9,666 research outputs found
Continuous-time self-tuning algorithms
This thesis proposes some new self-tuning algorithms. In contrast to the conventional discrete-time approach to self-tuning control, the continuous-time approach is used here, that is continuous-time design but digital implementation is used. The proposed underlying control methods are combined with a continuous-time version of the well-known discrete recursive least squares algorithms. The continuous-time estimation scheme is chosen to maintain the continuous-time nature of the algorithms. The first new algorithm proposed is emulator-based relay control (which has already been described in a paper by the author). The algorithm is based on the idea of constructing the switching surface by emulators; that is, unrealisable output derivatives are replaced by their emulated values. In particular, the relay is forced to operate in the sliding mode. In this case, it is shown that emulator-based control and its proposed relay version become equivalent in the sense that both give the same control law. The second new algorithm proposed is a continuous-time version of the discrete-time generalized predictive control (GPC) of Clarke et al (which has already been described in a paper by the author). The algorithm, continuous-time generalized predictive control (CGPC), is based on similar ideas to the GPC, however the formulation is very different. For example, the output prediction is accomplished by using the Taylor series expansion of the output and emulating the output derivatives involved. A detailed closed-loop analysis of this algorithm is also given. It is shown that the CGPC control law only changes the closed-loop pole locations leaving the open-loop zeros untouched (except one special case). It is also shown that LQ control can be considered in the CGPC framework. Further, the CGPC is extended to include some design polynomials so that the model-following and pole-placement control can be considered in the same framework. A third new algorithm, a relay version of the CGPC, is described. The method is based on the ideas of the emulator-based relay control and again it is shown that the CGPC and its relay version become equivalent when the relay operates in the sliding mode. Finally, the CGPC ideas are extended to the multivariable systems and the resulting closed-loop system is analysed in some detail. It is shown that some special choice of design parameters result in a decoupled closed-loop system for certain systems. In addition, it is shown that if the system is decouplable, it is possible to obtain model-following control. It is also shown that LQ control, as in the scalar case, can be considered in the same framework. An illustrative simulation study is also provided for all of the above methods throughout the thesis
Multi-hop Byzantine reliable broadcast with honest dealer made practical
We revisit Byzantine tolerant reliable broadcast with honest dealer algorithms in multi-hop networks. To tolerate Byzantine faulty nodes arbitrarily spread over the network, previous solutions require a factorial number of messages to be sent over the network if the messages are not authenticated (e.g., digital signatures are not available). We propose modifications that preserve the safety and liveness properties of the original unauthenticated protocols, while highly decreasing their observed message complexity when simulated on several classes of graph topologies, potentially opening to their employment
On the Selection of Tuning Methodology of FOPID Controllers for the Control of Higher Order Processes
In this paper, a comparative study is done on the time and frequency domain
tuning strategies for fractional order (FO) PID controllers to handle higher
order processes. A new fractional order template for reduced parameter modeling
of stable minimum/non-minimum phase higher order processes is introduced and
its advantage in frequency domain tuning of FOPID controllers is also
presented. The time domain optimal tuning of FOPID controllers have also been
carried out to handle these higher order processes by performing optimization
with various integral performance indices. The paper highlights on the
practical control system implementation issues like flexibility of online
autotuning, reduced control signal and actuator size, capability of measurement
noise filtration, load disturbance suppression, robustness against parameter
uncertainties etc. in light of the above tuning methodologies.Comment: 27 pages, 10 figure
Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey
Wireless sensor networks (WSNs) consist of autonomous and resource-limited
devices. The devices cooperate to monitor one or more physical phenomena within
an area of interest. WSNs operate as stochastic systems because of randomness
in the monitored environments. For long service time and low maintenance cost,
WSNs require adaptive and robust methods to address data exchange, topology
formulation, resource and power optimization, sensing coverage and object
detection, and security challenges. In these problems, sensor nodes are to make
optimized decisions from a set of accessible strategies to achieve design
goals. This survey reviews numerous applications of the Markov decision process
(MDP) framework, a powerful decision-making tool to develop adaptive algorithms
and protocols for WSNs. Furthermore, various solution methods are discussed and
compared to serve as a guide for using MDPs in WSNs
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