Download or read book Effective Tracker Design Based on Iterative Learning Control Methodology with Input Constraint for a Class of Unknown Interconnected Large Scale Sampled Data Nonlinear Systems written by 廖英廷 and published by . This book was released on 2011 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Adaptive Dynamic Programming written by Yu Jiang and published by John Wiley & Sons. This book was released on 2017-04-13 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive look at state-of-the-art ADP theory and real-world applications This book fills a gap in the literature by providing a theoretical framework for integrating techniques from adaptive dynamic programming (ADP) and modern nonlinear control to address data-driven optimal control design challenges arising from both parametric and dynamic uncertainties. Traditional model-based approaches leave much to be desired when addressing the challenges posed by the ever-increasing complexity of real-world engineering systems. An alternative which has received much interest in recent years are biologically-inspired approaches, primarily RADP. Despite their growing popularity worldwide, until now books on ADP have focused nearly exclusively on analysis and design, with scant consideration given to how it can be applied to address robustness issues, a new challenge arising from dynamic uncertainties encountered in common engineering problems. Robust Adaptive Dynamic Programming zeros in on the practical concerns of engineers. The authors develop RADP theory from linear systems to partially-linear, large-scale, and completely nonlinear systems. They provide in-depth coverage of state-of-the-art applications in power systems, supplemented with numerous real-world examples implemented in MATLAB. They also explore fascinating reverse engineering topics, such how ADP theory can be applied to the study of the human brain and cognition. In addition, the book: Covers the latest developments in RADP theory and applications for solving a range of systems’ complexity problems Explores multiple real-world implementations in power systems with illustrative examples backed up by reusable MATLAB code and Simulink block sets Provides an overview of nonlinear control, machine learning, and dynamic control Features discussions of novel applications for RADP theory, including an entire chapter on how it can be used as a computational mechanism of human movement control Robust Adaptive Dynamic Programming is both a valuable working resource and an intriguing exploration of contemporary ADP theory and applications for practicing engineers and advanced students in systems theory, control engineering, computer science, and applied mathematics.
Download or read book Optimal Tracker and Observer for the Equivalent Model of the Sampled Data Linear Singular System Digital Redesign and Iterative Learning Control Approach written by 陳家興 and published by . This book was released on 2012 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Dynamic Programming Single and Multiple Controllers written by Ruizhuo Song and published by Springer. This book was released on 2018-12-28 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a class of novel optimal control methods and games schemes based on adaptive dynamic programming techniques. For systems with one control input, the ADP-based optimal control is designed for different objectives, while for systems with multi-players, the optimal control inputs are proposed based on games. In order to verify the effectiveness of the proposed methods, the book analyzes the properties of the adaptive dynamic programming methods, including convergence of the iterative value functions and the stability of the system under the iterative control laws. Further, to substantiate the mathematical analysis, it presents various application examples, which provide reference to real-world practices.
Download or read book A Novel High Order Iterative Learning Tracker for Nonlinear Sampled Data Systems written by 江信緯 and published by . This book was released on 2012 with total page 43 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Learning Based Control written by Zhong-Ping Jiang and published by Now Publishers. This book was released on 2020-12-07 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: The recent success of Reinforcement Learning and related methods can be attributed to several key factors. First, it is driven by reward signals obtained through the interaction with the environment. Second, it is closely related to the human learning behavior. Third, it has a solid mathematical foundation. Nonetheless, conventional Reinforcement Learning theory exhibits some shortcomings particularly in a continuous environment or in considering the stability and robustness of the controlled process. In this monograph, the authors build on Reinforcement Learning to present a learning-based approach for controlling dynamical systems from real-time data and review some major developments in this relatively young field. In doing so the authors develop a framework for learning-based control theory that shows how to learn directly suboptimal controllers from input-output data. There are three main challenges on the development of learning-based control. First, there is a need to generalize existing recursive methods. Second, as a fundamental difference between learning-based control and Reinforcement Learning, stability and robustness are important issues that must be addressed for the safety-critical engineering systems such as self-driving cars. Third, data efficiency of Reinforcement Learning algorithms need be addressed for safety-critical engineering systems. This monograph provides the reader with an accessible primer on a new direction in control theory still in its infancy, namely Learning-Based Control Theory, that is closely tied to the literature of safe Reinforcement Learning and Adaptive Dynamic Programming.
Download or read book Optimal and Learning based Output Tracking with Non periodic Tracking transition written by Jiangbo Liu and published by . This book was released on 2017 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt: High-speed precision tracking is needed in a wide variety of motion control applications ranging from high-speed AFM(Atomic Force Microscope) operation, high-throughput manufacturing, to robotic operations. Challenges still exist in high-speed precision control of systems such as smart actuators with coupled hysteresis and dynamics. Although output tracking has been well-studied for linear systems, tracking with non-periodic tracking-transition switching for non-minimum phase linear systems still remains challenging, especially when multiple control objectives need to be achieved, including smooth transition from one output tracking session to the next one without inducing post-transition oscillations, input energy minimization without saturation under input amplitude constraint, and furthermore, minimization of the overall transition time. Moreover, further difficulties also arise in exploring the advantages of iterative learning control (ILC) in achieving precision but robust output tracking at high-speed to non-repetitive applications with online-generated desired trajectory, particularly for systems with complicated input-output behavior such as Hammerstein systems. The ILC framework can be extended, although for linear systems, to non-periodic output tracking via the superposition principle (SP), where the system response (output) to a linear combination of inputs equals to the same linear combination of the outputs to each individual inputs. Exploring the notion of the SP beyond linear systems is largely limited, as the nonlinearities are difficult to be modeled effectively and accurately. Therefore, challenges still exist in high-speed precision output tracking in emerging applications. In this dissertation, a multi-objective optimal tracking/transition under input constraints for non-periodic tracking/transition switching problem, and a learning-based approach for tracking control of Hammerstein systems are proposed. An approach to extend the previous work on smooth output transition and smooth tracking/transition switching to further achieve minimization of both input-energy and transition time under input amplitude constraints is proposed. The constrained input optimization problem is converted to an unconstrained input minimization problem, and then solved by utilizing an improved conjugate gradient method. The total transition time is further minimized via one dimensional search. The almost superposition of Hammerstein systems (ASHS) is developed, and then exploited for precision control of hysteresis-Hammerstein systems. We showed that for Hammerstein operator satisfying a Lipschitz condition, a weak form of the ASHS--the linear combination of outputs approaches to the response to the linear combination of the corresponding inputs with a different set of combination coefficients--exists when there are enough output elements. The strict form of the ASHS--the coefficients of the output and the input combination match to each other exactly--holds for a certain choice of the inputs. The number of outputs in the ASHS is further quantified for hysteresis-Hammerstein system. We then present the realization of the ASHS for hysteresis-Hammerstein systems in the learning-based output tracking applications, based on the uniform B-splines for decomposition and the inverse Preisach modeling for superposition, where two optimizations of the ASHS for practical implementation are proposed. Moreover, for the trajectory decomposition problem arose in the ASHS, we further develop an asymptotic online trajectory decomposition (where the trajectory is only partially known at the decomposition instants) by only using one type of basis functions without truncation. The problem of trajectory approximation using only one basis function (along with its time-shifted copies) is addressed via a least-square minimization approach. The issue of truncating basis function at the boundaries is resolved via a zero-period extension (i.e., adding a zero-period to its beginning and end). It is shown that the coefficients of the basis functions at the initial portion of the extension period approach to zero as the length of the extension period increases. A sectional interactive decomposition algorithm is proposed for online trajectory decomposition through a trajectory redesign scheme. Implementation of the frequency-domain iterative learning control (FD-ILC) in real-time for high-speed nanofabrication and AFM imaging becomes an issue as the FD-ILC involves multiple FFT/IFFTs that demand intensive online computation. An algorithm of optimal time-distributed fast Fourier transform and time-distributed inverse fast Fourier transform (OTD-FFT/TD-IFFT) is proposed to optimally distribute the FFT computation of a real-time sampled data sequence to minimize the per-sampling computational complexity without increasing the total computational complexity, and to obtain the entire Fourier transform sequence without latency. The proposed approach is extended to real-time IFFT computation, and then combined and applied to real-time FD-ILC implementation. The computational complexity analysis shows that the per-sampling computational complexity is substantially reduced by using the proposed approach. The proposed optimal and learning-based output tracking and tracking-transition techniques can effectively achieve accurate high-speed nanofabrication. The effectiveness of the proposed techniques was demonstrated by simulation and experimental examples in accurate high-speed nanomanipulation utilizing an AFM probe driven by a piezoactuator. The optimal transition design and tracking approach was demonstrated by a simulation example in the control of the z-piezoactuator in an AFM system. It showed that the proposed approach can achieve minimal output oscillation and minimal input energy, and fast tracking under given input constraints. The proposed offline-learning based control technique was implemented to compensate for both hysteresis and dynamics in a piezoactuator system. It showed that high-speed, large-range precision tracking of hysteresis-dynamics systems, and considerable accuracy improvement when compared to PID control at different tracking speeds are achieved. A simulation example to decompose a trajectory sequentially online has demonstrated the effectiveness of the proposed online asymptotic trajectory decomposition technique. Finally, real-time implementation of FD-ILC based on an optimal time-distributed FFT was demonstrated through high-speed trajectory tracking on a piezoelectric actuator in experiments.
Download or read book Feedback Systems written by Karl Johan Åström and published by Princeton University Press. This book was released on 2021-02-02 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory
Download or read book Discrete Time Markov Jump Linear Systems written by O.L.V. Costa and published by Springer Science & Business Media. This book was released on 2006-03-30 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: This will be the most up-to-date book in the area (the closest competition was published in 1990) This book takes a new slant and is in discrete rather than continuous time
Download or read book Optimal Control Theory for Applications written by David G. Hull and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: The published material represents the outgrowth of teaching analytical optimization to aerospace engineering graduate students. To make the material available to the widest audience, the prerequisites are limited to calculus and differential equations. It is also a book about the mathematical aspects of optimal control theory. It was developed in an engineering environment from material learned by the author while applying it to the solution of engineering problems. One goal of the book is to help engineering graduate students learn the fundamentals which are needed to apply the methods to engineering problems. The examples are from geometry and elementary dynamical systems so that they can be understood by all engineering students. Another goal of this text is to unify optimization by using the differential of calculus to create the Taylor series expansions needed to derive the optimality conditions of optimal control theory.
Download or read book Chemical Engineering Design written by Gavin Towler and published by Elsevier. This book was released on 2012-01-25 with total page 1321 pages. Available in PDF, EPUB and Kindle. Book excerpt: Chemical Engineering Design, Second Edition, deals with the application of chemical engineering principles to the design of chemical processes and equipment. Revised throughout, this edition has been specifically developed for the U.S. market. It provides the latest US codes and standards, including API, ASME and ISA design codes and ANSI standards. It contains new discussions of conceptual plant design, flowsheet development, and revamp design; extended coverage of capital cost estimation, process costing, and economics; and new chapters on equipment selection, reactor design, and solids handling processes. A rigorous pedagogy assists learning, with detailed worked examples, end of chapter exercises, plus supporting data, and Excel spreadsheet calculations, plus over 150 Patent References for downloading from the companion website. Extensive instructor resources, including 1170 lecture slides and a fully worked solutions manual are available to adopting instructors. This text is designed for chemical and biochemical engineering students (senior undergraduate year, plus appropriate for capstone design courses where taken, plus graduates) and lecturers/tutors, and professionals in industry (chemical process, biochemical, pharmaceutical, petrochemical sectors). New to this edition: - Revised organization into Part I: Process Design, and Part II: Plant Design. The broad themes of Part I are flowsheet development, economic analysis, safety and environmental impact and optimization. Part II contains chapters on equipment design and selection that can be used as supplements to a lecture course or as essential references for students or practicing engineers working on design projects. - New discussion of conceptual plant design, flowsheet development and revamp design - Significantly increased coverage of capital cost estimation, process costing and economics - New chapters on equipment selection, reactor design and solids handling processes - New sections on fermentation, adsorption, membrane separations, ion exchange and chromatography - Increased coverage of batch processing, food, pharmaceutical and biological processes - All equipment chapters in Part II revised and updated with current information - Updated throughout for latest US codes and standards, including API, ASME and ISA design codes and ANSI standards - Additional worked examples and homework problems - The most complete and up to date coverage of equipment selection - 108 realistic commercial design projects from diverse industries - A rigorous pedagogy assists learning, with detailed worked examples, end of chapter exercises, plus supporting data and Excel spreadsheet calculations plus over 150 Patent References, for downloading from the companion website - Extensive instructor resources: 1170 lecture slides plus fully worked solutions manual available to adopting instructors
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1990 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Control of Dynamic Networks written by Tengfei Liu and published by CRC Press. This book was released on 2014-04-07 with total page 347 pages. Available in PDF, EPUB and Kindle. Book excerpt: Significant progress has been made on nonlinear control systems in the past two decades. However, many of the existing nonlinear control methods cannot be readily used to cope with communication and networking issues without nontrivial modifications. For example, small quantization errors may cause the performance of a "well-designed" nonlinear control system to deteriorate. Motivated by the need for new tools to solve complex problems resulting from smart power grids, biological processes, distributed computing networks, transportation networks, robotic systems, and other cutting-edge control applications, Nonlinear Control of Dynamic Networks tackles newly arising theoretical and real-world challenges for stability analysis and control design, including nonlinearity, dimensionality, uncertainty, and information constraints as well as behaviors stemming from quantization, data-sampling, and impulses. Delivering a systematic review of the nonlinear small-gain theorems, the text: Supplies novel cyclic-small-gain theorems for large-scale nonlinear dynamic networks Offers a cyclic-small-gain framework for nonlinear control with static or dynamic quantization Contains a combination of cyclic-small-gain and set-valued map designs for robust control of nonlinear uncertain systems subject to sensor noise Presents a cyclic-small-gain result in directed graphs and distributed control of nonlinear multi-agent systems with fixed or dynamically changing topology Based on the authors’ recent research, Nonlinear Control of Dynamic Networks provides a unified framework for robust, quantized, and distributed control under information constraints. Suggesting avenues for further exploration, the book encourages readers to take into consideration more communication and networking issues in control designs to better handle the arising challenges.
Download or read book Neural Network Control Of Robot Manipulators And Non Linear Systems written by F W Lewis and published by CRC Press. This book was released on 1998-11-30 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
Download or read book Artificial Intelligence in Asset Management written by Söhnke M. Bartram and published by CFA Institute Research Foundation. This book was released on 2020-08-28 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Artificial intelligence (AI) has grown in presence in asset management and has revolutionized the sector in many ways. It has improved portfolio management, trading, and risk management practices by increasing efficiency, accuracy, and compliance. In particular, AI techniques help construct portfolios based on more accurate risk and return forecasts and more complex constraints. Trading algorithms use AI to devise novel trading signals and execute trades with lower transaction costs. AI also improves risk modeling and forecasting by generating insights from new data sources. Finally, robo-advisors owe a large part of their success to AI techniques. Yet the use of AI can also create new risks and challenges, such as those resulting from model opacity, complexity, and reliance on data integrity.
Download or read book Nonlinear Control Systems written by Alberto Isidori and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this book is to present a self-contained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985.
Download or read book The Art of Systems Architecting written by Mark W. Maier and published by CRC Press. This book was released on 2009-01-06 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: If engineering is the art and science of technical problem solving, systems architecting happens when you don't yet know what the problem is. The third edition of a highly respected bestseller, The Art of Systems Architecting provides in-depth coverage of the least understood part of systems design: moving from a vague concept and limited resources
