Showing papers on "Control theory published in 2004"

Control under communication constraints

Abstract: There is an increasing interest in studying control systems employing multiple sensors and actuators that are geographically distributed. Communication is an important component of these distributed and networked control systems. Hence, there is a need to understand the interactions between the control components and the communication components of the distributed system. In this paper, we formulate a control problem with a communication channel connecting the sensor to the controller. Our task involves designing the channel encoder and channel decoder along with the controller to achieve different control objectives. We provide upper and lower bounds on the channel rate required to achieve these different control objectives. In many cases, these bounds are tight. In doing so, we characterize the "information complexity" of different control objectives.

A particle swarm optimization approach for optimum design of PID controller in AVR system

Abstract: In this paper, a novel design method for determining the optimal proportional-integral-derivative (PID) controller parameters of an AVR system using the particle swarm optimization (PSO) algorithm is presented. This paper demonstrated in detail how to employ the PSO method to search efficiently the optimal PID controller parameters of an AVR system. The proposed approach had superior features, including easy implementation, stable convergence characteristic, and good computational efficiency. Fast tuning of optimum PID controller parameters yields high-quality solution. In order to assist estimating the performance of the proposed PSO-PID controller, a new time-domain performance criterion function was also defined. Compared with the genetic algorithm (GA), the proposed method was indeed more efficient and robust in improving the step response of an AVR system.

Control Theory from the Geometric Viewpoint

Abstract: Geometrical methods have had a profound impact in the development of modern nonlinear control theory. Fundamental results such as the orbit theorem, feedback linearization, disturbance decoupling or the various controllability tests for nonlinear systems are all deeply rooted on a geometric view of control theory. It is perhaps surprising, and possibly debatable, that in order to understand and appreciate the “essence” of linear control systems one has to delve into the intricacies of Lie brackets and Lie algebras. This is because only the geometric perspective offers the tools to study the properties of control systems that are invariant under (nonlinear) changes of coordinates and can therefore be considered intrinsic. Consider, for example, an inverted pendulum or the ball and beam system. It should be apparent that reachability or optimality properties for these systems do not depend on the particular reference frame chosen to write their equations of motion. These are intrinsic properties of these physical systems and thus require geometric techniques for its study. “Control Theory from the Geometric Viewpoint” is a recent addition to the geometric control theory monograph/textbook literature having Jurdjevic (1997) as its closest neighbor and Nijmeijer and van der Schaft (1995), Isidori (1996) and Bloch (2003) as more distant ones. The book evolved from lecture notes for graduate courses taught by the first author at the International School for Advanced Studies in Trieste, Italy. The lecture notes style can be felt throughout the 24 chapters of the book treating a large number of topics ranging from controllability and reachability analysis to higher order conditions for optimality. This lecture notes style, patent on the relatively large number of treated topics in 400 pages, is the book’s main handicap and merit. If, on the one hand, most chapters can be independently read thus allowing the reader to immediately dive into the topic of choice and quickly reach the zenith result, on the other hand, there is a certain lack of fluidity when one tries to read the book chapters consecutively. In the remaining lines I will try to articulate my own opinion, naturally conditioned by my taste and background, on the choice of topics and presentation as I go through some of the individual chapters.

Disturbance observer based control for nonlinear systems

Abstract: This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance observer is developed for disturbances generated by an exogenous system, and global exponential stability is established under certain condition. Furthermore, semiglobal stability condition of the composite controller consisting of a nonlinear controller and the nonlinear disturbance observer is established. The developed method is illustrated by the application to control of a two-link robotic manipulator.

A wireless controller to enhance dynamic performance of parallel inverters in distributed generation systems

Abstract: This paper presents a novel control strategy for parallel inverters of distributed generation units in an AC distribution system. The proposed control technique, based on the droop control method, uses only locally measurable feedback signals. This method is usually applied to achieve good active and reactive power sharing when communication between the inverters is difficult due to its physical location. However, the conventional voltage and frequency droop methods of achieving load sharing have a slow and oscillating transient response. Moreover, there is no possibility to modify the transient response without the loss of power sharing precision or output-voltage and frequency accuracy. In this work, a great improvement in transient response is achieved by introducing power derivative-integral terms into a conventional droop scheme. Hence, better controllability of the system is obtained and, consequently, correct transient performance can be achieved. In addition, an instantaneous current control loop is also included in the novel controller to ensure correct sharing of harmonic components when supplying nonlinear loads. Simulation and experimental results are presented to prove the validity of this approach, which shows excellent performance as opposed to the conventional one.

Feedback Control of Computing Systems

Abstract: Preface. PART I: BACKGROUND. 1. Introduction and Overview. PART II: SYSTEM MODELING. 2. Model Construction. 3. Z-Transforms and Transfer Functions. 4. System Modeling with Block Diagrams. 5. First-Order Systems. 6. Higher-Order Systems. 7. State-Space Models. PART III: CONTROL ANALYSIS AND DESIGN. 8. Proportional Control. 9. PID Controllers. 10. State-Space Feedback Control. 11. Advanced Topics. Appendix A: Mathematical Notation. Appendix B: Acronyms. Appendix C: Key Results. Appendix D: Essentials of Linear Algebra. Appendix E: MATLAB Basics. References. Index.

State feedback controller design of networked control systems

Abstract: This paper is concerned with the controller design of networked control systems (NCS). A new model of the NCSs is provided under consideration of both the network-induced delay and the data packet dropout in the transmission. In terms of the given model, a controller design method is proposed based on a delay-dependent approach. The feedback gain of a memoryless controller and the maximum allowable value of the network-induced delay can be derived by solving a set of linear matrix inequalities. Two examples are given to show the effectiveness of our method.

Adaptive neural control of uncertain MIMO nonlinear systems

Abstract: In this paper, adaptive neural control schemes are proposed for two classes of uncertain multi-input/multi-output (MIMO) nonlinear systems in block-triangular forms. The MIMO systems consist of interconnected subsystems, with couplings in the forms of unknown nonlinearities and/or parametric uncertainties in the input matrices, as well as in the system interconnections without any bounding restrictions. Using the block-triangular structure properties, the stability analyses of the closed-loop MIMO systems are shown in a nested iterative manner for all the states. By exploiting the special properties of the affine terms of the two classes of MIMO systems, the developed neural control schemes avoid the controller singularity problem completely without using projection algorithms. Semiglobal uniform ultimate boundedness (SGUUB) of all the signals in the closed-loop of MIMO nonlinear systems is achieved. The outputs of the systems are proven to converge to a small neighborhood of the desired trajectories. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters. The proposed schemes offer systematic design procedures for the control of the two classes of uncertain MIMO nonlinear systems. Simulation results are presented to show the effectiveness of the approach.

Design, analysis, and real-time testing of a controller for multibus microgrid system

Abstract: This paper concentrates on the design and analysis of a controller for multibus microgrid system. The controller proposed for use with each distributed generation (DG) system in the microgrid contains inner voltage and current loops for regulating the three-phase grid-interfacing inverter, and external power control loops for controlling real and reactive power flow and for facilitating power sharing between the paralleled DG systems when a utility fault occurs and the microgrid islands. The controller also incorporates synchronization algorithms for ensuring smooth and safe reconnection of the micro and utility grids when the fault is cleared. With the implementation of the unified controller, the multibus microgrid system is able to switch between islanding and grid-connected modes without disrupting the critical loads connected to it. The performance of this unified controller has been verified in simulation using a real-time digital simulator and experimentally using a scaled laboratory prototype.

Real-time stabilization and tracking of a four-rotor mini rotorcraft

Abstract: In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. The proposed controller is based on Lyapunov analysis using a nested saturation algorithm. The global stability analysis of the closed-loop system is presented. Real-time experiments show that the controller is able to perform autonomously the tasks of taking off, hovering, and landing.

Stability of model-based networked control systems with time-varying transmission times

Abstract: In model-based networked control systems (MB-NCSs), an explicit model of the plant is used to produce an estimate of the plant state behavior between transmission times. In this paper, the stability of MB-NCSs is studied when the controller/actuator is updated with the sensor information at nonconstant time intervals. Networked control systems with transmission times that are varying either within a time interval or are driven by a stochastic process with identically independently distributed and Markov-chain driven transmission times are studied. Sufficient conditions for Lyapunov stability are derived. For stochastically modeled transmission times almost sure stability and mean-square sufficient conditions for stability are introduced.

Delay-dependent guaranteed cost control for T-S fuzzy systems with time delays

Abstract: This study introduces a guaranteed cost control method for nonlinear systems with time-delays which can be represented by Takagi-Sugeno (T-S) fuzzy models with time-delays. The state feedback and generalized dynamic output feedback approaches are considered. The generalized dynamic output feedback controller is presented by a new fuzzy controller architecture which is of dual indexed rule base. It considers both the dynamic part and the output part of T-S fuzzy model which guarantees that the controller without any delay information can stabilize time-delay T-S fuzzy systems. Based on delay-dependent Lyapunov functional approach, some sufficient conditions for the existence of state feedback controller are provided via parallel distributed compensation (PDC) first. Second, the corresponding conditions are extended into the generalized dynamic output feedback closed-loop system via so-called generalized PDC technique. The upper bound of time-delay can be obtained using convex optimization such that the system can be stabilized for all time-delays whose sizes are not larger than the bound. The minimizing method is also proposed to search the suboptimal upper bound of guaranteed cost function. The effectiveness of the proposed method can be shown by the simulation examples.

Flexible control of small wind turbines with grid failure detection operating in stand-alone and grid-connected mode

Abstract: This paper presents the development and test of a flexible control strategy for an 11-kW wind turbine with a back-to-back power converter capable of working in both stand-alone and grid-connection mode. The stand-alone control is featured with a complex output voltage controller capable of handling nonlinear load and excess or deficit of generated power. Grid-connection mode with current control is also enabled for the case of isolated local grid involving other dispersed power generators such as other wind turbines or diesel generators. A novel automatic mode switch method based on a phase-locked loop controller is developed in order to detect the grid failure or recovery and switch the operation mode accordingly. A flexible digital signal processor (DSP) system that allows user-friendly code development and online tuning is used to implement and test the different control strategies. The back-to-back power conversion configuration is chosen where the generator converter uses a built-in standard flux vector control to control the speed of the turbine shaft while the grid-side converter uses a standard pulse-width modulation active rectifier control strategy implemented in a DSP controller. The design of the longitudinal conversion loss filter and of the involved PI-controllers are described in detail. Test results show the proposed methods works properly.

Impact of digital control in power electronics

Abstract: In this paper, we discuss the impact of digital control in high-frequency switched-mode power supplies (SMPS), including point-of-load and isolated DC-DC converters, microprocessor power supplies, power-factor-correction rectifiers, electronic ballasts, etc., where switching frequencies are typically in the hundreds of kHz to MHz range, and where high efficiency, static and dynamic regulation, low size and weight, as well as low controller complexity and cost are very important. To meet these application requirements, a digital SMPS controller may include fast, small analog-to-digital converters, hardware-accelerated programmable compensators, programmable digital modulators with very fine time resolution, and a standard microcontroller core to perform programming, monitoring and other system interface tasks. Based on recent advances in circuit and control techniques, together with rapid advances in digital VLSI technology, we conclude that high-performance digital controller solutions are both feasible and practical, leading to much enhanced system integration and performance gains. Examples of experimentally demonstrated results are presented, together with pointers to areas of current and future research and development.

Stochastic linear control over a communication channel

Abstract: We examine linear stochastic control systems when there is a communication channel connecting the sensor to the controller. The problem consists of designing the channel encoder and decoder as well as the controller to satisfy some given control objectives. In particular, we examine the role communication has on the classical linear quadratic Gaussian problem. We give conditions under which the classical separation property between estimation and control holds and the certainty equivalent control law is optimal. We then present the sequential rate distortion framework. We present bounds on the achievable performance and show the inherent tradeoffs between control and communication costs. In particular, we show that optimal quadratic cost decomposes into two terms: A full knowledge cost and a sequential rate distortion cost.

Reproducibility and operationality in bilateral teleoperation

Abstract: There are many works about bilateral teleoperation. However, good touch sense of remote object has not been realized in actual system yet. In this paper, the goals of bilateral teleoperation are considered as following two points. One is a reproduction of environmental impedance in master side. The other is a realization of small operational force. Operational force means the force the operator feels in addition to real environmental force. Corresponding to these goals, novel evaluation indices are defined which are named "reproducibility" and "operationality", respectively. Moreover, control stability must be satisfied. After all, bilateral teleoperation must satisfy three conditions such as reproducibility, operationality and stability. Using defined evaluation indices, bilateral controller is designed. Through analysis, it is confirmed that the three desired conditions in bilateral teleoperation are well satisfied with this controller. The effectiveness of this research is demonstrated by an experiment with bilateral forceps robot.

A new control structure for grid-connected LCL PV inverters with zero steady-state error and selective harmonic compensation

Abstract: The PI current control of a single-phase inverter has well known drawbacks: steady-state magnitude and phase error and limited disturbance rejection capability. When the current controlled inverter is connected to the grid, the phase error results in a power factor decrement and the limited disturbance rejection capability leads to the need of grid feed-forward compensation. However the imperfect compensation action of the feed-forward control results in high harmonic distortion of the current and consequently noncompliance with international standards. In this paper a new control strategy aimed to mitigate these problems is proposed. Stationary-frame generalized integrators are used to control the fundamental current and to compensate the grid harmonics providing disturbance rejection capability without the need of feed-forward grid compensation. Moreover the use of a grid LCL-filter is investigated with the proposed controller. The current control strategy has been experimentally tested with success on a 3 kW PV inverter.

Robust and adaptive backstepping control for nonlinear systems using RBF neural networks

Abstract: In this paper, two different backstepping neural network (NN) control approaches are presented for a class of affine nonlinear systems in the strict-feedback form with unknown nonlinearities. By a special design scheme, the controller singularity problem is avoided perfectly in both approaches. Furthermore, the closed loop signals are guaranteed to be semiglobally uniformly ultimately bounded and the outputs of the system are proved to converge to a small neighborhood of the desired trajectory. The control performances of the closed-loop systems can be shaped as desired by suitably choosing the design parameters. Simulation results obtained demonstrate the effectiveness of the approaches proposed. The differences observed between the inputs of the two controllers are analyzed briefly.

A New Nonlinear Guidance Logic for Trajectory Tracking

Abstract: A new nonlinear guidance logic, that has demonstrated superior performance in guiding unmanned air vehicles (UAVs) on curved trajectories, is presented The logic approximates a proportional-derivative controller when following a straight line path, but the logic also contains an element of anticipatory control enabling tight tracking when following curved paths The method uses inertial speed in the computation of commanded lateral acceleration and adds adaptive capability to the change of vehicle speed due to external disturbances, such as wind Flight tests using two small UAVs showed that each aircraft was controlled to within 16 meters RMS when following circular paths The logic was ultimately used for air rendezvous of the two aircraft, bringing them in close proximity to within 12 meters of separation, with 14 meters RMS relative position errors

Control over noisy channels

Abstract: Communication is an important component of distributed and networked controls systems. In our companion paper, we presented a framework for studying control problems with a digital noiseless communication channel connecting the sensor to the controller. Here, we generalize that framework by applying traditional information theoretic tools of source coding and channel coding to the problem. We present a general necessary condition for observability and stabilizability for a large class of communication channels. Then, we study sufficiency conditions for Internet-like channels that suffer erasures.

When bode meets shannon: control-oriented feedback communication schemes

Abstract: In this paper, we show a general equivalence between feedback stabilization through an analog communication channel, and a communication scheme based on feedback which is a generalization of that of Schalkwijk and Kailath. We also show that the achievable transmission rate of the scheme is given by the Bode's sensitivity integral formula, which characterizes a fundamental limitation of causal feedback. Therefore, we can now use the many results and design tools from control theory to design feedback communication schemes providing desired communication rates, and to generate lower bounds on the channel feedback capacity. We consider single user Gaussian channels with memory and memory-less multiuser broadcast, multiple access, and interference channels. In all cases, the results we obtain either achieve the feedback capacity, when this is known, recover known best rates, or provide new best achievable rates.

New delay-dependent stability criteria and stabilizing method for neutral systems

Abstract: This note concerns delay-dependent robust stability criteria and a design method for stabilizing neutral systems with time-varying structured uncertainties. A new way of deriving such criteria is presented that combines the parameterized model transformation method with a method that takes the relationships between the terms in the Leibniz-Newton formula into account. The relationships are expressed as free weighting matrices obtained by solving linear matrix inequalities. Moreover, the stability criteria are also used to design a stabilizing state-feedback controller. Numerical examples illustrate the effectiveness of the method and the improvement over some existing methods.

A new algorithm for rapid tracking of approximate maximum power point in photovoltaic systems

Abstract: This paper presents a new algorithm for tracking maximum power point in photovoltaic systems. This is a fast tracking algorithm, where an initial approximation of maximum power point is (MPP) quickly achieved using a variable step-size. Subsequently, the exact maximum power point can be targeted using any conventional method like the hill-climbing or incremental conductance method. Thus, the drawback of a fixed small step-size over the entire tracking range is removed, resulting in reduced number of iterations and much faster tracking compared to conventional methods. The strength of the algorithm comes from the fact that instead of tracking power, which does not have a one-to-one relationship with duty cycle, it tracks an intermediate variable /spl beta/, which has a monotonically increasing, one-to-one relationship. The algorithm has been verified on a photovoltaic system modeled in Matlab-Simulink software. The algorithm significantly improves the efficiency during the tracking phase as compared to a conventional algorithm. It is especially suitable for fast changing environmental conditions. The proposed algorithm can be implemented on any fast controller such as the digital signal processor. All the details of this study are presented.

A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems

Abstract: In this paper, a robust adaptive tracking control problem is discussed for a general class of strict-feedback uncertain nonlinear systems. The systems may possess a wide class of uncertainties referred to as unstructured uncertainties, which are not linearly parameterized and do not have any prior knowledge of the bounding functions. The Takagi-Sugeno type fuzzy logic systems are used to approximate the uncertainties. A unified and systematic procedure is employed to derive two kinds of novel robust adaptive tracking controllers by use of the input-to-state stability (ISS) and by combining the backstepping technique and generalized small gain approach. One is the robust adaptive fuzzy tracking controller (RAFTC) for the system without input gain uncertainty. The other is the robust adaptive fuzzy sliding tracking controller (RAFSTC) for the system with input gain uncertainty. Both algorithms have two advantages, those are, semi-global uniform ultimate boundedness of adaptive control system in the presence of unstructured uncertainties and the adaptive mechanism with minimal learning parameterizations. Four application examples, including a pendulum system with motor, a one-link robot, a ship roll stabilization with actuator and a single-link manipulator with flexible joint, are used to demonstrate the effectiveness and performance of proposed schemes.

Neuro-fuzzy control of a robotic exoskeleton with EMG signals

Abstract: We have been developing robotic exoskeletons to assist motion of physically weak persons such as elderly, disabled, and injured persons. The robotic exoskeleton is controlled basically based on the electromyogram (EMG) signals, since the EMG signals of human muscles are important signals to understand how the user intends to move. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a robotic exoskeleton for human upper-limb motion assist, a hierarchical neuro-fuzzy controller for the robotic exoskeleton, and its adaptation method.

State feedback controller design of networked control systems

Abstract: This work is concerned with the controller design of networked control systems (NCSs). A new model of NCSs is provided under consideration of both the network-induced delay and the data packet dropout in the transmission. In terms of the given model, a controller design method is proposed based on a delay dependent approach. The feedback gain of a memoryless controller and the maximum allowable value of the network-induced delay can be derived by solving a set of linear matrix inequalities. Two examples are given to show the effectiveness of our method.