37,678 research outputs found
Analytical formulation of the integral square error for linear stable feedback control system
The paper aims to introduce a method for the analytical formulation of the integral square error (ISE). In this manner, the aim of the research is to create a parametric solution of the ISE for linear continuous feedback control systems while the closed-loop system is stable and the difference between reference and output, or error, is strictly proper. The potential advantage of this technique is that it allows the finding of an analytical solution for the ISE criterion and hence it is well adopted when a parametric solution of the ISE for optimal control problems is needed. This method is also superior to the numerical methods, because it returns the exact solution of the ISE. Comparisons with a powerful numerical method are given to validate the proposed method
Limiting performance of dynamic systems subject to random inputs
The problem of determining the limiting performance characteristics of mechanical systems subject to random input is studied. A review is presented of the classical work in the optimal design of stochastic systems. Some recent results of stochastic optimal control theory are employed. The solution to the limiting performance problem is formulated in both the frequency and time domains. Both formulations require substantial, burdensome computations when applied to large scale systems
Controlling flexible structures with second order actuator dynamics
The control of flexible structures for those systems with actuators that are modeled by second order dynamics is examined. Two modeling approaches are investigated. First a stability and performance analysis is performed using a low order finite dimensional model of the structure. Secondly, a continuum model of the flexible structure to be controlled, coupled with lumped parameter second order dynamic models of the actuators performing the control is used. This model is appropriate in the modeling of the control of a flexible panel by proof-mass actuators as well as other beam, plate and shell like structural numbers. The model is verified with experimental measurements
Selection of sampling rate for digital control of aircrafts
The considerations in selecting the sample rates for digital control of aircrafts are identified and evaluated using the optimal discrete method. A high performance aircraft model which includes a bending mode and wind gusts was studied. The following factors which influence the selection of the sampling rates were identified: (1) the time and roughness response to control inputs; (2) the response to external disturbances; and (3) the sensitivity to variations of parameters. It was found that the time response to a control input and the response to external disturbances limit the selection of the sampling rate. The optimal discrete regulator, the steady state Kalman filter, and the mean response to external disturbances are calculated
Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links
This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-bodymotion and elasticmotion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage
Use of system identification techniques for improving airframe finite element models using test data
A method for using system identification techniques to improve airframe finite element models using test data was developed and demonstrated. The method uses linear sensitivity matrices to relate changes in selected physical parameters to changes in the total system matrices. The values for these physical parameters were determined using constrained optimization with singular value decomposition. The method was confirmed using both simple and complex finite element models for which pseudo-experimental data was synthesized directly from the finite element model. The method was then applied to a real airframe model which incorporated all of the complexities and details of a large finite element model and for which extensive test data was available. The method was shown to work, and the differences between the identified model and the measured results were considered satisfactory
A Comparison of LPV Gain Scheduling and Control Contraction Metrics for Nonlinear Control
Gain-scheduled control based on linear parameter-varying (LPV) models derived
from local linearizations is a widespread nonlinear technique for tracking
time-varying setpoints. Recently, a nonlinear control scheme based on Control
Contraction Metrics (CCMs) has been developed to track arbitrary admissible
trajectories. This paper presents a comparison study of these two approaches.
We show that the CCM based approach is an extended gain-scheduled control
scheme which achieves global reference-independent stability and performance
through an exact control realization which integrates a series of local LPV
controllers on a particular path between the current and reference states.Comment: IFAC LPVS 201
Constrained Bayesian Active Learning of Interference Channels in Cognitive Radio Networks
In this paper, a sequential probing method for interference constraint
learning is proposed to allow a centralized Cognitive Radio Network (CRN)
accessing the frequency band of a Primary User (PU) in an underlay cognitive
scenario with a designed PU protection specification. The main idea is that the
CRN probes the PU and subsequently eavesdrops the reverse PU link to acquire
the binary ACK/NACK packet. This feedback indicates whether the probing-induced
interference is harmful or not and can be used to learn the PU interference
constraint. The cognitive part of this sequential probing process is the
selection of the power levels of the Secondary Users (SUs) which aims to learn
the PU interference constraint with a minimum number of probing attempts while
setting a limit on the number of harmful probing-induced interference events or
equivalently of NACK packet observations over a time window. This constrained
design problem is studied within the Active Learning (AL) framework and an
optimal solution is derived and implemented with a sophisticated, accurate and
fast Bayesian Learning method, the Expectation Propagation (EP). The
performance of this solution is also demonstrated through numerical simulations
and compared with modified versions of AL techniques we developed in earlier
work.Comment: 14 pages, 6 figures, submitted to IEEE JSTSP Special Issue on Machine
Learning for Cognition in Radio Communications and Rada
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