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A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
This paper proposes a novel methodology for applying MPC for nonlinear, feedback linearizable systems with input constraints. Earlier approaches coupling MPC and Feedback linearization techniques were limited by a basic factor; although the system dynamics were transformed to a linear system via feedback linearization, the initial input constraints were mapped to a set of nonlinear, and in general...
Heating, ventilating and air-conditioning (HVAC) system is a multi-variable, strongly coupled, nonlinear, time variant, large time delay and large-scale system composed of several subsystems. In order to save energy, all the subsystems should work coordinately in different working points to meet the people's comfortable requirement. In HVAC control systems, system optimal control inputs or optimal...
Fuel optimization of fixed time hard rendezvous problem is studied. Optimal fuel is calculated by indirect and direct approaches respectively. The indirect approach is based on primer vector theory, and primer vector of transfer orbit is calculated and improved. A nonlinear optimization model is formulated for the problem of multiple-impulse rendezvous optimizing by direct approach, and the optimal...
This paper addresses a general theoretical framework of optimal control problems (OCPs) associated with the conventional sliding mode dynamics. We deal with a class of constrained OCPs governed by nonlinear affine control systems and propose some numerically stable approximations to the sophisticated dynamical optimization problem. The above-mentioned structure of the state equations makes it also...
Ball-screw-driven mechanism has been used in many industrial applications. In microscopic displacement range, resonant modes, dead time in addition to nonlinear friction of this mechanism deteriorate the positioning performance. To obtain high precision response in this displacement range, a control scheme was proposed as a composition of two types of control methodology: a feedforward compensator...
Previous efforts to control cellular differentiation have been largely experimental. Although some mathematical models for this process exist, rarely has a quantitative approach been employed to design experiments that predictably direct the cell fate. As an initial step towards this aim, a control strategy for sustaining a desired constant level of differentiated human promyelocytic leukemia (HL60)...
A systematic control strategy is proposed for the optimal operation of multi-unit systems undergoing a partial shutdown. The strategy entails manipulating the degrees-of-freedom available during and after a shutdown such that production is restored in a cost-optimal fashion while meeting all safety and operational constraints. In this work, we investigate the coordination of buffer tanks, production...
This paper introduces a method based on nonlinear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an optimal performance objective, such as minimum tracking error or minimum energy. The method is demonstrated...
A fuzzy logic controller (FLC) is designed to achieve course-keeping for mooring shifting system, which is the main system of non self-propelled vessels. Compared with manual operation, the automatic operation and monitoring system with the FLC can perform higher precision and efficiency. The particle swarm optimization (PSO) algorithm is introduced to optimize the proposed FLCpsilas parameters. A...
This paper is concerned with route control for freeway networks. The freeway network with multi-origin and multi-destination was modeled using a second order macroscopic traffic flow model. The nonlinear optimization method for traffic control was presented. The considered control measure was route diversion by Variable Message Signs (VMS).The control task was formulated as a dynamic, nonlinear, discrete-time...
In this paper, a three-step method is proposed to design a sliding mode control strategy, that provides optimal system dynamics with respect to a given cost functional. The method is based on methods of constrained continuous dynamic optimization. It allows a systematic control unit design and therefore reduces the time to find an appropriate sliding mode control law. The proposed technique is successfully...
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