Download or read book Optimal Control of Switched Systems with Application to Networked Embedded Control Systems written by Daniel Görges and published by Logos Verlag Berlin GmbH. This book was released on 2012 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses optimal control of discrete-time switched linear systems with application to networked embedded control systems (NECSs). Part I focuses on optimal control and scheduling of discrete-time switched linear systems. The objective is to simultaneously design a control law and a switching (scheduling) law such that a cost function is minimized. This optimization problem exhibits exponential complexity. Taming the complexity is a major challenge. Two novel methods are presented to approach this optimization problem: Receding-horizon control and scheduling relies on the receding horizon principle. The optimization problem is solved based on relaxed dynamic programming, allowing to reduce complexity by relaxing optimality within predefined bounds. The solution can be expressed as a piecewise linear (PWL) state feedback control law. Stability is addressed via an a priori stability condition based on a terminal weighting matrix and several a posteriori stability criteria based on constructing piecewise quadratic Lyapunov functions and on utilizing the cost function as a candidate Lyapunov function. Moreover, a region-reachability criterion is derived. Periodic control and scheduling relies on periodic control theory. Both offline and online scheduling are studied. The optimization problem is solved based on periodic control and exhaustive search. The online scheduling solution can again be expressed as a PWL state feedback control law. Stability is guaranteed inherently. Several methods are proposed to reduce the online complexity based on relaxation and heuristics. Part II focuses on optimal control and scheduling of NECSs. The NECS is modeled as a block-diagonal discrete-time switched linear system. Various control and scheduling codesign strategies are derived based on the methods from Part I regarding the structural properties of NECSs. The methods presented in Part I and II are finally evaluated in a case study.

Download or read book Optimal Design of Distributed Control and Embedded Systems written by Arben Çela and published by Springer Science & Business Media. This book was released on 2013-11-29 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimal Design of Distributed Control and Embedded Systems focuses on the design of special control and scheduling algorithms based on system structural properties as well as on analysis of the influence of induced time-delay on systems performances. It treats the optimal design of distributed and embedded control systems (DCESs) with respect to communication and calculation-resource constraints, quantization aspects, and potential time-delays induced by the associated communication and calculation model. Particular emphasis is put on optimal control signal scheduling based on the system state. In order to render this complex optimization problem feasible in real time, a time decomposition is based on periodicity induced by the static scheduling is operated. The authors present a co-design approach which subsumes the synthesis of the optimal control laws and the generation of an optimal schedule of control signals on real-time networks as well as the execution of control tasks on a single processor. The authors also operate a control structure modification or a control switching based on a thorough analysis of the influence of the induced time-delay system influence on stability and system performance in order to optimize DCES performance in case of calculation and communication resource limitations. Although the richness and variety of classes of DCES preclude a completely comprehensive treatment or a single “best” method of approaching them all, this co-design approach has the best chance of rendering this problem feasible and finding the optimal or some sub-optimal solution. The text is rounded out with references to such applications as car suspension and unmanned vehicles. Optimal Design of Distributed Control and Embedded Systems will be of most interest to academic researchers working on the mathematical theory of DCES but the wide range of environments in which they are used also promotes the relevance of the text for control practitioners working in the avionics, automotive, energy-production, space exploration and many other industries.

Download or read book Investigation on Robust Codesign Methods for Networked Control Systems written by Sanad Al-Areqi and published by Logos Verlag Berlin GmbH. This book was released on 2015-12-31 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of jointly designing a robust controller and an intelligent scheduler for networked control systems (NCSs) is addressed in this thesis. NCSs composing of multiple plants that share a single channel communication network with uncertain time-varying transmission times are modeled as switched polytopic systems with additive norm-bounded uncertainty. Switching is deployed to represent scheduling, the polytopic uncertainty to overapproximatively describe the uncertain time-varying transmission times. Based on the resulting NCS model and a state feedback control law, the control and scheduling codesign problem is then introduced and formulated as a robust (minimax) optimization problem with the objective of minimizing the worst-case value of an associated infinite time-horizon quadratic cost function. Five robust codesign strategies are investigated for tackling the introduced optimization problem, namely: Periodic control and scheduling (PCS), Receding-horizon control and scheduling (RHCS), Implementation-aware control and scheduling (IACS), Event-based control and scheduling (EBCS), Prediction-based control and scheduling (PBCS). All these codesign strategies are determined from LMI optimization problems based on the Lyapunov theory. The properties of each are evaluated and compared in terms of computational complexity and control performance based on simulation and experimental study, showing their effectiveness in improving the performance while utilizing the limited communication resources very efficiently.

Download or read book Handbook of Networked and Embedded Control Systems written by Dimitrios Hristu-Varsakelis and published by Springer Science & Business Media. This book was released on 2007-11-14 with total page 808 pages. Available in PDF, EPUB and Kindle. Book excerpt: The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in cars–a single high-end automobile may contain over eighty different computers. The design of embedded controllers and of the intricate, automated communication networks that support them raises many new questions—practical, as well as theoretical—about network protocols, compatibility of operating systems, and ways to maximize the effectiveness of the embedded hardware. This handbook, the first of its kind, provides engineers, computer scientists, mathematicians, and students a broad, comprehensive source of information and technology to address many questions and aspects of embedded and networked control. Separated into six main sections—Fundamentals, Hardware, Software, Theory, Networking, and Applications—this work unifies into a single reference many scattered articles, websites, and specification sheets. Also included are case studies, experiments, and examples that give a multifaceted view of the subject, encompassing computation and communication considerations.

Download or read book A Hybrid Physical and Data drivApproach to Motion Prediction and Control in Human Robot Collaboration written by Min Wu and published by Logos Verlag Berlin GmbH. This book was released on 2022-06-14 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.

Download or read book Hybrid Systems Computation and Control written by Rupak Majumdar and published by Springer. This book was released on 2009-04-30 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009, held in San Francisco, CA, USA, in April 2009. The 30 revised full papers and 10 revised short papers presented were carefully reviewed and selected from numerous submissions for inclusion in the book. The papers focus on research in embedded reactive systems involving the interplay between symbolic/discrete and continuous dynamical behaviors and feature the latest developments of applications and theoretical advancements in the analysis, design, control, optimization, and implementation of hybrid systems.

Download or read book Modelling and Control of an Autonomous Two Wheeled Vehicle written by Alen Turnwald and published by Logos Verlag Berlin GmbH. This book was released on 2020-11-13 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.

Download or read book Ultra wideband Based Indoor Localization Using Sensor Fusion and Support Vector Machine written by Zhuoqi Zeng and published by Logos Verlag Berlin GmbH. This book was released on 2020-12-21 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: To further improve the NLOS detection and mitigation performance for Ultra-wideband (UWB) system, this thesis systematically investigates the UWB LOS/NLOS errors. The LOS errors are evaluated in different environments and with different distances. Different blockage materials and blockage conditions are considered for NLOS errors. The UWB signal propagation is also investigated. Furthermore, the relationships between the CIRs and the accurate/inaccurate range measurements are theoretically discussed in three different situations: ideal LOS path, small-scale fading: multipath and NLOS path. These theoretical relationships are validated with real measured CIRs in the Bosch Shanghai office environment. Based on the error and signal propagation investigation results, four different algorithms are proposed for four different scenarios to improve the NLOS identification accuracy. After the comparison of the localization performance for TOA/TDOA, it is found that on normal office floor, TOA works better than TDOA. In harsh industrial environments, where NLOS frequently occurs, TDOA is more suitable than TOA. Thus, in the first scenario, the position estimation is realized with TOA on the office floor, while in the second scenario, a novel approach to combined TOA and TDOA with accurate range and range difference selection is proposed in the harsh industrial environment. The optimization of the feature combination and parameters in machine learning algorithms for accurate measurement detection is discussed for both scenarios. For the third and fourth scenarios, the UWB/IMU fusion system stays in focus. Instead of detecting the NLOS outliers by assuming that the error distributions are Gaussian, the accurate measurement detection is realized based on the triangle inequality theorem. All the proposed approaches are tested with the collected measurements from the developed UWB system. The position estimation of these approaches has better accuracy than that of the traditional methods.

Download or read book New Perspectives and Applications of Modern Control Theory written by Julio B. Clempner and published by Springer. This book was released on 2017-09-30 with total page 539 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited monograph contains research contributions on a wide range of topics such as stochastic control systems, adaptive control, sliding mode control and parameter identification methods. The book also covers applications of robust and adaptice control to chemical and biotechnological systems. This collection of papers commemorates the 70th birthday of Dr. Alexander S. Poznyak.

Download or read book Secure Control of Networked Control Systems and Its Applications written by Dong Yue and published by Springer Nature. This book was released on 2021-02-15 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book shows some secure control methods of networked control systems related to linear control system, nonlinear control system, multi-agent system and its applications in power systems. The proposed secure control methods provide some useful results about modeling of network attacks, resilient analysis and synthesis methods, active defense control method.The contents of this book are lists as followings. (1) Modeling of DoS attacks, deception attacks and replay attacks; (2)Secure control methods are proposed by combing delay system method, switched system method and event-based control method. (3) Active control methods are proposed by using model-predictive control and redundant control. (4) The proposed control methods are applied to the security problem of power system.The methods of this book include DoS attacks modeling such as, periodic jamming attack model,model-based average dwell time model, deception attack modeling and relay attack modeling; piece-wise Lyapunov-Krasoviskiifunctional method, stochastic control method; the results including resilient conditions of networked control system and related resilient control design method with linear matrix inequalities(LMIs).From this book, readers can learn about the general network attack modeling methods, resilient analysis and synthesis methods, active control methods from viewpoint of redundancy control, and secure conditions of power systems.Some fundamental knowledge prepared to read this book includes delay system theory, event triggered mechanism, T-S fuzzy system theory and frequency/voltage control of power system.

Download or read book Real Time Optimal Control of Autonomous Switched Systems written by Xu Chu Ding and published by LAP Lambert Academic Publishing. This book was released on 2010 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work provides a real-time algorithmic optimal control framework for autonomous switched systems. Traditional optimal control approaches for autonomous switched systems are open-loop in nature. Therefore, the switching times of the system can not be adjusted or adapted when the system parameters or the operational environments change. This work aims to close this loop, and apply adaptations to the optimal switching strategy based on new information that can only be captured on-line. One important contribution of this work is to provide the means to allow feedback (in a general sense) to the control laws (i.e. the switching times) of the switched system so that the control laws can be updated to maintain optimality of the switching-time control inputs. Furthermore, convergence analysis for the proposed algorithms are presented. The effectiveness of the real-time algorithms is demonstrated by an application in optimal formation and coverage control of a networked system. This application is implemented on a realistic simulation framework consisting of a number of Unmanned Aerial Vehicles (UAVs) that interact in a virtual 3D world.

Download or read book Networked Control Systems with Intermittent Feedback written by Domagoj Tolić and published by CRC Press. This book was released on 2017-03-31 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: Networked Control Systems (NCSs) are spatially distributed systems for which the communication between sensors, actuators and controllers is realized by a shared (wired or wireless) communication network. NCSs offer several advantages, such as reduced installation and maintenance costs, as well as greater flexibility, over conventional control systems in which parts of control loops exchange information via dedicated point-to-point connections. The principal goal of this book is to present a coherent and versatile framework applicable to various settings investigated by the authors over the last several years. This framework is applicable to nonlinear time-varying dynamic plants and controllers with delayed dynamics; a large class of static, dynamic, probabilistic and priority-oriented scheduling protocols; delayed, noisy, lossy and intermittent information exchange; decentralized control problems of heterogeneous agents with time-varying directed (not necessarily balanced) communication topologies; state- and output-feedback; off-line and on-line intermittent feedback; optimal intermittent feedback through Approximate Dynamic Programming (ADP) and Reinforcement Learning (RL); and control systems with exogenous disturbances and modeling uncertainties.

Download or read book Switching in Systems and Control written by Daniel Liberzon and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: The theory of switched systems is related to the study of hybrid systems, which has gained attention from control theorists, computer scientists, and practicing engineers. This book examines switched systems from a control-theoretic perspective, focusing on stability analysis and control synthesis of systems that combine continuous dynamics with switching events. It includes a vast bibliography and a section of technical and historical notes.

Download or read book Networked Control Systems written by Fei-Yue Wang and published by Springer Science & Business Media. This book was released on 2008-06-17 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Networked control systems (NCS) confer advantages of cost reduction, system diagnosis and flexibility, minimizing wiring and simplifying the addition and replacement of individual elements; efficient data sharing makes taking globally intelligent control decisions easier with NCS. The applications of NCS range from the large scale of factory automation and plant monitoring to the smaller networks of computers in modern cars, places and autonomous robots. Networked Control Systems presents recent results in stability and robustness analysis and new developments related to networked fuzzy and optimal control. Many chapters contain case-studies, experimental, simulation or other application-related work showing how the theories put forward can be implemented. The state-of-the art research reported in this volume by an international team of contributors makes it an essential reference for researchers and postgraduate students in control, electrical, computer and mechanical engineering and computer science.

Download or read book Switched Linear Systems written by Zhendong Sun and published by Springer Science & Business Media. This book was released on 2006-03-30 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: Switched linear systems have enjoyed a particular growth in interest since the 1990s. The large amount of data and ideas thus generated have, until now, lacked a co-ordinating framework to focus them effectively on some of the fundamental issues such as the problems of robust stabilizing switching design, feedback stabilization and optimal switching. This deficiency is resolved by this book which features: nucleus of constructive design approaches based on canonical decomposition and forming a sound basis for the systematic treatment of secondary results; theoretical exploration and logical association of several independent but pivotal concerns in control design as they pertain to switched linear systems: controllability and observability, feedback stabilization, optimization and periodic switching; a reliable foundation for further theoretical research as well as design guidance for real life engineering applications through the integration of novel ideas, fresh insights and rigorous results.

Download or read book Complex Systems Spanning Control and Computational Cybernetics Applications written by Peng Shi and published by Springer Nature. This book was released on 2022-09-18 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, dedicated to Professor Georgi M. Dimirovski on his anniversary, contains new research directions, challenges, and many relevant applications related to many aspects within the broadly perceived areas of systems and control, including signal analysis and intelligent systems. The project comprises two volumes with papers written by well known and very active researchers and practitioners. The first volume is focused on more foundational aspects related to general issues in systems science and mathematical systems, various problems in control and automation, and the use of computational and artificial intelligence in the context of systems modeling and control. The second volume is concerned with a presentation of relevant applications, notably in robotics, computer networks, telecommunication, fault detection/diagnosis, as well as in biology and medicine, and economic, financial, and social systems too.

Download or read book Handbook of Hybrid Systems Control written by Jan Lunze and published by Cambridge University Press. This book was released on 2009-10-15 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sets out core theory and reviews new methods and applications to show how hybrid systems can be modelled and understood.