Stabilization of cascaded nonlinear systems under sampling and delays

Over the last decades, the methodologies of dynamical systems and control theory have been playing an increasingly relevant role in a lot of situations of practical interest. Though, a lot of theoretical problem still remain unsolved. Among all, the ones concerning stability and stabilization are of paramount importance. In order to stabilize a physical (or not) system, it is necessary to acquire and interpret heterogeneous information on its behavior in order to correctly intervene on it. In general, those information are not available through a continuous flow but are provided in a synchronous or asynchronous way. This issue has to be unavoidably taken into account for the design of the control action. In a very natural way, all those heterogeneities define an hybrid system characterized by both continuous and discrete dynamics. This thesis is contextualized in this framework and aimed at proposing new methodologies for the stabilization of sampled-data nonlinear systems with focus toward the stabilization of cascade dynamics. In doing so, we shall propose a small number of tools for constructing sampled-data feedback laws stabilizing the origin of sampled-data nonlinear systems admitting cascade interconnection representations. To this end, we shall investigate on the effect of sampling on the properties of the continuous-time system while enhancing design procedures requiring no extra assumptions over the sampled-data equivalent model. Finally, we shall show the way sampling positively affects nonlinear retarded dynamics affected by a fixed and known time-delay over the input signal by enforcing on the implicit cascade representation the sampling process induces onto the retarded system

Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances

This work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnection‐and‐damping‐assignment passivity‐based control, augmenting it with an additional term for the purpose of disturbance compensation. In particular, the disturbances are estimated adaptively and then accounted for in the control law employing a new matching condition of algebraic nature. Stability conditions are discussed, and for comparison purposes, an alternative controller based on partial feedback linearization is presented. The effectiveness of the proposed approach is demonstrated with numerical simulations for three motivating examples: the inertia wheel pendulum, the disk‐on‐disk system, and the pendulum‐on‐cart system

Adaptive control for time-varying systems: congelation and interconnection

This thesis investigates the adaptive control problem for systems with time-varying parameters. Two concepts are developed and exploited throughout the thesis: the congelation of variables, and the active nodes. The thesis first revisits the classical adaptive schemes and explains the challenges brought by the presence of time-varying parameters. Then, the concept of congelation of variables is introduced and its use in combinations with passivity-based, immersion-and-invariant, and identification-based adaptive schemes are discussed. As the congelation of variables method introduces additional interconnection in the closed-loop system, a framework for small-gain-like control synthesis for interconnected systems is needed.\vspace{2ex} To this end, the thesis proceeds by introducing the notion of active nodes. This is instrumental to show that as long as a class of node systems that possess adjustable damping parameters, that is the active nodes, satisfy certain graph-theoretic conditions, the desired small-gain-like property for the overall system can be enforced via tuning these adjustable parameters. Such conditions for interconnected systems with quadratic, nonlinear, and linearly parametrized supply rates, respectively, are elaborated from the analysis and control synthesis perspectives. The placement and the computation/adaptation of the damping parameters are also discussed. Following the introduction of these two fundamental tools, the thesis proceeds by discussing state-feedback designs for a class of lower-triangular nonlinear systems. The backstepping technique and the congelation of variables method are combined for passivity-based, immersion-and-invariance, and identification-based schemes. The notion of active nodes is exploited to yield simple and systematic proofs. Based on the results established for lower-triangular systems, the thesis continues to investigate output-feedback adaptive control problems. An immersion-and-invariance scheme for single-input single-output linear systems and a passivity-based scheme for nonlinear systems in observer form are proposed. The proof and interpretation of these results are also based on the notion of active nodes. The simulation results show that the adaptive control schemes proposed in the thesis have superior performance when compared with the classical schemes in the presence of time-varying parameters. Finally, the thesis studies two applications of the theoretical results proposed. The servo control problem for serial elastic actuators, and the disease control problem for interconnected settlements. The discussions show that these problems can be solved efficiently using the framework provided by the thesis.Open Acces

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

Double population cascaded lattice boltzmann method

Lattice Boltzmann Methods (LBM) are powerful numerical tools to simulate heat and mass transfer problems. Instead of directly integrating the N-S equations, LBM solves the discretized form of the Boltzmann Transport Equation (BTE), keeping track of the microscopic description of the systems. Therefore, LBM can solve fluid flows with great stability and computational efficiency, especially complex geometry fluid flows. For thermal flows, double distribution function (DDF) LBM scheme is the most popular and successful approach. But it is evident from the literature that existing double distribution function (DDF) LBM approaches, which use two collision operators, involve collision schemes which violate Galilean invariance, therefore producing instabilities for flows with high Re and Ra numbers. In this thesis, a double population cascaded lattice Boltzmann method is developed to improve the DDF LBM scheme from this drawback. The proposed method reduces the degree of violation of Galilean invariance, increasing the stability and accuracy of the LBM scheme. The scheme was implemented to simulate advection-diffusion, forced convection and natural convection heat transfer problems. The proposed scheme was also successfully tested for turbulent flow regimes and 3-D fluid flow in porous media. The results obtained from this work are in strong agreement with those available in the literature obtained through other numerical methods and experiments.Os métodos de ”Lattice”Boltzmann (LBM) são potentes ferramentas numéricas para simular problemas de transferência de massa e calor. Ao invés de integrar diretamente as equações de Navier-Stokes, o método LBM resolve, de forma discretizada, a equação de transporte de Boltzmann, acompanhando a descrição microscópica dos sistemas. O método LBM pode solucionar fluxo de fluidos com grande estabilidade e eficiência computacional, especialmente fluxos em geometrias complexas. Para fluxos térmicos, o esquema LBM de dupla função de distribuição (DDF) é a abordagem mais popular e bem sucedida. Mas é evidente, a partir da literatura, que as abordagens LBM de dupla função de distribuição (DDF), as quais utilizam dois operadores de colisão, envolvem esquemas de colisão que violam a invariância de Galileu, produzindo instabilidades para fluxos com números Re e Ra altos. Nesta tese, o método de ”Lattice”Boltzmann em cascata de dupla população em cascata é desenvolvido para corrigir o esquema DDF LBM. O método proposto reduz o grau de violação da invariância de Galileu, aumentando a estabilidade e acurácia do método LBM. O método foi implementado para simular problemas de advecção, difusão, convecções natural e forçada típicos de transferências de calor. O esquema proposto foi também bem sucedido em regimes de fluxo turbulento e em escoamentos 3-D em meios porosos. Os resultados obtidos neste trabalho estão fortemente de acordo com experimentos e métodos numéricos disponíveis na literatura

A Comprehensive Review on Constant Power Loads Compensation Techniques

Microgrid, because of its advantages over conventional utility grids, is a prudent approach to implement renewable resource-based electricity generation. Despite its advantages, microgrid has to operate with a significant proportion of constant power loads that exhibit negative incremental impedance and thus cause serious instability in the system. In this paper, a comprehensive review is presented on accomplished research work on stabilization of dc and ac microgrid. After reviewing these, microgrid system stabilization techniques are classified with required discussions. As found out in this paper, the stabilization techniques can basically be classified as compensation done: 1) at feeder side; 2) by adding intermediate circuitry; and 3) at load side. Finally, after analyzing the merits and drawbacks of each generalized technique, several infographics are presented to highlight the key findings of this paper

A stability-theory perspective to synchronisation of heterogeneous networks

Dans ce mémoire, nous faisons une présentation de nos recherches dans le domaine de la synchronisation des systèmes dynamiques interconnectés en réseau. Une des originalités de nos travaux est qu'ils portent sur les réseaux hétérogènes, c'est à dire, des systèmes à dynamiques diverses. Au centre du cadre d'analyse que nous proposons, nous introduisons le concept de dynamique émergente. Il s'agit d'une dynamique "moyennée'' propre au réseau lui-même. Sous l'hypothèse qu'il existe un attracteur pour cette dynamique, nous montrons que le problème de synchronisation se divise en deux problèmes duaux : la stabilité de l'attracteur et la convergence des trajectoires de chaque système vers celles générées par la dynamique émergente. Nous étudions aussi le cas particulier des oscillateurs de Stuart-Landau