Decentralized reliable control for large-scale LTI systems

Reliable control concerns the ability of closed loop system to maintain stability and regulation properties during arbitrary sensor, controller, and actuator failure. Reliable control research has been an active research topic for more than 10 years. Recent approach for reliable control includes the H∞ method, the algebraic factorization design, and the robust servomechanism control. These methods have been surveyed and discussed in this thesis with the robust servomechanism control methodology serving as the basis of the research development of this work. In this thesis, the reliable control for large-scale, multi-input/output linear system is considered. Two concepts of reliable control are introduced in this work: (1) Decentralized Robust Servomechanism Problem with Complete Reliability (DRSPwCR) and (2) Block Decentralized Robust Servo Problem with Complete Reliability (BDRSPwCR). The DRSPwCR solves the reliable control problem by applying strict diagonal decentralized controller configurations. The BDRSPwCR solves the reliable control problem by applying block diagonal decentralized controller configurations. Research results of solving DRSPwCR for the class of minimum phase systems is first developed in this work. The problem is solved by applying strict decentralized PIDr control to an otherwise unreliable plant and thus significantly extending the class of processes that can be controlled reliably. Research results of solving BDRSPwCR is developed for plants which have a pre-imposed block diagonal structure or plants with non-minimum phase minors. The reliable control conditions for an arbitrary linear system is then analyzed, and a general controller synthesis for solving the reliable control problem for arbitrary linear system is given in this work. The DRSPwCR can be applied in many industry areas as well as in the transportation area. In this work, the reliable control results are applied in the urban vehicle traffic network. A traffic queue length model is developed, a control algorithm is synthesized, and simulations are made under different traffic subsystem failure modes such as non-functioning traffic lights, traffic accidents, and intersection blockage, etc. Finally, future research topics such as to relax the constraints of plants to achieve reliable control and to optimize the closed loop system dynamic performances, etc. are proposed

Application of a Combined Active Control and Fault Detection Scheme to an Active Composite Flexible Structure.

In this paper, the problem of increasing reliability of active control procedure is considered. Indeed, a design method of rejection perturbation in presence of potentially faults, on a flexible structure with integrated piezo-ceramics, is presented. The piezo-ceramics are used as actuators and sensors. A single unit based solution, which handles both control action and fault diagnosis is proposed. The algorithm uses H∞ optimization techniques. A full order model of the structure is first obtained via both finite-element (FE) approach and identification procedure. This model is then reduced in order to be used in our robust approach. By a suitable choice of weightings functions, the provided method is able to reject disturbance robustly and to estimate occurred faults. The case of sensors and actuators faults is discussed. The choice of weightings for diagnosis and control systems is also tackled. Finally, the effectiveness of this integrated method is confirmed by both simulation and experimental results

Nonlinear and adaptive control

The primary thrust of the research was to conduct fundamental research in the theories and methodologies for designing complex high-performance multivariable feedback control systems; and to conduct feasibiltiy studies in application areas of interest to NASA sponsors that point out advantages and shortcomings of available control system design methodologies

Status report #6 on nonlinear and adaptive control

Includes bibliographical references (p. 13-16).Status report; January 31, 1988Supported by NASA. NAG 2-297 MIT OSP. 95178prepared by Michael Athans, Gunter Stein, Lena Valavani

Robust structural feedback linearization based on the nonlinearities rejection

International audienceIn this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a PVTOL

Robust detection, isolation and accommodation for sensor failures

The objective is to extend the recent advances in robust control system design of multivariable systems to sensor failure detection, isolation, and accommodation (DIA), and estimator design. This effort provides analysis tools to quantify the trade-off between performance robustness and DIA sensitivity, which are to be used to achieve higher levels of performance robustness for given levels of DIA sensitivity. An innovations-based DIA scheme is used. Estimators, which depend upon a model of the process and process inputs and outputs, are used to generate these innovations. Thresholds used to determine failure detection are computed based on bounds on modeling errors, noise properties, and the class of failures. The applicability of the newly developed tools are demonstrated on a multivariable aircraft turbojet engine example. A new concept call the threshold selector was developed. It represents a significant and innovative tool for the analysis and synthesis of DiA algorithms. The estimators were made robust by introduction of an internal model and by frequency shaping. The internal mode provides asymptotically unbiased filter estimates.The incorporation of frequency shaping of the Linear Quadratic Gaussian cost functional modifies the estimator design to make it suitable for sensor failure DIA. The results are compared with previous studies which used thresholds that were selcted empirically. Comparison of these two techniques on a nonlinear dynamic engine simulation shows improved performance of the new method compared to previous technique

Motivational context for response inhibition influences proactive involvement of attention

Motoric inhibition is ingrained in human cognition and implicated in pervasive neurological diseases and disorders. The present electroencephalographic (EEG) study investigated proactive motivational adjustments in attention during response inhibition. We compared go-trial data from a stop-signal task, in which infrequently presented stop-signals required response cancellation without extrinsic incentives ("standard-stop"), to data where a monetary reward was posted on some stop-signals ("rewarded-stop"). A novel EEG analysis was used to directly model the covariation between response time and the attention-related N1 component. A positive relationship between response time and N1 amplitudes was found in the standard-stop context, but not in the rewarded-stop context. Simultaneously, average go-trial N1 amplitudes were larger in the rewarded-stop context. This suggests that down-regulation of go-signal-directed attention is dynamically adjusted in the standard-stop trials, but is overridden by a more generalized increase in attention in reward-motivated trials. Further, a diffusion process model indicated that behavior between contexts was the result of partially opposing evidence accumulation processes. Together these analyses suggest that response inhibition relies on dynamic and flexible proactive adjustments of low-level processes and that contextual changes can alter their interplay. This could prove to have ramifications for clinical disorders involving deficient response inhibition and impulsivity

Adaptive Backstepping Integral Sliding Mode Control for 5DOF Barge-Type OFWT under Output Constraint

This article presents a new control solution for a dynamical model of a translational oscillator with a rotational actuator (TORA) based on multi-body dynamics for a barge-type offshore floating wind turbine (OFWT). TORA has been employed as an active structural control strategy. The solution of bounding the output movements of platform pitch and tower bending angle to a certain limit, along with mitigating the OFWT vibrations due to environmental disturbances and uncertainties, is presented in this novel control framework. This new control algorithm consists of a high-gain observer (HGO)-based adaptive backstepping integral sliding mode control (ISMC) and a barrier Lyapunov function (BLF). This guarantees satisfying the constraints on the states and effectively resolves the problem of the unavailability of the system states. The proposed control law based on the BLF has been compared with an adaptive backstepping ISMC to show the efficiency of the output-constraint control scheme. Through MATLAB/SIMULINK numerical simulations and their numeric error table, the effectiveness of the proposed control scheme has been examined. The results confirm the validity and efficiency of the proposed control approaches

Application of a Combined Active Control and Fault Detection Scheme to an Active Composite Flexible Structure.

In this paper, the problem of increasing reliability of active control procedure is considered. Indeed, a design method of rejection perturbation in presence of potentially faults, on a flexible structure with integrated piezo-ceramics, is presented. The piezo-ceramics are used as actuators and sensors. A single unit based solution, which handles both control action and fault diagnosis is proposed. The algorithm uses H∞ optimization techniques. A full order model of the structure is first obtained via both finite-element (FE) approach and identification procedure. This model is then reduced in order to be used in our robust approach. By a suitable choice of weightings functions, the provided method is able to reject disturbance robustly and to estimate occurred faults. The case of sensors and actuators faults is discussed. The choice of weightings for diagnosis and control systems is also tackled. Finally, the effectiveness of this integrated method is confirmed by both simulation and experimental results