198 research outputs found
Consensus-based control for a network of diffusion PDEs with boundary local interaction
In this paper the problem of driving the state of a network of identical
agents, modeled by boundary-controlled heat equations, towards a common
steady-state profile is addressed. Decentralized consensus protocols are
proposed to address two distinct problems. The first problem is that of
steering the states of all agents towards the same constant steady-state
profile which corresponds to the spatial average of the agents initial
condition. A linear local interaction rule addressing this requirement is
given. The second problem deals with the case where the controlled boundaries
of the agents dynamics are corrupted by additive persistent disturbances. To
achieve synchronization between agents, while completely rejecting the effect
of the boundary disturbances, a nonlinear sliding-mode based consensus protocol
is proposed. Performance of the proposed local interaction rules are analyzed
by applying a Lyapunov-based approach. Simulation results are presented to
support the effectiveness of the proposed algorithms
Combined Backstepping/Second-Order Sliding-Mode Boundary Stabilization of an Unstable Reaction-Diffusion Process
In this letter we deal with a class of open-loop unstable reaction-diffusion PDEs with boundary control and Robin-type boundary conditions. A second-order sliding mode algorithm is employed along with the backstepping method to asymptotically stabilize the controlled plant while providing at the same time the rejection of an external persistent boundary disturbance. A constructive Lyapunov analysis supports the presented synthesis, and simulation results are presented to validate the developed approach
Boundary control and observation of coupled parabolic PDEs
Reaction-diffusion equations are parabolic Partial Differential Equations (PDEs) which
often occur in practice, e.g., to model the concentration of one or more substances, distributed
in space, under the in
uence of different phenomena such as local chemical reactions,
in which the substances are transformed into each other, and diffusion, which causes
the substances to spread out over a surface in space. Certainly, reaction-diffusion PDEs
are not confined to chemical applications but they also describe dynamical processes of
non-chemical nature, with examples being found in thermodynamics, biology, geology,
physics, ecology, etc.
Problems such as parabolic Partial Differential Equations (PDEs) and many others
require the user to have a considerable background in PDEs and functional analysis before
one can study the control design methods for these systems, particularly boundary control
design.
Control and observation of coupled parabolic PDEs comes in roughly two settingsdepending
on where the actuators and sensors are located \in domain" control, where
the actuation penetrates inside the domain of the PDE system or is evenly distributed
everywhere in the domain and \boundary" control, where the actuation and sensing are
applied only through the boundary conditions.
Boundary control is generally considered to be physically more realistic because actuation
and sensing are nonintrusive but is also generally considered to be the harder problem,
because the \input operator" and the "output operator" are unbounded operators.
The method that this thesis develops for control of PDEs is the so-called backstepping
control method. Backstepping is a particular approach to stabilization of dynamic
systems and is particularly successful in the area of nonlinear control. The backstepping
method achieves Lyapunov stabilization, which is often achieved by collectively shifting
all the eigenvalues in a favorable direction in the complex plane, rather than by assigning
individual eigenvalues. As the reader will soon learn, this task can be achieved in a rather
elegant way, where the control gains are easy to compute symbolically, numerically, and
in some cases even explicitly.
In addition to presenting the methods for boundary control design, we present the dual
methods for observer design using boundary sensing. Virtually every one of our control
designs for full state stabilization has an observer counterpart. The observer gains are
easy to compute symbolically or even explicitly in some cases. They are designed in
such a way that the observer error system is exponentially stabilized. As in the case of
finite-dimensional observer-based control, a separation principle holds in the sense that a
closed-loop system remains stable after a full state stabilizing feedback is replaced by a
feedback that employs the observer state instead of the plant state
Observation and control of PDE with disturbances
In this Thesis, the problem of controlling and Observing some classes of distributed parameter systems is addressed. The particularity of this work is to consider partial differential equations (PDE) under the effect of external unknown disturbances. We consider generalized forms of two popular parabolic and hyperbolic infinite dimensional dynamics, the heat and wave equations. Sliding-mode control is used to achieve the control goals, exploiting the robustness properties of this robust control technique against persistent disturbances and parameter uncertainties
Robust Observation and Control of Complex Networks
The problem of understanding when individual actions of interacting agents display to a coordinated collective behavior has receiving a considerable attention in many research fields. Especially in control engineering, distributed applications in cooperative environments
are achieving resounding success, due to the large number of relevant applications, such as formation control, attitude synchronization tasks and cooperative applications in large-scale systems.
Although those problems have been extensively studied in Literature, themost of classic approaches use to consider the unrealistic scenario in which networks always consist of
identical, linear, time-invariant entities. It’s clear that this assumption strongly approximates the effective behavior of a network. In fact agents can be subjected to parameter uncertainties,
unmodeled dynamics or simply characterized by proper nonlinear dynamics.
Therefore, motivated by those practical problems, the present Thesis proposes various approaches for dealing with the problem of observation and control in both the framework
of multi-agents and complex interconnected systems. The main contributions of this Thesis consist on the development of several algorithms based on concepts of discontinuous slidingmode control. This techniques can be employed for solving in finite-time problems of robust
state estimation and consensus-based synchronization in network of heterogenous nonlinear systems subjected to unknown but bounded disturbances and sudden topological changes.
Both directed and undirected topologies have been taken into account. It is worth to mention also the extension of the consensus problem to networks of agents governed by a class parabolic partial differential equation, for which, for the first time, a boundary-based robust local interaction protocol has been presented
Robust Observation and Control of Complex Networks
The problem of understanding when individual actions of interacting agents display to a coordinated collective behavior has receiving a considerable attention in many research fields. Especially in control engineering, distributed applications in cooperative environments
are achieving resounding success, due to the large number of relevant applications, such as formation control, attitude synchronization tasks and cooperative applications in large-scale systems.
Although those problems have been extensively studied in Literature, themost of classic approaches use to consider the unrealistic scenario in which networks always consist of
identical, linear, time-invariant entities. It’s clear that this assumption strongly approximates the effective behavior of a network. In fact agents can be subjected to parameter uncertainties,
unmodeled dynamics or simply characterized by proper nonlinear dynamics.
Therefore, motivated by those practical problems, the present Thesis proposes various approaches for dealing with the problem of observation and control in both the framework
of multi-agents and complex interconnected systems. The main contributions of this Thesis consist on the development of several algorithms based on concepts of discontinuous slidingmode control. This techniques can be employed for solving in finite-time problems of robust
state estimation and consensus-based synchronization in network of heterogenous nonlinear systems subjected to unknown but bounded disturbances and sudden topological changes.
Both directed and undirected topologies have been taken into account. It is worth to mention also the extension of the consensus problem to networks of agents governed by a class parabolic partial differential equation, for which, for the first time, a boundary-based robust local interaction protocol has been presented
Physics-based Machine Learning Approaches to Complex Systems and Climate Analysis
Komplexe Systeme wie das Klima der Erde bestehen aus vielen Komponenten, die durch eine komplizierte Kopplungsstruktur miteinander verbunden sind. Für die Analyse solcher Systeme erscheint es daher naheliegend, Methoden aus der Netzwerktheorie, der Theorie dynamischer Systeme und dem maschinellen Lernen zusammenzubringen. Durch die Kombination verschiedener Konzepte aus diesen Bereichen werden in dieser Arbeit drei neuartige Ansätze zur Untersuchung komplexer Systeme betrachtet.
Im ersten Teil wird eine Methode zur Konstruktion komplexer Netzwerke vorgestellt, die in der Lage ist, Windpfade des südamerikanischen Monsunsystems zu identifizieren. Diese Analyse weist u.a. auf den Einfluss der Rossby-Wellenzüge auf das Monsunsystem hin. Dies wird weiter untersucht, indem gezeigt wird, dass der Niederschlag mit den Rossby-Wellen phasenkohärent ist. So zeigt der erste Teil dieser Arbeit, wie komplexe Netzwerke verwendet werden können, um räumlich-zeitliche Variabilitätsmuster zu identifizieren, die dann mit Methoden der nichtlinearen Dynamik weiter analysiert werden können.
Die meisten komplexen Systeme weisen eine große Anzahl von möglichen asymptotischen Zuständen auf. Um solche Zustände zu beschreiben, wird im zweiten Teil die Monte Carlo Basin Bifurcation Analyse (MCBB), eine neuartige numerische Methode, vorgestellt. Angesiedelt zwischen der klassischen Analyse mit Ordnungsparametern und einer gründlicheren, detaillierteren Bifurkationsanalyse, kombiniert MCBB Zufallsstichproben mit Clustering, um die verschiedenen Zustände und ihre Einzugsgebiete zu identifizieren.
Bei von Vorhersagen von komplexen Systemen ist es nicht immer einfach, wie Vorwissen in datengetriebenen Methoden integriert werden kann. Eine Möglichkeit hierzu ist die Verwendung von Neuronalen Partiellen Differentialgleichungen. Hier wird im letzten Teil der Arbeit gezeigt, wie hochdimensionale räumlich-zeitlich chaotische Systeme mit einem solchen Ansatz modelliert und vorhergesagt werden können.Complex systems such as the Earth's climate are comprised of many constituents that are interlinked through an intricate coupling structure. For the analysis of such systems it therefore seems natural to bring together methods from network theory, dynamical systems theory and machine learning. By combining different concepts from these fields three novel approaches for the study of complex systems are considered throughout this thesis.
In the first part, a novel complex network construction method is introduced that is able to identify the most important wind paths of the South American Monsoon system. Aside from the importance of cross-equatorial flows, this analysis points to the impact Rossby Wave trains have both on the precipitation and low-level circulation. This connection is then further explored by showing that the precipitation is phase coherent to the Rossby Wave. As such, the first part of this thesis demonstrates how complex networks can be used to identify spatiotemporal variability patterns within large amounts of data, that are then further analysed with methods from nonlinear dynamics.
Most complex systems exhibit a large number of possible asymptotic states. To investigate and track such states, Monte Carlo Basin Bifurcation analysis (MCBB), a novel numerical method is introduced in the second part. Situated between the classical analysis with macroscopic order parameters and a more thorough, detailed bifurcation analysis, MCBB combines random sampling with clustering methods to identify and characterise the different asymptotic states and their basins of attraction.
Forecasts of complex system are the next logical step. When doing so, it is not always straightforward how prior knowledge in data-driven methods. One possibility to do is by using Neural Partial Differential Equations. Here, it is demonstrated how high-dimensional spatiotemporally chaotic systems can be modelled and predicted with such an approach in the last part of the thesis
Optimization based control design techniques for distributed parameter systems
The study presents optimization based control design techniques for the systems that are governed by partial differential equations. A control technique is developed for systems that are actuated at the boundary. The principles of dynamic inversion and constrained optimization theory are used to formulate a feedback controller. This control technique is demonstrated for heat equations and thermal convection loops. This technique is extended to address a practical issue of parameter uncertainty in a class of systems. An estimator is defined for unknown parameters in the system. The Lyapunov stability theory is used to derive an update law of these parameters. The estimator is used to design an adaptive controller for the system. A second control technique is presented for a class of second order systems that are actuated in-domain. The technique of proper orthogonal decomposition is used first to develop an approximate model. This model is then used to design optimal feedback controller. Approximate dynamic programming based neural network architecture is used to synthesize a sub-optimal controller. This control technique is demonstrated to stabilize the heave dynamics of a flexible aircraft wings. The third technique is focused on the optimal control of stationary thermally convected fluid flows from the numerical point of view. To overcome the computational requirement, optimization is carried out using reduced order model. The technique of proper orthogonal decomposition is used to develop reduced order model. An example of chemical vapor deposition reactor is considered to examine this control technique --Abstract, page iii
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