Tradeoffs between quality-of-control and quality-of-service in large-scale nonlinear networked control systems

In this paper we study input-to-state stability (ISS) of large-scale networked control systems (NCSs) in which sensors, controllers and actuators are connected via multiple (local) communication networks which operate asynchronously and independently of each other. We model the large-scale NCS as an interconnection of hybrid subsystems, and establish rather natural conditions which guarantee that all subsystems are ISS, and have an associated ISS Lyapunov function. An ISS Lyapunov function for the overall system is constructed based on the ISS Lyapunov functions of the subsystems and the interconnection gains. The control performance, or “quality-of-control”, of the overall system is then viewed in terms of the convergence rate and ISS gain of the associated ISS Lyapunov function. Additionally, the “quality-of-service” of the communication networks is viewed in terms of the maximum allowable transmission interval (MATI) and the maximum allowable delay (MAD) of the network, and we show that the allowable quality-of-service of the communication networks is constrained by the required ISS gains and convergence rate of the hybrid subsystem corresponding to that network. Our results show that the quality-of-control of the overall system can be improved (or degraded) by improving (or relaxing) the quality-of-service of the communication networks. Alternatively, when relaxing the quality-of-service of one communication network, we can retain the quality-of-control of the overall system by improving the quality-of-service of one or more of the other communication networks. Our general framework will formally show these intuitive and insightful tradeoffs.     

Event-triggered delayed impulsive control for input-to-state stability of nonlinear impulsive systems

This paper studies the input-to-state stability (ISS) and integral input-to-state stability (iISS) of nonlinear impulsive systems in the framework of event-triggered impulsive control (ETIC), where the stabilizing effect of time delays in impulses is fully considered. Some sufficient conditions which can avoid Zeno behavior and guarantee the ISS/iISS property of impulsive systems are proposed, where external inputs are considered in both the continuous dynamics and impulsive dynamics. A novel event-triggered delayed impulsive control (ETDIC) strategy which establishes a relationship among event-triggered parameters, impulse strength and time delays in impulses is presented. It is shown that time delays in impulses can contribute to the stabilization of impulsive systems in ISS/iISS sense. Finally, the effectiveness of the proposed theoretical results is illustrated by two numerical examples.     

Some criteria for the existence of invariant measures and asymptotic stability for random dynamical systems on polish spaces

Tomasz Szarek presented interesting criteria for the existence of invariant measures and asymptotic stability of Markov operators on Polish spaces. Hans Crauel in his book presented the theory of random probabilistic measures on Polish spaces showing that notions of compactness and tightness for such measures are in one-to-one correspondence with such notions for non-random measures on Polish spaces, in addition to the criteria under which the space of random measures is itself a Polish space. This result allowed the transfer of results of Szarek to the case of random dynamical systems in the sense of Arnold. These criteria are interesting because they allow to use the existence of simple deterministic Lyapunov type function together with additional conditions to show the existence of invariant measures and asymptotic stability of random dynamical systems on general Polish spaces.     

Dimension of invariant measures for continuous random dynamical systems

We consider continuous random dynamical systems with jumps. We estimate the dimension of the invariant measures and apply the results to a model of stochastic gene expression. Copyright © 2016 John Wiley & Sons, Ltd.     

Input-to-state stability of nonlinear systems with hybrid inputs and delayed impulses

This paper addresses input-to-state stability (ISS) and integral input-to-state stability (iISS) problem of impulsive systems with hybrid inputs and delayed impulses. By adopting Lyapunov function method, sufficient conditions for ISS/iISS are established, and the impact of time delay in hybrid impulses, that is, the stabilizing impulses and destabilizing impulses, are further studied. Moreover, several examples are given and numerical simulations are performed to illustrate their usefulness.     

Numerical path integration method based on bubble grids for nonlinear dynamical systems

A new numerical path integration method based on bubble grids for nonlinear dynamical systems is presented in this paper. The ordinary differential equations for the first and second order moments are derived on the basis of the Gaussian closure method. Then the probability density values on the bubble nodes in the computational domain can be calculated via the obtained method. The good performance of the resulting method is finally shown in the numerical examples by using some specific nonlinear dynamical systems: Duffing oscillator subjected to harmonic and stochastic excitations, and Duffing–Rayleigh oscillator subjected to harmonic and stochastic excitations.     

Conley index for random dynamical systems

Conley index theory is a very powerful tool in the study of dynamical systems. In this paper, we generalize Conley index theory to discrete random dynamical systems. Our constructions are basically the random version of Franks and Richeson in [J. Franks, D. Richeson, Shift equivalence and the Conley index, Trans. Amer. Math. Soc. 352 (2000) 3305-3322] for maps, and the relations of isolated invariant sets between time-continuous random dynamical systems and corresponding time-h maps are discussed. Two examples are presented to illustrate results in this paper.     

Viable control for uncertain nonlinear dynamical systems described by differential inclusions

In this paper, we will study the viable control problem for a class of uncertain nonlinear dynamical systems described by a differential inclusion. The goal is to construct a feedback control such that all trajectories of the system are viable in a map. Moreover, for any initial states no viable in the map, under the feedback control, all solutions of the system are steered to the map with an exponential convergence rate and viable in the map after a finite time T. In this case, an estimate of the time T of all trajectories attaining the map is given. In the nanomedicine system, an example inspired from cerebral embolism and cerebral thrombosis problems illustrates the use of our main results.     

Affine-periodic solutions for discrete dynamical systems

The paper concerns the existence of affine-periodic solutions for discrete dynamicalsystems. This kind of solutions might be periodic, harmonic, quasi-periodic, even non-periodic.We prove the existence of affine-periodic solutions for discrete dynamical systems by using thetheory of Brouwer degree. As applications, another existence theorem is given via Lyapnovfunction.     

On the stability of projected dynamical systems

A class of projected dynamical systems (PDS), whose stationary points solve the corresponding variational inequality problem (VIP), was recently studied by Dupuis and Nagurney (Ref. 1). This paper initiates the study of the stability of such PDS around their stationary points and thus gives rise to the study of the dynamical stability of VIP solutions. Examples are constructed showing that such a study can be quite distinct from the classical stability study for dynamical systems (DS). We give the definition of a regular solution to a VIP and introduce the concept of a minimal face flow induced by a PDS, which is a standard DS of a lower dimension. We then show that, at the regular solutions of the VIP, the local stability of the PDS is essentially the same as that of its minimal face flow. Hence, we reduce the problem, in this case, to one of the classical stability study of DS, a more developed discipline. In a more direct way, we then establish a series of local and global stability results of the PDS, under various conditions of monotonicity.This research was supported by the National Science Foundation under Grant DMS-9024071 under the Faculty Awards for Women Program. This support is gratefully acknowledged.     

Multirate sampling and input-to-state stable receding horizon control for nonlinear systems

In this paper, a robust receding horizon control for multirate sampled-data nonlinear systems with bounded disturbances is presented. The proposed receding horizon control is based on the solution of Bolza-type optimal control problems for the approximate discrete-time model of the nominal system. “Low measurement rate” is assumed. It is shown that the multistep receding horizon controller that stabilizes the nominal approximate discrete-time model also practically input-to-state stabilizes the exact discrete-time system with disturbances.     

Fuzzy dynamical systems

A fuzzy dynamical system on an underlying complete, locally compact metric state space X is defined axiomatically in terms of a fuzzy attainability set mapping on X. This definition includes as special cases crisp single and multivalued dynamical systems on X. It is shown that the support of such a fuzzy dynamical system on X is a crisp multivalued dynamical system on X, and that such a fuzzy dynamical system can be considered as a crisp dynamical system on a state space of nonempty compact fuzzy subsets of X. In addition fuzzy trajectories are defined, their existence established and various properties investigated.     

A general method for writing the dynamical equations of nonholonomic systems with ideal constraints

The basic notions of the dynamics of nonholonomic systems are revisited in order to give a general and simple method for writing the dynamical equations for linear as well as non-linear kinematical constraints. The method is based on the representation of the constraints by parametric equations, which are interpreted as dynamical equations, and leads to first-order differential equations in normal form, involving the Lagrangian coordinates and auxiliary variables (the use of Lagrangian multipliers is avoided). Various examples are illustrated.      

On asympotic behavior of solutions to several classes of discrete dynamical systems

In this paper, a new complete and simplified proof for the Husainov-Nikiforova Theorem is given. Then this theorem is generalized to the case where the coefficients may have different signs as well as nonlinear systems. By these results, the robust stability and the bound for robustness for high-order interval discrete dynamical systems are studied, which can be applied to designing stable discrete control system as well as stabilizing a given unstable control system.     

Global dynamics for a model of a class of continuous‐time dynamical systems

In this paper, the global asympotic behavior of solutions of a class of continuous‐time dynamical system is studied. Not only do we obtain the ultimate boundedness of solutions of the system but we also obtain the rate of the trajectories of the system going from the exterior of the trapping set to the interior of the trapping set, which can be applied to study chaotic control and chaotic synchronization of the system. Copyright © 2015 John Wiley & Sons, Ltd.     

Hilbertian Jamison sequences and rigid dynamical systems

A strictly increasing sequence (nk)_k?0 of positive integers is said to be a Hilbertian Jamison sequence if for any bounded operator T on a separable Hilbert space such that supk?0‖Tnk‖<+∞, the set of eigenvalues of modulus 1 of T is at most countable. We first give a complete characterization of such sequences. We then turn to the study of rigidity sequences (nk)_k?0 for weakly mixing dynamical systems on measure spaces, and give various conditions, some of which are closely related to the Jamison condition, for a sequence to be a rigidity sequence. We obtain on our way a complete characterization of topological rigidity and uniform rigidity sequences for linear dynamical systems, and we construct in this framework examples of dynamical systems which are both weakly mixing in the measure-theoretic sense and uniformly rigid.     

Practical stabilizability of uncertain dynamical systems: Application to robotic tracking

The tracking problem for a robotic manipulator withn controlled degrees of freedom and uncertain dynamics is considered. Based on the deterministic theory of Refs. 1–15 and requiring only knowledge of bounds on the system uncertainty, a classC of continuous feedback controls (adapted from Ref. 11) is proposed with respect to which the uncertain tracking system is practically stabilizable in the sense that, given a feasible path to be tracked and an arbitrarily small neighborhood of the origin in the appropriate error space, there exists a control inC such that the tracking error for the feedback controlled uncertain system is ultimately bounded with respect to . The theory is illustrated in a numerical example of a robot with two degrees of freedom.This paper is based on research supported by the National Science Foundation and the Air Force Office of Scientific Research under Grant ECS-8210324 and by the UK Science and Engineering Research Council under Grants GR/B/32047 and GR/C/43658. This research was carried out, in part, while G. Leitmann was the recipient of a US Senior Scientist Award of the Alexander von Humboldt Foundation.     

Dissipativity of Runge-Kutta methods for dynamical systems with delays

This paper is concerned with the numerical solution of dissipativeinitial value problems with delays by Runge-Kutta methods. Asufficient condition for the dissipativity of the systems isgiven. The concepts of D(l)-dissipativity and GD(l)-dissipativityare introduced. We investigate the dissipativity propertiesof (k,l)-algebraically stable Runge-Kutta methods with piecewiseconstant or linear interpolation procedures for finite-dimensionaland infinite-dimensional dynamical systems with delays.