Łódź, Série: Recherches sur les déformations

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 36.

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

/5

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Skocz do pozycji: 37.

Tytuł:

Wpływanie kształtem trajektorii referencyjnej na działanie układów regulacji predykcyjnej
Influencing Predictive Control System Performance by Reference Trajectory Shaping

Autorzy:

Nebeluk, Robert
Marusak, Piotr

Powiązania:

https://bibliotekanauki.pl/articles/275003.pdf

Data publikacji:

2019

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

trajektoria referencyjna
regulacja predykcyjna
regulacja nieliniowa
obiekty nieliniowe
jakość regulacji
reference trajectory
predictive control
nonlinear control
nonlinear plants
control quality

Opis:

Zastosowanie algorytmów regulacji predykcyjnej MPC do regulacji wielu procesów nieliniowych, o różnym stopniu trudności, często umożliwia osiągniecie bardzo dobrej jakości regulacji. Jest to możliwe ze względu na odpowiednie uwzględnienie w strukturze algorytmu informacji uzyskanych z modelu procesu. Do formułowania zadania optymalizacji dla algorytmów regulacji predykcyjnej najczęściej zakładana jest stała trajektoria referencyjna dla całego horyzontu predykcji. W artykule przedstawiono możliwości poprawy jakości regulacji przez zastosowanie trajektorii referencyjnej zmiennej na horyzoncie predykcji. Podczas porównywania jakości regulacji z wykorzystaniem trajektorii referencyjnych o różnej postaci, wzięto pod uwagę dwie wielkości. Pierwszą z nich jest czas narastania wyjścia obiektu regulacji, a drugą - przeregulowanie. Badania prowadzono w układach regulacji dwóch obiektów: nieminimalnofazowego obiektu liniowego oraz nieliniowego reaktora polimeryzacji. Do regulacji w przypadku pierwszego obiektu, zastosowano algorytm DMC, a w przypadku drugiego - algorytm bazujący na modelu nieliniowym, z nieliniową predykcją i linearyzacją (NDMC-NPL). Przedstawione wyniki dobrze ilustrują możliwości wpływania, za pomocą trajektorii referencyjnych o różnych kształtach, na poprawę jakości regulacji oferowanej przez algorytmy predykcyjne.
Applying model predictive control (MPC) algorithms to control many processes, of different difficulty level, often allows improving control quality. It is possible by including information received from a process model in the algorithm structure. When defining the optimization problem for the predictive control algorithms most often a time-constant reference trajectory is assumed. Possibilities of improving the control quality by applying a time reference trajectory variable on the prediction horizon are presented in the paper. Two quantities are considered when comparing control quality: the rise time of the control plant output, and the overshoot. The experiments were conducted in the control systems of two control plants: a linear nonminimumphase plant and a nonlinear polymerization reactor. In the control system of the first control plant the DMC predictive control algorithm was used. For the nonlinear reactor the NDMC-NPL algorithm based on a nonlinear model was applied. It is demonstrated that by using the reference trajectories of different shapes it is possible to improve control quality offered by the MPC control algorithms.

Źródło:

Pomiary Automatyka Robotyka; 2019, 23, 1; 21-30
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 38.

Tytuł:

Nonlinear dynamic phenomena in fixed and rotating mechanical structures

Autorzy:

Warmiński, J.

Powiązania:

https://bibliotekanauki.pl/articles/127654.pdf

Data publikacji:

2018

Wydawca:

Politechnika Poznańska. Instytut Mechaniki Stosowanej

Tematy:

nonlinear vibrations
rotating structures
resonance
saturation control
composite beams
drgania nieliniowe
struktury wirujące
rezonans
kontrola saturacji
belka kompozytowa

Opis:

A review of selected nonlinear phenomena which may occur in fixed or rotating structures has been presented in the paper. At first, a self, parametrically and externally exited oscillator with added time delay control has been studied. It has been shown that the interaction between different vibration types may produce an untypical resonance curve, with five solutions occurring, observed by an internal resonance loop. The existence of the loop may be controlled by adding a time delay input signal. A proper selection of the time delay may reduce the loop or eliminate it totally. In the second problem a rotating hub-beam structure has been studied. The blade, apart from passive layers, has been composed of two active PZT layers which enabled active vibration control. A nonlinear coupling of the structure (plant) and the controller resulted in the so called saturation phenomenon which has been effectively used for the vibration reduction.

Źródło:

Vibrations in Physical Systems; 2018, 29; 1-6
0860-6897

Pojawia się w:

Vibrations in Physical Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 39.

Tytuł:

Sterowanie zestawem artyleryjsko-rakietowym z wyko-rzystaniem zmodyfikowanego regulatora liniowo-kwadratowego
Control of missile-artillery system with modified linear-quadratic regulator

Autorzy:

Szmidt, P.
Koruba, Z.
Gapiński, D.

Powiązania:

https://bibliotekanauki.pl/articles/195194.pdf

Data publikacji:

2018

Wydawca:

Politechnika Rzeszowska im. Ignacego Łukasiewicza. Oficyna Wydawnicza

Tematy:

sterowanie
LQR
regulator liniowo-kwadratowy
linearyzacja
obiekt nieliniowy
control
linear-quadratic regulator
linearization
nonlinear plant

Opis:

W niniejszej pracy przedstawiono opracowanie układu sterowania zdalnie sterowanym zestawem artyleryjsko-rakietowym z wykorzystaniem regulatora LQR (liniowo-kwadratowego). Model zestawu wyprowadzono, opierając się na produkowanym w Polsce zestawie ZU 23-2MR. W pracy omówiono linearyzację modelu matematycznego zestawu za pomocą Jakobianów, przedstawiono strukturę i budowę układu regulacji oraz zaproponowano sposób niwelacji uchybu sterowania w stanie ustalonym bez wykorzystania dodatkowych członów całkujących, występujących w układzie regulacji. Badaniom poddano także wpływ oddziaływania zakłóceń pochodzących od strzelającej armaty na dokładność sterowania w trakcie śledzenia manewrującego celu. Przeanalizowano również wpływ niedokładności identyfikacji parametrów obiektu sterowania na pracę układu. Symulacje numeryczne przeprowadzono z wykorzystaniem środowiska Scilab, a najistotniejsze wyniki zostały przedstawione w postaci graficznej.
This paper presents the development of a remote-controlled artillery-rocket control system using the LQR (linear-quadratic regulator). The system model was derived on the basis of the ZU 23-2MR set manufactured in Poland. The work discusses linearization of the mathematical model of the system with the help of Jacobians, presents the structure of the control system and proposes a method of minimizing the control error in the steady state, without the use of additional integrating elements occurring in the control system. The study also examined the impact of interference from a shooting cannon on the accuracy of control while tracking a maneuvering target. The influence of inaccurate identification of control object parameters on system operation was also analyzed. Numerical simulations were carried out using the Scilab environment, and the most important results were presented in the graphic form.

Źródło:

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika; 2018, z. 90 [298], 2; 223-235
0209-2689
2300-5211

Pojawia się w:

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 40.

Tytuł:

Suboptimal control of nonlinear continuous-time locally positive systems using input-state linearization and SDRE approach

Autorzy:

Bernat, J.
Kołota, J.
Stępień, S.
Superczyńska, P.

Powiązania:

https://bibliotekanauki.pl/articles/200111.pdf

Data publikacji:

2018

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

positive nonlinear systems
feedback control
Riccati equation
sprzężenie zwrotne
układy nieliniowe
równanie Riccatiego

Opis:

The infinite time suboptimal control problem for continuous-time nonlinear positive systems is formulated and solved. A solution to the problem using input-state linearization and state-dependent Riccati equation method (SDRE) is established, a procedure for solving the problem is proposed and illustrated with a numerical example.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 1; 17-21
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 41.

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

/5

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Skocz do pozycji: 42.

Tytuł:

Nieliniowe sterowanie predykcyjne kaskadowym układem zbiorników
Nonlinear predictive control of a cascade of tanks

Autorzy:

Bieniek, B.
Piotrowski, R.

Powiązania:

https://bibliotekanauki.pl/articles/276826.pdf

Data publikacji:

2017

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

kaskadowy układ zbiorników
modelowanie
sterowanie
nieliniowy układ regulacji
predykcyjny układ regulacji
cascade tanks
modeling
control
nonlinear control system
predictive control

Opis:

Obiektem regulacji jest kaskadowy układ trzech zbiorników firmy INTECO. Do sterowania wykorzystywane są dwa z nich. Zaprojektowano dwa układy regulacji poziomu wody: jednowymiarowe algorytmy MPC – po jednym dla każdego ze zbiorników oraz wielowymiarowy algorytm MPC sterujący całym układem. Przeprowadzono analizę porównawczą opracowanych algorytmów sterowania dla zmiennej trajektorii zadanej.
The control system is a cascade of three tanks of INTECO. They are used to control two of them. Two algorithms of water level control are used: two single dimensional model predictive control (MPC) algorithms, one for each tank, and a multi-dimensional MPC controlling both tanks simultaneously. A comparative analysis of developed control algorithms for variable set-point trajectory.

Źródło:

Pomiary Automatyka Robotyka; 2017, 21, 1; 25-30
1427-9126

Pojawia się w:

Pomiary Automatyka Robotyka

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 43.

Tytuł:

Nonlinear robust control for single-machine infinite-bus power systems with input saturation

Autorzy:

Wan, Y.

Powiązania:

https://bibliotekanauki.pl/articles/201145.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

nonlinear robust control
input saturation
generator excitation
single-machine infinite-bus power systems
SMIB
nasycenie wejścia
wzbudzenie generatora
nieliniowe sterowanie

Opis:

In this paper, a new control scheme is proposed to achieve stability for a single-machine infinite-bus power system. A power system model simultaneously considering input saturation and time-varying uncertainties is presented. A sufficient condition for the system convergence is given and based on this result, a switching excitation control law with auxiliary system is designed. The stability analysis and simulation results all show that the developed controller is effective.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 3-9
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 44.

Tytuł:

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Autorzy:

Qian, D. W.
Tong, S. W.
Li, C. D.

Powiązania:

https://bibliotekanauki.pl/articles/201511.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

multi-agent system
formation control
integral sliding mode control
uncertainty
nonlinear disturbance observer
stability
system wieloagentowy
kontrola formacji
integralne sterowanie ślizgowe
niepewność
nieliniowy obserwator zakłóceń
stabilność

Opis:

This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 35-44
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 45.

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

/5

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Skocz do pozycji: 46.

Tytuł:

Path following control of the underactuated USV based on the improved line-of-sight guidance algorithm

Autorzy:

Liu, T.
Dong, Z.
Du, H.
Song, L.
Mao, Y.

Powiązania:

https://bibliotekanauki.pl/articles/259559.pdf

Data publikacji:

2017

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

unmanned surface vessel (USV)
path following control
Serret-Frenet coordinate frame
underactuated system
improved lineof-sight guidance algorithm
nonlinear backstepping method

Opis:

The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

Źródło:

Polish Maritime Research; 2017, 1; 3-11
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 47.

Tytuł:

Sky-hook control and Kalman filtering in nonlinear model of tracked vehicle suspension system

Autorzy:

Jurkiewicz, A.
Kowal, J.
Zając, K.

Powiązania:

https://bibliotekanauki.pl/articles/386619.pdf

Data publikacji:

2017

Wydawca:

Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej

Tematy:

continuous sky-hook control strategy
extended Kalman filter
military vehicle
nonlinear model
semi-active suspension system
simulation

Opis:

The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous skyhook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

Źródło:

Acta Mechanica et Automatica; 2017, 11, 3; 222-228
1898-4088
2300-5319

Pojawia się w:

Acta Mechanica et Automatica

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 48.

Tytuł:

Analysis, adaptive control and circuit simulation of a novel finance system with dissaving

Autorzy:

Tacha, O. I.
Volos, C. K.
Stouboulos, I. N.
Kyprianidis, I. M.

Powiązania:

https://bibliotekanauki.pl/articles/229959.pdf

Data publikacji:

2016

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaotic finance system
dissaving
bifurcation diagram
Lyapunov exponent
phase portrait
adaptive control
nonlinear circuit

Opis:

In this paper a novel 3-D nonlinear finance chaotic system consisting of two nonlinearities with negative saving term, which is called ‘dissaving’ is presented. The dynamical analysis of the proposed system confirms its complex dynamic behavior, which is studied by using wellknown simulation tools of nonlinear theory, such as the bifurcation diagram, Lyapunov exponents and phase portraits. Also, some interesting phenomena related with nonlinear theory are observed, such as route to chaos through a period doubling sequence and crisis phenomena. In addition, an interesting scheme of adaptive control of finance system’s behavior is presented. Furthermore, the novel nonlinear finance system is emulated by an electronic circuit and its dynamical behavior is studied by using the electronic simulation package Cadence OrCAD in order to confirm the feasibility of the theoretical model.

Źródło:

Archives of Control Sciences; 2016, 26, 1; 95-115
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 49.

Tytuł:

Comparison of Two Nonlinear Predictive Control Algorithms for Dissolved Oxygen Tracking Problem at WWTP

Autorzy:

Piotrowski, R.

Powiązania:

https://bibliotekanauki.pl/articles/384859.pdf

Data publikacji:

2016

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

aeration
dissolved oxygen
wastewater treatment
mathematical modelling
nonlinear system
predictive control

Opis:

The wastewater treatment plant is classified as a complex system due to its nonlinear dynamics, large uncertainty in the disturbance inputs, multiple time scales in the internal process dynamics and multivariable structure. Aeration is an important and expensive activity that is carried out during wastewater treatment plant operation. A precise aeration control in biological processes for all the operating conditions is necessary in order to guarantee adequate biological conditions for microorganisms. Therefore, the most important is to operate the biological processes so that a minimal energy was consumed and minimal DO concentration demand was applied. The paper proposes a two advanced control systems to track the dissolved oxygen reference trajectory. A decentralized and multivariable nonlinear predictive control algorithms are designed and compared. Simulation tests for the case study wastewater treatment plant are presented.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 1; 8-16
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 50.

Tytuł:

Fuzzy adaptive control of nonlinear two-mass system

Autorzy:

Wróbel, K.

Powiązania:

https://bibliotekanauki.pl/articles/1193270.pdf

Data publikacji:

2016

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

fuzzy control
adaptive control
nonlinear two-mass system
compensation of friction

Opis:

In the paper, an adaptive control MRAS-based structure for nonlinear two-mass system is proposed. The performance of the control structure is supported by additional compensator. After short introduction a mathematical model of the drive system is presented. In the plant, the additional nonlinearities such as friction and mechanical hysteresis are considered. Then the structure of the fuzzy system is shown. Contrary to the majority of papers the controller considered is based on the II type fuzzy sets. Then the simulation tests showing performance of the proposed structure are presented. The drive is tested at different operation points, including low-speed region where friction plays dominant role. A comparison of classical PI controller with antiwindup and the proposed structure is presented. Then laboratory set-up with DC motor is described briefly. Experimental results are included in the paper. It is shown that the torsional vibrations of two-mass system are damped effectively. The impact of the existing delays of system is discussed. A summary is given at the end of the paper.

Źródło:

Power Electronics and Drives; 2016, 1, 36/2; 133-146
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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