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Optimal Control of Digital Hydraulic Drives Using Mixed-Integer Quadratic Programming 基于混合整数二次规划的数字液压传动最优控制
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00013
Mateusz Sniegucki, Markus Gottfried, U. Klingauf
{"title":"Optimal Control of Digital Hydraulic Drives Using Mixed-Integer Quadratic Programming","authors":"Mateusz Sniegucki, Markus Gottfried, U. Klingauf","doi":"10.3182/20130904-3-FR-2041.00013","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00013","url":null,"abstract":"Abstract Control of dynamical systems gets considerably harder with an increasing number of control variables. Especially when the control variables are restricted to integer values, the solution is of combinatorial complexity. An example of such systems are Digital Hydraulic Drives, where several cylinders contribute to the output torque independently. In this work we present an optimal control approach for torque control of Digital Hydraulic Drives using Mixed-Integer Quadratic Programming in a Model Predictive Control framework. The nonlinear behavior and discrete valued inputs resulting from the use of on-off valves, are accommodated in the control model using a Mixed Logical Dynamical System representation. With the presented approach, optimal switching sequences for the electrical valves are computed that produce the desired torque trajectory with fast tracking and minimal ripple, while keeping switching events at a minimum and respecting physical system constraints.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128097360","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Practical and Robust Synchronization of Systems with Additive Linear Uncertainties 具有可加性线性不确定性系统的实用鲁棒同步
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00134
Jan Maximilian Montenbruck, Georg S. Seyboth, F. Allgöwer
{"title":"Practical and Robust Synchronization of Systems with Additive Linear Uncertainties","authors":"Jan Maximilian Montenbruck, Georg S. Seyboth, F. Allgöwer","doi":"10.3182/20130904-3-FR-2041.00134","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00134","url":null,"abstract":"Abstract We investigate the synchronization of systems with additive uncertainties. In doing so, we establish a setup of diffusively coupled nonlinear systems that are perturbed by unknown linear functions, each. By assuming bounded solutions of the nominal uncoupled systems, we derive sufficient conditions for boundedness of the solutions of the coupled systems with uncertainties. Next, using the QUAD condition, we derive conditions for the synchronization error to remain bounded. Subsequently, we investigate the impact of the coupling strength on this bound and find that the bound can be made arbitrarily small for sufficiently large gains, thus establishing criteria for practical synchronization. Finally, we consider classes of uncertainties which consist of matrices whose maximal singular value is smaller than a specific value and show practical synchronization for all uncertainties belonging to that class. Therefore, we establish conditions for robust synchronization with respect to such a class. Our theoretical results are validated with a numerical example composed of perturbed Van der Pol oscillators.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115497880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
On the Convergence Rate of Non-Linear Consensus Networks with Delays 具有时滞的非线性共识网络的收敛速度
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00146
C. Somarakis, J. Baras
{"title":"On the Convergence Rate of Non-Linear Consensus Networks with Delays","authors":"C. Somarakis, J. Baras","doi":"10.3182/20130904-3-FR-2041.00146","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00146","url":null,"abstract":"Abstract We consider a generic non-linear consensus model and prove convergence results to a common value together with prescribed rate of convergence. Instead of a Lyapunov approach we consider a functional metric space and make a fixed point theory argument using contraction mappings. We are restricted to the case of static networks.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"368 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131644762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Local Finite-Time Stability and Stabilization Analysis of Interconnected Systems 互联系统的局部有限时间稳定性与镇定分析
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00158
N. Zoghlami, L. Beji, R. Mlayeh, A. Abichou
{"title":"Local Finite-Time Stability and Stabilization Analysis of Interconnected Systems","authors":"N. Zoghlami, L. Beji, R. Mlayeh, A. Abichou","doi":"10.3182/20130904-3-FR-2041.00158","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00158","url":null,"abstract":"Interconnection is omnipresent in a system through the state variables and induced for multi-system interaction and shared tasks. Typically, the example of multi-agent coordination was studied as an interconnected system. The paper deals with the finite-time stability problem of a general form of interconnection presented as a perturbation term. Sufficient conditions for finite-time stability are derived. A second interest is given to the interaction of multiple controlled autonomous systems, and where the multi-system control-input is established both for finite-time stabilization. As an example of application, the finite-time tracking problem of four unicycles is studied.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114243137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Nonlinear Observer Normal Form with Output Injection and Extended Dynamic 具有输出注入和扩展动态的非线性观测器范式
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00117
R. Tami, D. Boutat, G. Zheng
{"title":"Nonlinear Observer Normal Form with Output Injection and Extended Dynamic","authors":"R. Tami, D. Boutat, G. Zheng","doi":"10.3182/20130904-3-FR-2041.00117","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00117","url":null,"abstract":"This paper presents a new extended output depending nonlinear observer normal form. A sufficient geometrical conditions that guarantee a change of coordinates allowing the transformation of a given nonlinear dynamical system into the proposed observer form are given. Throughout this work, it will be showed that, unlike to the existing observer normal forms, this new form enables to design an observer for the Susceptible, Exposed, Infected, and Recovered (SEIR) model of population under an infectious disease.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123640560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Limit-Cycles Prevention Via Multiple Hinfinity Constraints with an Application to Anti-Windup Design 多重无穷大约束的极限环预防及其在抗绕组设计中的应用
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00124
J. Biannic
{"title":"Limit-Cycles Prevention Via Multiple Hinfinity Constraints with an Application to Anti-Windup Design","authors":"J. Biannic","doi":"10.3182/20130904-3-FR-2041.00124","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00124","url":null,"abstract":"Abstract Rate and magnitude control limitations are often responsible for the apparition of undesired limit-cycles in the resulting nonlinear closed-loop system. Based on the well-known describing function approach, it is shown in this paper that such limit cycles can be avoided as soon as H ∞ constraints are simultaneously satisfied by appropriately chosen linear interconnections. This result is then used to design anti-windup compensators.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131316749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Differentiation Tool Efficiency Comparison for Nonlinear Model Predictive Control Applied to Oil Gathering Systems 集油系统非线性模型预测控制的微分工具效率比较
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00069
Andrés Codas, M. A. Aguiar, Konstantin Nalum, B. Foss
{"title":"Differentiation Tool Efficiency Comparison for Nonlinear Model Predictive Control Applied to Oil Gathering Systems","authors":"Andrés Codas, M. A. Aguiar, Konstantin Nalum, B. Foss","doi":"10.3182/20130904-3-FR-2041.00069","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00069","url":null,"abstract":"This paper presents a comparison of gradient computation techniques required to solve a single-shooting formulation of nonlinear model predictive control (NMPC) problems. An oil production system with network structure is considered as test instance. The structure of the network is exploited to improve computational efficiency. Exact gradient sensitivity calculation methods (forward and adjoint) are compared along with the finite difference approximation. Forward and Reverse automatic differentiation for calculating Jacobians are also compared along with the finite difference approximation counterpart. Since there is a trade off involving accuracy and speed when calculating these gradients, the best combination of tools is case dependent and it is determined by the analyses of performance indexes arising when solving specific NMPC problems. A hybrid approach combining finite difference Jacobian calculations with adjoint sensitivity calculations gave the best performance for our test problems.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"58 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128269706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Nonlinear Observer Normal Forms for Some Predator-Prey Models 一些捕食者-猎物模型的非线性观测器范式
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00021
D. Boutat, M. Saif
{"title":"Nonlinear Observer Normal Forms for Some Predator-Prey Models","authors":"D. Boutat, M. Saif","doi":"10.3182/20130904-3-FR-2041.00021","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00021","url":null,"abstract":"This paper considers the nonlinear observer normal forms and their application in an ecological Predator-Prey system. These forms allow for the design of robust observers for Predator-Prey models where full measurement is not available. Thus, from a measured population of one specie (prey or predator), one can estimate the population that is not directly measured.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131789123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Locally Optimal Controllers for Some Nonlinear Systems 一类非线性系统的局部最优控制器
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00026
Sofiane Benachour, V. Andrieu
{"title":"Locally Optimal Controllers for Some Nonlinear Systems","authors":"Sofiane Benachour, V. Andrieu","doi":"10.3182/20130904-3-FR-2041.00026","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00026","url":null,"abstract":"In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing a LQ approach, then the associated Lyapunov function can be seen has the value function of an optimal problem with some specific properties. We illustrate these result on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering an orbital transfer problem.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123851586","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Collision Avoidance in Formation Control Using Discontinuous Vector Fields 基于不连续矢量场的编队控制避碰
IFAC Symposium on Nonlinear Control Systems Pub Date : 1900-01-01 DOI: 10.3182/20130904-3-FR-2041.00175
E. G. Hernández-Martínez, E. Aranda-Bricaire
{"title":"Collision Avoidance in Formation Control Using Discontinuous Vector Fields","authors":"E. G. Hernández-Martínez, E. Aranda-Bricaire","doi":"10.3182/20130904-3-FR-2041.00175","DOIUrl":"https://doi.org/10.3182/20130904-3-FR-2041.00175","url":null,"abstract":"Abstract This paper presents a novel collision avoidance approach in formation control for Multi-agent Robots. The control strategy consists in the mix of attractive vector fields and repulsive vector fields based on a scaled unstable focus centered at the position of another robot, instead of the vector fields obtained from the negative gradient of repulsive potential functions. The analysis of the closed-loop system is presented for the case of two point robots. After that, a modification of the composite vector field is proposed adding a discontinuity in order to avoid the undesired equilibria of the system. Real-time experiments using unicycle-type robots show that the control strategy exhibits good performance.","PeriodicalId":420241,"journal":{"name":"IFAC Symposium on Nonlinear Control Systems","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130197877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
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