35,651 research outputs found
Energy-aware MPC co-design for DC-DC converters
In this paper, we propose an integrated controller design methodology for the implementation of an energy-aware explicit model predictive control (MPC) algorithms, illustrat- ing the method on a DC-DC converter model. The power consumption of control algorithms is becoming increasingly important for low-power embedded systems, especially where complex digital control techniques, like MPC, are used. For DC-DC converters, digital control provides better regulation, but also higher energy consumption compared to standard analog methods. To overcome the limitation in energy efficiency, instead of addressing the problem by implementing sub-optimal MPC schemes, the closed-loop performance and the control algorithm power consumption are minimized in a joint cost function, allowing us to keep the controller power efficiency closer to an analog approach while maintaining closed-loop op- timality. A case study for an implementation in reconfigurable hardware shows how a designer can optimally trade closed-loop performance with hardware implementation performance
Sliding modes in electrical drives and motion control
In this paper application of Sliding Mode Control (SMC) to electrical drives and motion control systems is discussed. It is shown that in these applications simplicity in implementation makes concepts of SMC a very attractive design alternative. Application in electrical drives control is discussed for supply via different topologies of the supply converters. Motion control is discussed for single degree of freedom motion control systems as an extension of the control of mechanical coordinates in electrical drives. Extension to multi-body systems is discussed very briefly
Algorithm for Optimal Mode Scheduling in Switched Systems
This paper considers the problem of computing the schedule of modes in a
switched dynamical system, that minimizes a cost functional defined on the
trajectory of the system's continuous state variable. A recent approach to such
optimal control problems consists of algorithms that alternate between
computing the optimal switching times between modes in a given sequence, and
updating the mode-sequence by inserting to it a finite number of new modes.
These algorithms have an inherent inefficiency due to their sparse update of
the mode-sequences, while spending most of the computing times on optimizing
with respect to the switching times for a given mode-sequence. This paper
proposes an algorithm that operates directly in the schedule space without
resorting to the timing optimization problem. It is based on the Armijo step
size along certain Gateaux derivatives of the performance functional, thereby
avoiding some of the computational difficulties associated with discrete
scheduling parameters. Its convergence to local minima as well as its rate of
convergence are proved, and a simulation example on a nonlinear system exhibits
quite a fast convergence
Hybrid LQG-Neural Controller for Inverted Pendulum System
The paper presents a hybrid system controller, incorporating a neural and an
LQG controller. The neural controller has been optimized by genetic algorithms
directly on the inverted pendulum system. The failure free optimization process
stipulated a relatively small region of the asymptotic stability of the neural
controller, which is concentrated around the regulation point. The presented
hybrid controller combines benefits of a genetically optimized neural
controller and an LQG controller in a single system controller. High quality of
the regulation process is achieved through utilization of the neural
controller, while stability of the system during transient processes and a wide
range of operation are assured through application of the LQG controller. The
hybrid controller has been validated by applying it to a simulation model of an
inherently unstable system of inverted pendulum
Fast Optimal Energy Management with Engine On/Off Decisions for Plug-in Hybrid Electric Vehicles
In this paper we demonstrate a novel alternating direction method of
multipliers (ADMM) algorithm for the solution of the hybrid vehicle energy
management problem considering both power split and engine on/off decisions.
The solution of a convex relaxation of the problem is used to initialize the
optimization, which is necessarily nonconvex, and whilst only local convergence
can be guaranteed, it is demonstrated that the algorithm will terminate with
the optimal power split for the given engine switching sequence. The algorithm
is compared in simulation against a charge-depleting/charge-sustaining (CDCS)
strategy and dynamic programming (DP) using real world driver behaviour data,
and it is demonstrated that the algorithm achieves 90\% of the fuel savings
obtained using DP with a 3000-fold reduction in computational time
Noisy Gradient Descent Bit-Flip Decoding for LDPC Codes
A modified Gradient Descent Bit Flipping (GDBF) algorithm is proposed for
decoding Low Density Parity Check (LDPC) codes on the binary-input additive
white Gaussian noise channel. The new algorithm, called Noisy GDBF (NGDBF),
introduces a random perturbation into each symbol metric at each iteration. The
noise perturbation allows the algorithm to escape from undesirable local
maxima, resulting in improved performance. A combination of heuristic
improvements to the algorithm are proposed and evaluated. When the proposed
heuristics are applied, NGDBF performs better than any previously reported GDBF
variant, and comes within 0.5 dB of the belief propagation algorithm for
several tested codes. Unlike other previous GDBF algorithms that provide an
escape from local maxima, the proposed algorithm uses only local, fully
parallelizable operations and does not require computing a global objective
function or a sort over symbol metrics, making it highly efficient in
comparison. The proposed NGDBF algorithm requires channel state information
which must be obtained from a signal to noise ratio (SNR) estimator.
Architectural details are presented for implementing the NGDBF algorithm.
Complexity analysis and optimizations are also discussed.Comment: 16 pages, 22 figures, 2 table
Design and control of laser micromachining workstation
The production process of miniature devices and microsystems requires the utilization of non-conventional micromachining techniques. In the past few decades laser micromachining has became micro-manufacturing technique of choice for many industrial and research applications. This paper discusses the design of motion control system for a laser micromachining workstation with particulars about automatic focusing and control of work platform used in the workstation. The automatic focusing is solved in a sliding mode optimization framework and preview controller is used to control the motion platform. Experimental results of both motion control and actual laser micromachining are presented
- …