4,221 research outputs found
Stability of port-Hamiltonian systems with mixed time delays subject to input saturation
In this paper, we investigate the stability of port-Hamiltonian systems with mixed time-varying delays as well as input saturation. Three types of time delays, including state delay, input delay, and output delay, are all assumed to be bounded. By introducing the output feedback control law and utilizing serval LyapunovâKrasovskii functionals, we present three delay-dependent stability criteria in terms of the linear matrix inequality. Meanwhile, we use Wirtingerâs inequality, constraint conditions, and LyapunovâKrasovskii functionals of triple and quadruple integral form to obtain less conservative results. Some numerical examples demonstrate and support our results
Space Structures: Issues in Dynamics and Control
A selective technical overview is presented on the vibration and control of large space structures, the analysis, design, and construction of which will require major technical contributions from the civil/structural, mechanical, and extended engineering communities. The immediacy of the U.S. space station makes the particular emphasis placed on large space structures and their control appropriate. The space station is but one part of the space program, and includes the lunar base, which the space station is to service. This paper attempts to summarize some of the key technical issues and hence provide a starting point for further involvement. The first half of this paper provides an introduction and overview of large space structures and their dynamics; the latter half discusses structural control, including controlâsystem design and nonlinearities. A crucial aspect of the large space structures problem is that dynamics and control must be considered simultaneously; the problems cannot be addressed individually and coupled as an afterthought
Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots
This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time-delay and saturation constraint affect the control signal. An extended state observer is designed after a coordinate transformation. The effect of the time delay in the control signal is neutralized by applying Pade Ì approximant and augmenting the system states. An assistant system with faster convergence is developed to handle actuators saturation. Fractional-order sliding mode controller acts as a centralized controller and compensates for the undesired effects of unknown external disturbance and parameter uncertainties using the observer estimation results. Stability analysis shows that the closed-loop system states, such as the observer tracking error, and the position/velocity tracking errors, are finite-time stable. Simulation studies on a two ball-playing juggler robot with three degrees of freedom validate the theoretical resultsâ effectiveness
Monolithically Patterned Wide-Narrow-Wide All-Graphene Devices
We investigate theoretically the performance advantages of all-graphene
nanoribbon field-effect transistors (GNRFETs) whose channel and source/drain
(contact) regions are patterned monolithically from a two-dimensional single
sheet of graphene. In our simulated devices, the source/drain and interconnect
regions are composed of wide graphene nanoribbon (GNR) sections that are
semimetallic, while the channel regions consist of narrow GNR sections that
open semiconducting bandgaps. Our simulation employs a fully atomistic model of
the device, contact and interfacial regions using tight-binding theory. The
electronic structures are coupled with a self-consistent three-dimensional
Poisson's equation to capture the nontrivial contact electrostatics, along with
a quantum kinetic formulation of transport based on non-equilibrium Green's
functions (NEGF). Although we only consider a specific device geometry, our
results establish several general performance advantages of such monolithic
devices (besides those related to fabrication and patterning), namely the
improved electrostatics, suppressed short-channel effects, and Ohmic contacts
at the narrow-to-wide interfaces.Comment: 9 pages, 11 figures, 2 table
Localization of Control Synthesis Problem for Large-Scale Interconnected System Using IQC and Dissipativity Theories
The synthesis problem for the compositional performance certification of
interconnected systems is considered. A fairly unified description of control
synthesis problem is given using integral quadratic constraints (IQC) and
dissipativity. Starting with a given large-scale interconnected system and a
global performance objective, an optimization problem is formulated to search
for admissible dissipativity properties of each subsystems. Local control laws
are then synthesized to certify the relevant dissipativity properties.
Moreover, the term localization is introduced to describe a finite collection
of syntheses problems, for the local subsystems, which are a feasibility
certificate for the global synthesis problem. Consequently, the problem of
localizing the global problem to a smaller collection of disjointed sets of
subsystems, called groups, is considered. This works looks promising as another
way of looking at decentralized control and also as a way of doing performance
specifications for components in a large-scale system
Event-Triggered Control of Port-Hamiltonian Systems Under Time-Delay Communication
We study the problem of periodic event-triggered control of interconnected port-Hamiltonian systems subject to time-varying delays in their communication. In particular, we design a threshold parameter for the event-triggering condition, a sampling period, and a maximum allowable delay such that interconnected port-Hamiltonian control systems with periodic event-triggering mechanism under a time-delayed communication are able to achieve asymptotically stable behaviour. Simulation results are presented to validate the theory
Self-Evaluation Applied Mathematics 2003-2008 University of Twente
This report contains the self-study for the research assessment of the Department of Applied Mathematics (AM) of the Faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS) at the University of Twente (UT). The report provides the information for the Research Assessment Committee for Applied Mathematics, dealing with mathematical sciences at the three universities of technology in the Netherlands. It describes the state of affairs pertaining to the period 1 January 2003 to 31 December 2008
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