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In this paper, we are concerned with the stabilization of one-dimensional wave equation with pointwise dissipation and external disturbance. The active disturbance rejection control (ADRC) approach is adopted in investigation. By ADRC approach, an extended state observer (ESO) with time-varying high gain is designed to estimate the disturbance. The proposed control law cancels the disturbance by using...
We address input design for piecewise affine systems so as to satisfy a reachability specification, and, simultaneously, detect the inputs that are actually relevant (influential inputs). This can be useful for system verification, when one has to check if some undesired/unsafe behavior coded via a reachability specification can actually occur and then possibly take appropriate corrective actions...
In this paper, we present a new property of relative observability, and based on this property, we propose two algorithms to deal with relative observability of regular languages. The first algorithm, that has polynomial complexity, verifies if a regular language is relatively observable. The second algorithm, that computes the supremal relatively observable sublanguage of a given regular language,...
The descriptor function framework is used as tool for the control management of a swarm of dynamic agents. In this framework, a provision is made for obstacle and collision avoidance, thus improving the potential of the methodology from previous results. Obstacle and collision avoidance terms are added to the overall mission performance index, and the resulting control law moves the agents along obstacle...
The paper addresses the problem of sensor location regarding the solvability of the disturbance decoupling problem in finite automata. Two methods are given to find the measured output, which guarantees the solvability of the disturbance decoupling problem. Besides being of interest itself, the solution of this problem allows to address the disturbance decoupling problem in hybrid systems.
This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The...
This papers focuses on a time-varying version of the containment problem for multi-agent systems. This problem consists in that a subgroup of agents, called leaders, achieve trajectory tracking while they carry out a time-varying formation. At the same time, another subgroup of agents, called followers, converge to the convex hull formed by the leaders. We propose a decentralized control strategy,...
Distributed consensus algorithms have been widely designed for linear time-invariant multiagent systems. However, multiagent systems are subject to unknown environments, which results in time-varying linear models. Additionally, it is desirable to investigate the consensus performance of the closed-loop MAS. In this article, we characterize the operating condition of the multiagent system by an unknown...
The past few years have seen an exponential growth in data collection capabilities. Unfortunately, the ability to process this vast amount of data has not kept pace with this growth. Taking full advantage of these increased capabilities requires scalable, computationally efficient algorithms to timely and robustly extract actionable information from the very large data sets generated by the sensors...
A Hydromechanical Variable Transmission is a device able to efficiently transmit non-constant mechanical torque from a source to a load. To suitably control this torque, Dana Rexroth has developed a hybrid transmission that combines a hydrostatic pathway and a mechanical one. The power transmitted along each pathway can be controlled by means of clutches. The torque and so the power transferred by...
In this paper, we propose two stochastic distributed algorithms for solving linear algebraic equations in the form of Ax = b among a network of m > 1 agents. Each agent knows only a subset of the rows of the partitioned matrix [A b]. Each agent recursively updates its estimate of a solution based on the messages received only from its neighbors. The neighbor relationships among the agents are captured...
The contribution of this paper is a controller-design oriented model of insulin-glucose dynamics in Type 1 Diabetes Mellitus (T1DM). The novelty of the proposed model is to more effectively include the time-varying nature, and also the inter-patient variability, associated with the glucose-control problem. Importantly, this is achieved in a manner that straightforwardly facilitates well-known and...
This paper presents a hierarchical control strategy for a multi-module battery energy storage system, with distributed sliding mode controllers for state of charge balancing between modules. Under the proposed control strategy, a central controller generates a nominal module output power reference to regulate the total battery energy storage system output power. The nominal output power reference...
This paper proposes a novel decentralized control strategy for the complex power system with persistent bounded disturbances and nonlinear interconnections. The recursive design method is adopted to construct the decentralized feedback control law. The developed feedback control law improves the disturbance rejection performance of the corresponding closed-loop interconnected system in the sense of...
Principal Component algorithms are widely used in active control applications, specially for applications of active vibration and noise cancellation in the aerospace industry. They are known to offer good adaptability characteristics and also provide a intuitive approach to deal with actuator saturation by limiting the control only to a significant number of modes. Existing stability results for such...
In this paper, the load-frequency control problem of microgrid is discussed. The control is applied to maintain a balance between electric-power demand and supply by controlling the outputs of generators in power systems. However, because of the large-scale introduction of energy from renewable-energy sources, it has become more difficult to maintain this balance. To solve this problem, we consider...
In this paper, we study a formation control scheme that achieves a tight formation in a 1D platoon. The scheme achieves constant inter-vehicle spacings (with no transient) for almost every vehicle pair whenever there are no disturbances. We build up from the basic leader following approach with a modification in the weight selection. In particular, each member tracks the movement of its immediate...
Fluid flow networks (FFNs) are commonly existed in industrial complexes such as the water distribution and mine ventilation systems. Flowrate and pressure control is crucial for the safe, stable and efficient operation of FFNs. Based on giving a nonlinear state-space model for control design, an adaptive distributed flowrate-pressure control strategy taking the simple proportional-integral (PI) form...
This work presents a new methodology for tuning industrial predictive controllers, with the aim to fit the parameters of the (associated) stationary optimization problem - which decides the optimal economic operation. A step by step procedure to find the right tuning values are provided, and a case study taken from a real natural gas processing unit is presented to illustrate the advantages of the...
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