66 research outputs found
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
Lateral fligh control design for a highly flexible aircraft using a nonsmooth method
This paper describes a nonsmooth optimization technique for designing a lateral flight control law for a highly flexible aircraft. Flexible modes and high-dimensional models pose a major challenge to modern control design tools. We show that the nonsmooth approach offers potent and flexible alternatives in this difficult context. More specifically, the proposed technique is used to achieve a mix of frequency domain as well as time domain requirements for a set of different flight conditions
Self-Healing First-Order Distributed Optimization with Packet Loss
We describe SH-SVL, a parameterized family of first-order distributed
optimization algorithms that enable a network of agents to collaboratively
calculate a decision variable that minimizes the sum of cost functions at each
agent. These algorithms are self-healing in that their convergence to the
correct optimizer can be guaranteed even if they are initialized randomly,
agents join or leave the network, or local cost functions change. We also
present simulation evidence that our algorithms are self-healing in the case of
dropped communication packets. Our algorithms are the first single-Laplacian
methods for distributed convex optimization to exhibit all of these
characteristics. We achieve self-healing by sacrificing internal stability, a
fundamental trade-off for single-Laplacian methods.Comment: arXiv admin note: substantial text overlap with arXiv:2104.0195
Convex searches for discrete-time Zames-Falb multipliers
In this paper we develop and analyse convex searches for Zames--Falb
multipliers. We present two different approaches: Infinite Impulse Response
(IIR) and Finite Impulse Response (FIR) multipliers. The set of FIR multipliers
is complete in that any IIR multipliers can be phase-substituted by an
arbitrarily large order FIR multiplier. We show that searches in discrete-time
for FIR multipliers are effective even for large orders. As expected, the
numerical results provide the best -stability results in the
literature for slope-restricted nonlinearities. Finally, we demonstrate that
the discrete-time search can provide an effective method to find suitable
continuous-time multipliers.Comment: 12 page
A generalized framework for robust nonlinear compensation (application to an atmospheric reentry control problem)
Ce travail de thèse est consacré à l'extension de l'Inversion Dynamique non-linéaire (NDI-Nonlinear Dynamic Inversion) pour un ensemble plus grand de systèmes non-linéaires, tout en garantissant des conditions de stabilité suffisantes. La NDI a été étudiée dans le cas de diverses applications, y compris en aéronautique et en aérospatiale. Elle permet de calculer des lois de contrôle capables de linéariser et de découpler un modèle non-linéaire à tout point de fonctionnement de son enveloppe d'état. Cependant cette méthode est intrinsèquement non-robuste aux erreurs de modélisation et aux saturations en entrée. En outre, dans un contexte non-linéaire, l'obtention d'une garantie quantifiable du domaine de stabilité atteint reste à l'heure actuelle complexe. Contrairement aux approches classiques de la NDI, notre méthodologie peut être considérée comme un cadre de compensation non-linéaire généralisé qui permet d'intégrer les incertitudes et les saturations en entrée dans le processus de conception. En utilisant des stratégies de contrôle antiwindup, la loi de pilotage peut être calculée grâce à un simple processus en deux phases. Dans ce cadre de travail généralisé des transformations linéaires fractionnaires (LFT - Linear Fractional Transformations) de la boucle fermée non-linéaire peuvent être facilement déduites pour l'analyse de la stabilité robuste en utilisant des outils standards pour de systèmes linéaires. La méthode proposée est testée pour le pilotage d'un véhicule de rentrée atmosphérique de type aile delta lors de ses phases hypersonique, transsonique et subsonique. Pour cette thèse, un simulateur du vol incluant divers facteurs externes ainsi que des erreurs de modélisation a été développé dans Simulink.This thesis work is devoted to extending Nonlinear Dynamic Inversion (NDI) for a large scale of nonlinear systems while guaranteeing sufficient stability conditions. NDI has been studied in a wide range of applications, including aeronautics and aerospace. It allows to compute nonlinear control laws able to decouple and linearize a model at any operating point of its state envelope. However, this method is inherently non-robust to modelling errors and input saturations. Moreover, obtaining a quantifiable guarantee of the attained stability domain in a nonlinear control context is not a very straightforward task. Unlike standard NDI approaches, our methodology can be viewed as a generalized nonlinear compensation framework which allows to incorporate uncertainties and input saturations in the design process. Paralleling anti-windup strategies, the controller can be computed through a single multichannel optimization problem or through a simple two-step process. Within this framework, linear fractional transformations of the nonlinear closed-loop can be easily derived for robust stability analysis using standard tools for linear systems. The proposed method is tested for the flight control of a delta wing type reentry vehicle at hypersonic, transonic and subsonic phases of the atmospheric reentry. For this thesis work, a Flight Mechanics simulator including diverse external factors and modelling errors was developed in Simulink.TOULOUSE-ISAE (315552318) / SudocSudocFranceF
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