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1.
    
Periodic Event-Triggered Quantized Control (PETQC) is a type of event-triggered control (ETC) that takes into account the quantization effect introduced by network transmission and only requires to measure the plant output periodically instead of continuously. In this work, we present an abstract model for the traffic generated by the dynamics of PETQC implementations. Construction of the abstract models is done in two steps. Our first step is to divide the state space into finite regions. Each region is then analyzed with LMIs to examine the event-triggering behavior. The state transitions among different regions are resulted from reachability analysis.  相似文献   

2.
    
Bipedal robots are prime examples of complex cyber–physical systems (CPSs). They exhibit many of the features that make the design and verification of CPS so difficult: hybrid dynamics, large continuous dynamics in each mode (e.g., 10 or more state variables), and nontrivial specifications involving nonlinear constraints on the state variables. In this paper, we propose a two-step approach to formally synthesize controllers for bipedal robots so as to enforce specifications by design and thereby generate physically realizable stable walking. In the first step, we design outputs and classical controllers driving these outputs to zero. The resulting controlled system evolves on a lower dimensional manifold and is described by the hybrid zero dynamics governing the remaining degrees of freedom. In the second step, we construct an abstraction of the hybrid zero dynamics that is used to synthesize a controller enforcing the desired specifications to be satisfied on the full order model. Our two step approach is a systematic way to mitigate the curse of dimensionality that hampers the applicability of formal synthesis techniques to complex CPS. Our results are illustrated with simulations showing how the synthesized controller enforces all the desired specifications and offers improved performance with respect to a classical controller. The practical relevance of the results is illustrated experimentally on the bipedal robot AMBER 3.  相似文献   

3.
A computational test is proposed for existence of solution in nonlinear systems. In this test, an interval inclusion of Newton mapping is estimated applying affine arithmetic. Numerical examples are presented to show the efficiency of this test.  相似文献   

4.
In this paper we introduce some interval valued double sequence spaces defined by Orlicz function and study different properties of these spaces like inclusion relations, solidity, etc. We establish some inclusion relations among them. Also we introduce the concept of double statistical convergence for interval number sequences and give an inclusion relation between interval valued double sequence spaces.  相似文献   

5.
    
Temporal logics have lately proven to be a valuable tool for various control applications by providing a rich specification language. Existing temporal logic-based control strategies discretize the underlying dynamical system in space and/or time. We will not use such an abstraction and consider continuous-time systems under a fragment of signal temporal logic specifications by using the associated robust semantics. In particular, this paper provides computationally-efficient funnel-based feedback control laws for a class of systems that are, in a sense, feedback equivalent to single integrator systems, but where the dynamics are partially unknown for the control design so that some degree of robustness is obtained. We first leverage the transient properties of a funnel-based feedback control strategy to maximize the robust semantics of some atomic temporal logic formulas. We then guarantee the satisfaction for specifications consisting of conjunctions of such atomic temporal logic formulas with overlapping time intervals by a suitable switched control system. The result is a framework that satisfies temporal logic specifications with a user-defined robustness when the specification is satisfiable. When the specification is not satisfiable, a least violating solution can be found. The theoretical findings are demonstrated in simulations of the nonlinear Lotka–Volterra equations for predator–prey models.  相似文献   

6.
We model general autonomously controlled production networks by means of nonlinear differential equations and implement autonomous control methods, where transportation times and disturbances in the transportation times are taken into account. Autonomous control enables intelligent logistic objects to route themselves through a logistic network. Based on this model we investigate a certain scenario of a production network, where we show advantages and disadvantages of the implementation of autonomous control methods from a mathematical perspective in view of robustness and stability.  相似文献   

7.
We show that the existence of a non-coercive Lyapunov function is sufficient for uniform global asymptotic stability (UGAS) of infinite-dimensional systems with external disturbances provided the speed of decay is measured in terms of the norm of the state and an additional mild assumption is satisfied. For evolution equations in Banach spaces with Lipschitz continuous nonlinearities these additional assumptions become especially simple. The results encompass some recent results on linear switched systems on Banach spaces. Finally, we derive new non-coercive converse Lyapunov theorems and give some examples showing the necessity of our assumptions.  相似文献   

8.
Guaranteed nonlinear parameter estimation in knowledge-based models   总被引:1,自引:0,他引:1  
Knowledge-based models are ubiquitous in pure and applied sciences. They often involve unknown parameters to be estimated from experimental data. This is usually much more difficult than for black-box models, only intended to mimic a given input–output behavior. The output of knowledge-based models is almost always nonlinear in their parameters, so that linear least squares cannot be used, and analytical solutions for the model equations are seldom available. Moreover, since the parameters have some physical meaning, it is not enough to find some numerical values of these quantities that are such that the model fits the data reasonably well. One would like, for instance, to make sure that the parameters to be estimated are identifiable. If this is not the case, all equivalent solutions should be provided. The uncertainty in the parameters resulting from the measurement noise and approximate nature of the model should also be characterized. This paper describes how guaranteed methods based on interval analysis may contribute to these tasks. Examples in linear and nonlinear compartmental modeling, widely used in biology, are provided.  相似文献   

9.
In this paper, the properties of reachability, controllability and essential reachability of positive discrete-time linear control systems are studied. These properties are characterized in terms of the directed graph of the state matrix. From these characterizations canonical forms of those properties are deduced.  相似文献   

10.
This paper is concerned with new algorithms which provide the sharp bounds that are guaranteed to contain the exact solutions of nonlinear Volterra integral equations. We develop new enclosure algorithms based on the interval methods which was first introduced by Moore in [24] together with the Taylor polynomials to improve the accuracy of the scheme by reducing the width of interval solutions. The modified methods calculate a priori bound automatically in parallel with the computation of solutions of integral equations. We will show that the accuracy of the proposed algorithms is dependent on the number of interval subdivisions. Some numerical experiments are also included to demonstrate the validity and applicability of the scheme and showing a marked improvement in comparison with the recent existing numerical results.  相似文献   

11.
    
A novel representation of reset control systems with a zero-crossing resetting law, in the framework of hybrid inclusions, is postulated. The well-posedness and stability issues of the resulting hybrid dynamical system are investigated, with a strong focus on how non-deterministic behavior is implemented in control practice. Several stability conditions have been developed by using the eigenstructure of matrices related to the periods of the reset interval sequences and by using Lyapunov function-based conditions.  相似文献   

12.
This paper is concerned with the solution of nonlinear algebraic systems of equations. For this problem, we suggest new methods, which are combinations of the nonlinear ABS methods and quasi-Newton methods. Extensive numerical experiments compare particular algorithms and show the efficiency of the proposed methods.The authors are grateful to Professors C. G. Broyden and E. Spedicato for many helpful discussions.  相似文献   

13.
Recently a new derivative-free algorithm has been proposed for the solution of linearly constrained finite minimax problems. This derivative-free algorithm is based on a smoothing technique that allows one to take into account the non-smoothness of the max function. In this paper, we investigate, both from a theoretical and computational point of view, the behavior of the minmax algorithm when used to solve systems of nonlinear inequalities when derivatives are unavailable. In particular, we show an interesting property of the algorithm, namely, under some mild conditions regarding the regularity of the functions defining the system, it is possible to prove that the algorithm locates a solution of the problem after a finite number of iterations. Furthermore, under a weaker regularity condition, it is possible to show that an accumulation point of the sequence generated by the algorithm exists which is a solution of the system. Moreover, we carried out numerical experimentation and comparison of the method against a standard pattern search minimization method. The obtained results confirm that the good theoretical properties of the method correspond to interesting numerical performance. Moreover, the algorithm compares favorably with a standard derivative-free method, and this seems to indicate that extending the smoothing technique to pattern search algorithms can be beneficial.  相似文献   

14.
本文研究倒立摆的控制器设计.运用控制转换定律和Lyapunov第二方法,有效解决了由钟的分离角和控制系统中小车的置换引起的强非线性和强耦合性难题.并证明该控制器对由摆的长度和质量以及小车的质量等参数决定的非线性摩擦系数的变化具有强鲁棒性.最后,仿真实验结果证明了该控制器设计的可行性.  相似文献   

15.
This paper considers the problem of building a set of hybrid abstractions for affine systems in order to compute over approximations of the reachable space. Each abstraction is based on a decomposition of the continuous state space that is defined by hyperplanes generated by linear combinations of two vectors. The choice of these vectors is based on consideration of the dynamics of the system and uses, for example, the left eigenvectors of the matrix that defines these dynamics. We show that the reachability calculus can then be performed on a combination of such abstractions and how its accuracy depends on the choice of hyperplanes that define the decomposition.  相似文献   

16.
17.
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.  相似文献   

18.
Roland and Varadhan (Appl. Numer. Math., 55:215–226, 2005) presented a new idea called “squaring” to improve the convergence of Lemaréchal’s scheme for solving nonlinear fixed-point problems. Varadhan and Roland (Squared extrapolation methods: A new class of simple and efficient numerical schemes for accelerating the convergence of the EM algorithm, Department of Biostatistics Working Paper. Johns Hopkins University, , 2004) noted that Lemaréchal’s scheme can be viewed as a member of the class of polynomial extrapolation methods with cycling that uses two fixed-point iterations per cycle. Here we combine these two ideas, cycled extrapolation and squaring, and construct a new class of methods, called squared polynomial methods (SQUAREM), for accelerating the convergence of fixed-point iterations. Our main goal is to evaluate whether the squaring device is effective in improving the rate of convergence of cycled extrapolation methods that use more than two fixed-point iterations per cycle. We study the behavior of the new schemes on an image reconstruction problem for positron emission tomography (PET) using simulated data. Our numerical experiments show the effectiveness of first- and higher-order squared polynomial extrapolation methods in accelerating image reconstruction, and also their relative superiority compared to the classical, “unsquared” vector polynomial methods.  相似文献   

19.
The Roppenecker [11] parameterization of multi-input eigenvalue assignment, which allows for common open- and closed-loop eigenvalues, provides a platform for the investigation of several issues of current interest in robust control. Based on this parameterization, a numerical optimization method for designing a constant gain feedback matrix which assigns the closed-loop eigenvalues to desired locations such that these eigenvalues have low sensitivity to variations in the open-loop state space model was presented in Owens and O'Reilly [8]. In the present paper, two closely related numerical optimization methods are presented. The methods utilize standard (NAG library) unconstrained optimization routines. The first is for designing a minimum gain state feedback matrix which assigns the closed-loop eigenvalues to desired locations, where the measure of gain taken is the Frobenius norm. The second is for designing a state feedback matrix which results in the closed-loop system state matrix having minimum condition number. These algorithms have been shown to give results which are comparable to other available algorithms of far greater conceptual complexity.  相似文献   

20.
In this paper, we give a formal derivation of several systems of equations for injection moulding. This is done starting from the basic equations for nonisothermal, non-Newtonian flows in a three-dimensional domain. We derive systems for both (T0, p0) and (T1, p1) in the presence of body forces and sources. We find that body forces and sources have a nonlinear effect on the systems. We also derive a nonlinear “Darcy law”. Our formulation includes not only the pressure gradient, but also body forces and sources, which play the role of a nonlinearity. Later, we prove the existence of weak solutions to certain boundary value problems and initial-boundary value problems associated with the resulting equations for (T0,p0) but in a more general mathematical setting.  相似文献   

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