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When a port-Hamiltonian system is a result of state feedback control, as it is the case for interconnection and damping assignment passivity based control (IDA-PBC), the intuitive choice of the design parameters in the interconnection and damping matrices is often impeded by a complicated energy function. In our contribution we present a systematic approach to fix constant parameters of the design...
The paper uses an explicit nonlinear control law constructed upon an approximating solution of a constrained finite-time optimal control (CFTOC) problem. The methodology is based on the piecewise affine approximation of a nonlinear models and the exact explicit solution of a multiparametric optimisation problem associated with a model predictive control (MPC) scheme. The technique is applied to a...
The paper investigates a model predictive control (MPC) strategy specialized in urban traffic management in order to relieve traffic congestion, reduce travel time and improve homogenous traffic flow. Over the theory the realization of the control method is also presented. To validate the effectiveness of the controller a busy traffic network was chosen for test field. The MPC strategy was implemented...
This paper deals with intelligent controller design using artificial neural networks (ANN) in the role of feedback controllers. Neural controllers are built up and trained as inverse neural process models. Their performance and robustness are, gradually, improved and augmented by introducing, first, an adaptive simple integrator and, then, a controller with fuzzy integrator part. The proposed ANN...
The purpose of this article is to present a method for industrial process diagnosis with Bayesian network. The interest of the proposed method is to combine a discriminant analysis and a distance rejection in a bayesian network in order to detect new types of fault. The performances of this method are evaluated on the data of a benchmark example: the Tennessee Eastman Process. Three kinds of fault...
The problem of stabilizing positive switching discrete-time systems by output feedback is studied and solved in this paper. First, necessary and sufficient conditions for the existence of such controllers are presented for non-switching positive systems, which are then extended to positive switching systems. The proposed conditions, formulated as LMIs, can be directly used for controller synthesis...
This article deals with the problem of planning optimal trajectories for a GOUGH parallel robot. The planning process consists of searching for a motion ensuring the accomplishment of the assigned task, minimizing a cost function and satisfying various constraints inherent to the robot kinematics and dynamics. This problem is treated via (i) an adequate parameterization of the operational coordinates...
This paper investigates the path tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults and the external resistance. A hybrid fault tolerant control approach, which combines the linear quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehiclepsilas tracking performance in spite...
This paper models a class of stochastic systems with faults by the switching diffusion processes (SDP), and analyzes the fault tolerability of such stochastic systems in the sense of input-to-state stability (ISS) of overall SDP. A series of sufficient conditions are established to guarantee the ISS of the stochastic systems in spite of faults in three cases respectively: All individual modes of SDP...
This paper presents a new framework for studies into the on-line monitoring and adaptive control of psychophysiological markers relating to human operators working under stress. The starting point of this framework is the assessment of compromised operator functional state (OFS) using physiological and behavioral markers of strain. A fuzzy model linking Heart-Rate Variability (HRV) and Task Load Index...
In this paper, a fault tolerant control (FTC) system based on data driven fault detection (FDI) is presented. The behaviour of the system with proactive and reactive FTC strategies is studied in the presence of faults in an online product quality analyser with a simulated dearomatisation process operated under model predictive control (MPC). The performance of the system is validated onsite at the...
This paper describes a solution to the problem of landing a helicopter autonomously. The methodology used poses the problem as a discrete time path following control problem where a conveniently defined error state space model of the helicopter is modified to include the aerodynamic effects of flying within close proximity to the ground. An affine parameter-dependent model representation is adopted...
It is well-known that the interconnection of two or more dynamical systems leads to an increasing complexity of the overall system's behavior due to the effects induced by the emerging dynamics (in the presence or not of feedback loops) in strong interactions (sensing, communication) with the environment changes. One of the major problems appearing in such interconnection schemes is related to the...
We present a new framework for describing multi-agent systems with hybrid individual dynamics where the interaction between agents occurs at both the continuous and discrete levels. We formally define these multi-agent systems as interconnected hybrid systems and then recast fundamental hybrid concepts such as a hybrid metric, hybrid execution, and reachability in this new interconnected hybrid systems...
In this paper we explore the geometry of a particular navigation scheme which guides a pursuer from a fixed initial position to a given fixed final position using a one-step look ahead strategy and using only bearing measurements. We explicitly characterize the optimal trajectories for the problem in terms of the Cramer-Rao bound such that the derived trajectories permit a minimization in the error...
We are presenting a change-point detection method based on a direct online estimation of the signalpsilas singularity points. Using a piecewise local polynomial representation of the signal, we cast the problem into a delay estimation. A change-point instant is characterized as a solution of a polynomial equation, the coefficients of which are composed by short time window iterated integrals of the...
In control problems of complex dynamical systems the controller design is usually carried out on order-reduced and otherwise simplified models. This is done to keep the controller complexity manageably low or to ease the application of computationally expensive design methods. If the model reduction was carried out carefully, the resulting controllers will perform equally well on the original, complex...
This paper presents the L2 stability analysis of a networked pressure control system implemented in a nuclear power plant. The theoretical background for the applied modelling, identification, controller design tools and for the implementation process is also briefly discussed. To ensure the nominal stability properties of the designed controller in the networked environment the maximum allowable...
This paper presents a benchmark study on fault diagnosis of electrohydraulic servoactuators (EHSA). EHSA are considered to be affected by faults and disturbances. The linear mathematical model of the EHSA is given. Two different design methods for fault diagnosis are studied. The first method considers the strategy of parity space design, and observer-based implementation, in which a perfect disturbance...
In this study a new type of state observer for dynamic systems containing non-linear polynomials is proposed. The stability of the structure and also the uniform convergence of the state estimates are analyzed. The simple and efficient algebraic criteria of Naslin normal damping polynomials permit synthesis of the parameters. A series of simulations illustrates the proposed developments based on a...
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