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Reachability and observability of positive discrete-timelinear systems with integer positive and negative powers of the state Frobenius matrices 状态Frobenius矩阵正、负整数幂正离散时间线性系统的可达性和可观察性
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/119080
T. Kaczorek
{"title":"Reachability and observability of positive discrete-timelinear systems with integer positive and negative powers of the state Frobenius matrices","authors":"T. Kaczorek","doi":"10.24425/119080","DOIUrl":"https://doi.org/10.24425/119080","url":null,"abstract":"A dynamical system is called positive if its state variables and outputs take nonnegative values for all nonnegative inputs and nonnegative initial conditions. The positive linear and nonlinear continuous-time and discrete-time systems have been addressed in many papers and books [1–23]. Positive descriptor systems have been analyzed in [1–3, 6–11, 15, 17, 22, 23] and positive nonlinear systems in [18, 19]. The minimum energy control of positive systems has been investigated in [9–12, 14] and the stability of positive systems in [4, 14, 21, 23]. The positive systems consisting of n subsystems with different fractional orders have been introduced in [13, 16]. In this paper the reachability and observability of positive discrete-time linear systems with integer positive and negative powers of state monomial generalized Frobenius matrices will be addressed. The paper is organized as follows. In Section 2 the basic definitions and theorems concerning positive linear systems are recalled. The notion of monomial generalized Frobenius matrices has been introduced and the reachability of positive linear systems with these state matrices has been analyzed in Section 3.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"21 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73209235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
The magnitude optimum design of the PI controller for plants with complex roots and dead time 具有复杂根系和枯死时间的植物PI控制器的幅度优化设计
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2022.140862
J. Cvejn
{"title":"The magnitude optimum design of the PI controller for plants with complex roots and dead time","authors":"J. Cvejn","doi":"10.24425/acs.2022.140862","DOIUrl":"https://doi.org/10.24425/acs.2022.140862","url":null,"abstract":"Analytical design of the PID-type controllers for linear plants based on the magnitude optimum criterion usually results in very good control quality and can be applied directly for high-order linear models with dead time, without need of any model reduction. This paper brings an analysis of properties of this tuning method in the case of the PI controller, which shows that it guarantees closed-loop stability and a large stability margin for stable linear plants without zeros, although there are limitations in the case of oscillating plants. In spite of the fact that the magnitude optimum criterion prescribes the closed-loop response only for low frequencies and the stability margin requirements are not explicitly included in the design objective, it reveals that proper open-loop behavior in the middle and high frequency ranges, decisive for the closed-loop stability and robustness, is ensured automatically for the considered class of linear systems if all damping ratios corresponding to poles of the plant transfer function without the dead-time term are sufficiently high.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"124 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73553389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Extremal problems for parabolic systemswith time-varying lags 具有时变滞后的抛物系统的极值问题
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/119078
A. Kowalewski
{"title":"Extremal problems for parabolic systemswith time-varying lags","authors":"A. Kowalewski","doi":"10.24425/119078","DOIUrl":"https://doi.org/10.24425/119078","url":null,"abstract":"Extremal problems for parabolic systems with time-varying lags are presented. An optimal boundary control problem for parabolic systems in which time-varying lags appear in the state equations and in the boundary conditions simultaneously is solved. The time horizon is fixed. Making use of Dubovicki-Milutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"136 5-6","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72493137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation 基于模型和无模型机器人辅助踝关节康复的新解决方案
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2021.136878
Juan Carlos Arceo, J. Álvarez, Carlos Armenta, Jimmy Lauber, S. Crémoux, M. Bernal
{"title":"Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation","authors":"Juan Carlos Arceo, J. Álvarez, Carlos Armenta, Jimmy Lauber, S. Crémoux, M. Bernal","doi":"10.24425/acs.2021.136878","DOIUrl":"https://doi.org/10.24425/acs.2021.136878","url":null,"abstract":"In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"187 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76620087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Cellular particle swarm optimization with a simple adaptive local search strategy for the permutation flow shop scheduling problem 基于简单自适应局部搜索策略的细胞粒子群优化求解置换流水车间调度问题
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2019.129378
J. Seck-Tuoh-Mora, J. Medina-Marin, E. Martinez-Gomez, Eva Selene Hernández-Gress, N. Hernández-Romero, Valeria Volpi-Leon
{"title":"Cellular particle swarm optimization with a simple adaptive local search strategy for the permutation flow shop scheduling problem","authors":"J. Seck-Tuoh-Mora, J. Medina-Marin, E. Martinez-Gomez, Eva Selene Hernández-Gress, N. Hernández-Romero, Valeria Volpi-Leon","doi":"10.24425/acs.2019.129378","DOIUrl":"https://doi.org/10.24425/acs.2019.129378","url":null,"abstract":"Permutation flow shop scheduling problem deals with the production planning of a number of jobs processed by a set of machines in the same order. Several metaheuristics have been proposed for minimizing the makespan of this problem. Taking as basis the previous Alternate Two-Phase PSO (ATPPSO) method and the neighborhood concepts of the Cellular PSO algorithm proposed for continuous problems, this paper proposes the improvement of ATPPSO with a simple adaptive local search strategy (called CAPSO-SALS) to enhance its performance. CAPSO-SALS keeps the simplicity of ATPPSO and boosts the local search based on a neighborhood for every solution. Neighbors are produced by interchanges or insertions of jobs which are selected by a linear roulette scheme depending of the makespan of the best personal positions. The performance of CAPSO-SALS is evaluated using the 12 different sets of Taillard’s benchmark problems and then is contrasted with the original and another previous enhancement of the ATPPSO algorithm. Finally, CAPSO-SALS is compared as well with other ten classic and state-of-art metaheuristics, obtaining satisfactory results.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"42 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78168615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Engineering example of the constraint forces in non-holonomic mechanical: forklift-truck robot motion. Part I 非完整机械中约束力的工程实例:叉车机器人运动。第一部分
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2018.124713
Zhiyi Chen, Zan Hui Chen
{"title":"Engineering example of the constraint forces in non-holonomic mechanical: forklift-truck robot motion. Part I","authors":"Zhiyi Chen, Zan Hui Chen","doi":"10.24425/acs.2018.124713","DOIUrl":"https://doi.org/10.24425/acs.2018.124713","url":null,"abstract":"In the presented paper, a problem of nonholonomic constrained mechanical systems is treated. New methods in nonholonomic mechanics are applied to a problem of a Forklift-truck robot motion. This method of the geometrical theory of general nonholonomic constrained systems on fibered manifolds and their jet prolongations, based on so-called Chetaev-type constraint forces. The relevance of this theory for general types of nonholonomic constraints, not only linear or affine ones, was then verified on appropriate models. On the other hand, the equations of motion of a Forklift-truck robot are highly nonlinear and rolling without slipping condition can only be expressed by nonholonomic constraint equations. In this paper, the geometrical theory is applied to the above mentioned mechanical problem. The results of numerical solutions of constrained equations of motion, derived within the theory, are presented.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"35 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76219008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Output tracking control of an aircraft subject to additive state dependent disturbance: an optimal control approach 加性状态相关扰动下飞机输出跟踪控制:一种最优控制方法
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2021.137418
Ilker Tanyer, E. Tatlicioglu, E. Zergeroglu
{"title":"Output tracking control of an aircraft subject to additive state dependent disturbance: an optimal control approach","authors":"Ilker Tanyer, E. Tatlicioglu, E. Zergeroglu","doi":"10.24425/acs.2021.137418","DOIUrl":"https://doi.org/10.24425/acs.2021.137418","url":null,"abstract":"In this paper, model reference output feedback tracking control of an aircraft subject to additive, uncertain, nonlinear disturbances is considered. In order to present the design steps in a clearfashion:first,theaircraftdynamicsistemporarilyassumedasknownwithallthestatesofthe systemavailable.Thenafeedbacklinearizingcontrollerminimizingaperformanceindexwhile onlyrequiringtheoutputmeasurementsofthesystemisproposed.Astheaircraftdynamics isuncertainandonlytheoutputisavailable,theproposedcontrollermakesuseofanovel uncertaintyestimator.Thestabilityoftheclosedloopsystemandglobalasymptotictrackingof theproposedmethodareensuredviaLyapunovbasedarguments,asymptoticconvergenceof thecontrollertoanoptimalcontrollerisalsoestablished.Numericalsimulationsarepresented inordertodemonstratethefeasibilityandperformanceoftheproposedcontrolstrategy.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"167 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80539493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
State estimation of networked control systems over limited capacity and dropout channels 网络控制系统在有限容量和丢失信道上的状态估计
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2019.131232
Qingquan Liu, Rui Ding, Chunqiang Chen
{"title":"State estimation of networked control systems over limited capacity and dropout channels","authors":"Qingquan Liu, Rui Ding, Chunqiang Chen","doi":"10.24425/acs.2019.131232","DOIUrl":"https://doi.org/10.24425/acs.2019.131232","url":null,"abstract":"This paper investigates state estimation of linear time-invariant systems where the sensors and controllers are geographically separated and connected over limited capacity, additive white Gaussian noise (AWGN) communication channels. Such channels are viewed as dropout (era-sure) channels. In particular, we consider the case with limited data rates, present a necessary and sufficient condition on the data rate for mean square observability over an AWGN channel. The system is mean square observable if the data rate of the channel is larger than the lower bound given. It is shown in our results that there exist the inherent tradeoffs among the limited data rate, dropout probability, and observability. An illustrative example is given to demonstrate the effectiveness of the proposed scheme.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"10 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81261487","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Forecasting the distribution of methane concentration levels in mine headings by means of model-based tests and in-situ measurements 利用模型试验和现场测量方法预测矿井巷道甲烷浓度水平分布
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2019.127521
M. Tutak
{"title":"Forecasting the distribution of methane concentration levels in mine headings by means of model-based tests and in-situ measurements","authors":"M. Tutak","doi":"10.24425/acs.2019.127521","DOIUrl":"https://doi.org/10.24425/acs.2019.127521","url":null,"abstract":"The methane hazard is one of the most dangerous phenomena in hard coal mining. In a certain range of concentrations, methane is flammable and explosive. Therefore, in order to maintain the continuity of the production process and the safety of work for the crew, various measures are taken to prevent these concentration levels from being exceeded. A significant role in this process is played by the forecasting of methane concentrations in mine headings. This very problem has been the focus of the present article. Based on discrete measurements of methane concentration in mine headings and ventilation parameters, the distribution of methane concentration levels in these headings was forecasted. This process was performed on the basis of model-based tests using the Computational Fluid Dynamics (CFD). The methodology adopted was used to develop a structural model of the region under analysis, for which boundary conditions were adopted on the basis of the measurements results in real-world conditions. The analyses conducted helped to specify the distributions of methane concentrations in the region at hand and determine the anticipated future values of these concentrations. The results obtained from model-based tests were compared with the results of the measurements in realworld conditions. The methodology using the CFD and the results of the tests offer extensive possibilities of their application for effective diagnosis and forecasting of the methane hazard in mine headings.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"6 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88887539","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 16
On optimal control problem subject to fractional order discrete time singular systems 分数阶离散时间奇异系统的最优控制问题
IF 1.2 4区 计算机科学
Archives of Control Sciences Pub Date : 2023-07-20 DOI: 10.24425/acs.2021.139733
Tirumalasetty Chiranjeevi, R. Biswas, R. Devarapalli, N. Babu, F. Márquez
{"title":"On optimal control problem subject to fractional order discrete time singular systems","authors":"Tirumalasetty Chiranjeevi, R. Biswas, R. Devarapalli, N. Babu, F. Márquez","doi":"10.24425/acs.2021.139733","DOIUrl":"https://doi.org/10.24425/acs.2021.139733","url":null,"abstract":"In this work, we present optimal control formulation and numerical algorithm for fractional order discrete time singular system (DTSS) for fixed terminal state and fixed terminal time endpoint condition. The performance index (PI) is in quadratic form, and the system dynamics is in the sense of Riemann-Liouville fractional derivative (RLFD). A coordinate transformation is used to convert the fractional-order DTSS into its equivalent non-singular form, and then the optimal control problem (OCP) is formulated. The Hamiltonian technique is used to derive the necessary conditions. A solution algorithm is presented for solving the OCP. To validate the formulation and the solution algorithm, an example for fixed terminal state and fixed terminal time case is presented.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":"3 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87201431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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