13 research outputs found
Late lumping of transformation-based feedback laws for boundary control systems
Late-lumping feedback design for infinite-dimensional linear systems with
unbounded input operators is considered. The proposed scheme is suitable for
the approximation of backstepping and flatness-based designs and relies on a
decomposition of the feedback into a bounded and an unbounded part.
Approximation applies to the bounded part only, while the unbounded part is
assumed to allow for an exact realization. Based on spectral results, the
convergence of the closed-loop dynamics to the desired dynamics is established.
By duality, similar results apply to the approximation of the observer
output-injection gains for systems with boundary observation. The proposed
design and approximation steps are demonstrated and illustrated based on a
hyperbolic infinite-dimensional system.Comment: 15 pages, 1 figure, submitted to IEEE Trans. Autom. Contro
Robust Output Regulation of Euler-Bernoulli Beam Models
In this thesis, we consider control and dynamical behaviour of flexible beam models which have potential applications in robotic arms, satellite panel arrays and wind turbine blades. We study mathematical models that include flexible beams described by Euler-Bernoulli beam equations. These models consist of partial differential equations or combination of partial and ordinary differential equations depending on the loads and supports in the model. Our goal is to influence the models by control inputs such as external applied forces so that measured deflection profiles of the beams in the models behave as desired.
We propose dynamic controllers for the output regulation, where the measurements from the models track desired reference signals in the given time, of flexible beam models. The controller designs are based on the so-called internal model principle and they utilize difference between measurement and desired reference trajectory. Moreover, the controllers are robust in the sense that they can achieve output regulation despite external disturbances and model uncertainties.
We also study the output regulation problem when there are certain limitations on the control input. In particular, we generalize the theory of output regulation for dynamical systems described by ordinary differential equations subject to input constraints to a particular class of systems described by partial differential equations. We present set of solvability conditions and a linear output feedback controller for the output regulation
Benelux meeting on systems and control, 23rd, March 17-19, 2004, Helvoirt, The Netherlands
Book of abstract
Robust Distributed Stabilization of Interconnected Multiagent Systems
Many large-scale systems can be modeled as groups of individual dynamics, e.g., multi-vehicle systems, as well as interconnected multiagent systems, power systems and biological networks as a few examples. Due to the high-dimension and complexity in configuration of these infrastructures, only a few internal variables of each agent might be measurable and the exact knowledge of the model might be unavailable for the control design purpose. The collective objectives may range from consensus to decoupling, stabilization, reference tracking, and global performance guarantees. Depending on the objectives, the designer may choose agent-level low-dimension or multiagent system-level high-dimension approaches to develop distributed algorithms. With an inappropriately designed algorithm, the effect of modeling uncertainty may propagate over the communication and coupling topologies and degrade the overall performance of the system. We address this problem by proposing single- and multi-layer structures. The former is used for both individual and interconnected multiagent systems. The latter, inspired by cyber-physical systems, is devoted to the interconnected multiagent systems. We focus on developing a single control-theoretic tool to be used for the relative information-based distributed control design purpose for any combinations of the aforementioned configuration, objective, and approach. This systematic framework guarantees robust stability and performance of the closed-loop multiagent systems. We validate these theoretical results through various simulation studies