2016 (vol. 26) - Number 4
Practical and asymptotic stability of fractional discrete-time scalar systems described by a new model
D. Krokavec, A. Filasova, P. Liscinsky:
On fault tolerant control structures incorporating fault estimation
Hyperchaos, adaptive control and synchronization of a novel 4-D hyperchaotic system with two quadratic nonlinearities
H. Górecki, M. Zaczyk:
Analytic solutions of transcendental equations with application to automatics
Predictor-based stabilization for chained form systems with input time delay
S. Daniar, R. Aazami, M. Shiroei:
Multivariable predictive control considering time delay for load-frequency control in multi-area power systems
Analysis and comparison of the stability of discrete-time and continuous-time linear systems
M. Rachik, M. Lhous:
An observer-based control of linear systems with uncertain parameters
Identification of stable elementary bilinear time-series model
New observer-based control design for mismatched uncertain systems with time-delay
Pinning synchronization of the drive and response dynamical networks with lag
(School of Finance, Tianjin University of Finance & Economics, China)
|Mo Zhao, Fanyu Meng|
(Civil Aviation University of China, China)
This paper investigates the pinning synchronization of two general complex dynamical networks with lag. The coupling configuratio nmatrices in the two networks are not need to be symmetric or irreducible. Several convenient and useful criteria for lag synchronization are obtained based on the lemma of Schur complement and the Lyapunov stability theory. Especially, the minimum number of controllers in pinning control can be easily obtained. At last, numerical simulations are provided to verify the effectiveness of the criteria.
keywords: complex networks, lag synchronization, pinning control, Lorenz system
Takagi Sugeno fuzzy expert model based soft fault diagnosis for two tank interacting system
|Pandiyan Manikandan, Mani Geetha|
(PSG College of Technology, Coimbatore, India)
The inherent characteristics of fuzzy logic theory make it suitable for fault detection and diagnosis (FDI). Fault detection can benefit from nonlinear fuzzy modeling and fault diagnosis can profit from a transparent reasoning system, which can embed operator experience, but also learn from experimental and/or simulation data. Thus, fuzzy logic-based diagnostic is advantageous since it allows the incorporation of a-priori knowledge and lets the user understand the inference of the system. In this paper, the successful use of a fuzzy FDI based system, based on dynamic fuzzy models for fault detection and diagnosis of an industrial two tank system is presented. The plant data is used for the design and validation of the fuzzy FDI system. The validation results show the effectiveness of this approach.
keywords: extended Kalman filter, fault diagnosis, fuzzy logic, two tank system
Iterative learning control with sampled-data feedback for robot manipulators
(Bulgarian Academy of Sciences, Bulgary)
(Sofia University, Bulgaria)
|Haruhisa Kawasaki, Tetsuya Mouri|
(Gifu University, Japan)
This paper deals with the improvement of the stability of sampled-data (SD) feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC) with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more), while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached.
keywords: sampled-data systems, iterative learning control, robot manipulators, convergence analysis
Tracking control of an underactuated rigid body with a coupling input force
(Warsaw University of Technology, Warsaw, Poland)
This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.
keywords: underactuated system, tracking, coupling force, computed torque
Gain scheduled controller design for thermo-optical plant
|Vojtech Vesely, Jakub Osusky, Ivan Sekaj|
(Slovak University of Technology in Bratislava, Slovak Republic)
This paper presents a gain scheduled controller design for MIMO and SISO systems in the frequency domain using the genetic algorithms approach. The proposed method is derived from the M-delta structure of closed loop MIMO (SISO) systems and the small gain theory is exploited to obtain the stability condition. An example of real system illustrates the effectiveness of the proposed output feedback gain scheduled controller design method and also the possibility to improve its performance using the genetic algorithm.
keywords: gain scheduled control, small gain theorem, frequency domain, genetic algorithm, control performance
Handling uncertainty of resource division in multi agent system using game against nature
(Silesian University of Technology, Gliwice, Poland)
(Universidad Politecnica de Valencia, Spain)
This paper addresses the problem of resource division for robotic agents in the framework of Multi-Agent System. Knowledge of the environment represented in the system is uncertain, incomplete and distributed among the individual agents that have both limited sensing and communication abilities. The pick-up-and-collection problem is considered in order to illustrate the idea presented. In this paper a framework for cooperative task assignment to individual agents is discussed. The process of negotiating access to common resources by intercommunicating agents is modeled and solved as a game against Nature. The working of the proposed system was verified by multiple simulations. Selected, exemplary simulations are presented in the paper to illustrate the approach discussed.
keywords: multi-agent system, distributed system, negotiations, uncertainty, game theory
Adaptive backstepping control, synchronization and circuit simulation
of a 3-D novel jerk chaotic system with two hyperbolic sinusoidal nonlinearities
|Sundarapandian Vaidyanathan, Kavitha Madhavan|
(Vel Tech University, India)
(Aristotle University of Thessaloniki, Greece)
(Hanoi University of Science and Technology, Vietnam)
|Babatunde A. Idowu|
(Lagos State University, Nigeria)
In this research work, a six-term 3-D novel jerk chaotic system with two hyperbolic sinusoidal nonlinearities has been proposed, and its qualitative properties have been detailed. The Lyapunov exponents of the novel jerk system are obtained as L1 = 0.07765, L2 = 0, and L3 = -0.87912. The Kaplan-Yorke dimension of the novel jerk system is obtained as DKY = 2.08833. Next, an adaptive backstepping controller is designed to stabilize the novel jerk chaotic system with two unknown parameters. Moreover, an adaptive backstepping controller is designed to achieve complete chaos synchronization of the identical novel jerk chaotic systems with two unknown parameters. Finally, an electronic circuit realization of the novel jerk chaotic system using Spice is presented in detail to confirm the feasibility of the theoretical model.
keywords: chaos, jerk system, novel system, adaptive control, backstepping control, chaos synchronization
Design of regular positive and stable descriptor systems via state-feedbacks for descriptor continuous-time linear systems with singular pencils
(Bialystok University of Technology, Bialystok, Poland)
A new method is proposed of design of regular positive and asymptotically stable descriptor systems by the use of state-feedbacks for descriptor continuous-time linear systems with singular pencils. The method is based on the reduction of the descriptor system by elementary row and column operations to special form. A procedure for the design of the state-feedbacks gain matrix is presented and illustrated by a numerical example.
keywords: design, positivity, descriptor, linear, system, singular pencil