Intelligent nonsingular terminal sliding-mode control via perturbed fuzzy neural network

[[abstract]]In this paper, an intelligent nonsingular terminal sliding-mode control (INTSMC) system, which is composed of a terminal neural controller and a robust compensator, is proposed for an unknown nonlinear system. The terminal neural controller including a perturbed fuzzy neural network (PFNN) is the main controller and the robust compensator is designed to eliminate the effect of the approximation error introduced by the PFNN upon the system stability. The PFNN is used to approximate an unknown nonlinear term of the system dynamics and perturbed asymmetric membership functions are used to handle rule uncertainties when it is hard to exactly determine the grade of membership functions. In additional, Lyapunov stability theory is used to discuss the parameter learning and system stability of the INTSMC system. Finally, the proposed INTSMC system is applied to an inverted pendulum and a voice coil motor actuator. The simulation and experimental results show that the proposed INTSMC system can achieve favorable tracking performance and is robust against parameter variations in the plant

Signal processing with optical delay line filters for high bit rate transmission systems

In den letzten Jahrzehnten ist das globale Kommunikationssystem in einem immer größerem Maße ein integraler Bestandteil des täglichen Lebens geworden. Optische Kommunikationssysteme sind die technologische Basis für diese Entwicklung. Nur Fasern können die riesige benötigte Bandbreite bereitstellen. Während für die ersten optischen Übertragungssysteme die Faser als "flacher" Kanal betrachtet werden konnte, machen Wellenlängenmultiplex und steigende Übertragungsraten die Einbeziehung von immer mehr physikalischen Effekten notwendig. Bei einer Erhöhung der Kanaldatenrate auf 40 Gbit/s und mehr ist die statische Kompensation von chromatischer Dispersion nicht mehr ausreichend. Die intrinsische Toleranz der Modulationsformate gegenüber Dispersion nimmt quadratisch mit der Symbolrate ab. Daher können beispielsweise durch Umwelteinflüsse hervorgerufene Dispersionsschwankungen die Dispersionstoleranz der Modulationsformate überschreiten. Dies macht eine adaptive Dispersionskompensation notwendig, was gleichzeitig auch Dispersionsmonitoring erfordert, um den adaptiven Kompensator steuern zu können. Vorhandene Links können mit Restdispersionskompensatoren ausgestattet werden, um sie für Hochgeschwindigkeitsübertragungen zu ertüchtigen. Optische Kompensationstechniken sind unabhängig von der Kanaldatenrate. Daher wird eine Erhöhung der Datenrate problemlos unterstützt. Optische Kompensatoren können WDM-fähig gebaut werden, um mehrere Kanäle auf einmal zu entzerren. Das Buch beschäftigt sich mit optischen Delay-Line-Filtern als eine Klasse von optischen Kompensatoren. Die Filtersynthese von solchen Delay-Line-Filtern wird behandelt. Der Zusammenhang zwischen optischen Filtern und digitalen FIR-Filtern mit komplexen Koeffizienten im Zusammenhang mit kohärenter Detektion wird aufgezeigt. Iterative und analytische Methoden, die die Koeffizienten für dispersions- und dispersions-slope-kompensierende Filter produzieren, werden untersucht. Genauso wichtig wie die Kompensation von Dispersion ist die Schätzung der Dispersion eines Signals. Mit Delay-Line-Filtern können die Restseitenbänder eines Signals genutzt werden, um die Dispersion zu messen. Alternativ kann nichtlineare Detektion angewandt werden, um die Pulsverbreiterung, die hauptsächlich von der Dispersion herrührt, zu schätzen. Mit gemeinsamer Dispersionskompensation und Dispersionsmonitoring können Dispersionskompensatoren auf die Signalverzerrungen eingestellt werden. Spezielle Eigenschaften der Filter zusammen mit der analytischen Beschreibung können genutzt werden, um schnelle und zuverlässige Steueralgorithmen zur Filtereinstellung bereitzustellen. Schließlich wurden Prototypen derartiger faseroptischen Kompensatoren von chromatischer Dispersion und Dispersions-Slope hergestellt und charakterisiert. Die Einheiten und ihr Systemverhalten wird gezeigt und diskutiert.Over the course of the past decades, the global communication system has become a central part of people's everyday lives. Optical communication systems are the technological basis for this development. Only fibers can provide the huge bandwidth that is required. Where the fiber could be regarded as a flat channel for the first optical transmission systems wavelength multiplexing and increasing line rates made it necessary to take more and more physical effects into account. When the line rates are increased to 40 Gbit/s and higher static chromatic dispersion compensation is not enough. The modulation format's intrinsic tolerance for dispersion decreases quadratically with the symbol rate. Thus, environmentally induced chromatic dispersion fluctuations may exceed the dispersion tolerance of the modulation formats. This makes an adaptive dispersion compensation necessary implying also the need for a monitoring scheme to steer the adaptive compensator. Legacy links that are CD-compensated by DCFs can be upgraded with residual dispersion compensators to make them ready for high speed transmission. Optical compensation is independent from the line rate. Hence, increasing the data rates is inherently supported. Optical compensators can be built WDM ready compensating multiple channels at once. The book deals with optical delay line filters as one class of optical compensators. The filter synthesis of such delay line filters is addressed. The connection between optical filters and digital FIR filters with complex coefficients that are used in conjunction with coherent detection could be shown. Iterative and analytical methods that produce the coefficients for dispersion (and also dispersion slope) compensating filters are researched. As important as the compensation of dispersion is the estimation of the dispersion of a signal. Using delay line filters, the vestigial sidebands of a signal can be used to measure the dispersion. Alternatively, nonlinear detection can be used to estimate the pulse broadening which is caused mainly by dispersion. With dispersion compensation and dispersion monitoring, dispersion compensators can be adapted to the signal's impairment. Special properties of the filter in conjunction with an analytical description can be used to provide a fast and reliable control algorithm for setting the filter to a given dispersion and centering it on a signal. Finally, prototypes of such fiber optic chromatic dispersion and dispersion slope compensation filters were manufactured and characterized. The device and system characterization of the prototypes is presented and discussed

Sum-of-Squares approach to feedback control of laminar wake flows

A novel nonlinear feedback control design methodology for incompressible fluid flows aiming at the optimisation of long-time averages of flow quantities is presented. It applies to reduced-order finite-dimensional models of fluid flows, expressed as a set of first-order nonlinear ordinary differential equations with the right-hand side being a polynomial function in the state variables and in the controls. The key idea, first discussed in Chernyshenko et al. 2014, Philos. T. Roy. Soc. 372(2020), is that the difficulties of treating and optimising long-time averages of a cost are relaxed by using the upper/lower bounds of such averages as the objective function. In this setting, control design reduces to finding a feedback controller that optimises the bound, subject to a polynomial inequality constraint involving the cost function, the nonlinear system, the controller itself and a tunable polynomial function. A numerically tractable approach to the solution of such optimisation problems, based on Sum-of-Squares techniques and semidefinite programming, is proposed. To showcase the methodology, the mitigation of the fluctuation kinetic energy in the unsteady wake behind a circular cylinder in the laminar regime at Re=100, via controlled angular motions of the surface, is numerically investigated. A compact reduced-order model that resolves the long-term behaviour of the fluid flow and the effects of actuation, is derived using Proper Orthogonal Decomposition and Galerkin projection. In a full-information setting, feedback controllers are then designed to reduce the long-time average of the kinetic energy associated with the limit cycle. These controllers are then implemented in direct numerical simulations of the actuated flow. Control performance, energy efficiency, and physical control mechanisms identified are analysed. Key elements, implications and future work are discussed

Modeling, Analysis, and Optimization Issues for Large Space Structures

Topics concerning the modeling, analysis, and optimization of large space structures are discussed including structure-control interaction, structural and structural dynamics modeling, thermal analysis, testing, and design

Active and Passive Control of Machine Tool Vibrations for High Speed and Accuracy

High-performance mechatronic systems are widely used in precision manufacturing equipment such as CNC machine tools, 3D-Printers, photolithography systems, industrial robots, and Coordinate Measuring Machines (CMMs). These equipment are utilized in producing parts and components for aviation, semiconductor, optics, and many other emerging industries, with geometric features and surface properties within micrometer-, or even in some cases nanometer-level accuracy. To keep up with the rapidly increasing productivity and accuracy demands, it is crucial that mechatronic systems of these manufacturing equipment deliver high-speed motion with high precision. In this dissertation, motion control strategies are presented to increase dynamic positioning accuracy and productivity of such mechatronic systems. First, a novel trajectory generation method is presented to avoid exciting low frequency structural vibration modes of machine tools and 3D-Printers, without compromising from productivity. The trajectory generation problem is posed as a convex optimization problem, and a practical windowing method is presented to implement the proposed strategy in real-time for long and realistic manufacturing scenarios. The proposed algorithm is validated on an industrial 3-Axis machine tool, and 4-6 times attenuation of the column vibration mode is achieved with 1[g] acceleration commands, without increasing the cycle time compared to state-of-the-art trajectory generation methods. This is followed by proposition of a data-driven trajectory shaping algorithm designed to eliminate dynamic positioning errors induced by flexible motion transmission components (such as ball-screw drives) and nonlinear friction forces typically caused by mechanical bearings and guiding units. The proposed algorithm is used for optimizing trajectory pre-filters through machine-in-the-loop iterations, in a data-driven fashion, and therefore it can be applied on a wide variety of systems without requiring elaborate dynamic modeling. Effectiveness of the proposed technique is validated on a linear-motor-driven planar motion stage and an industrial 3-Axis machine tool, and it is shown that dynamic errors are reduced by 3-5 times compared to industry-standard approaches. Finally, an active tool position control strategy is proposed to mitigate self-excited (chatter) vibrations for improving stability margins of turning processes. Two motion control algorithms are developed to control the dynamic process defined by the interaction of the tool and the workpiece. An industrial lathe (turning center) is utilized for validating the effectiveness of proposed algorithms. A piezo-actuator driven tool-assembly is utilized to control tool position during the machining process, utilizing tool acceleration feedback, and the experiments show that 4-5 times increase in productivity (widths of cut) is achieved by the proposed strategy

Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems

Complex-valued Adaptive Digital Signal Enhancement For Applications In Wireless Communication Systems

In recent decades, the wireless communication industry has attracted a great deal of research efforts to satisfy rigorous performance requirements and preserve high spectral efficiency. Along with this trend, I/Q modulation is frequently applied in modern wireless communications to develop high performance and high data rate systems. This has necessitated the need for applying efficient complex-valued signal processing techniques to highly-integrated, multi-standard receiver devices. In this dissertation, novel techniques for complex-valued digital signal enhancement are presented and analyzed for various applications in wireless communications. The first technique is a unified block processing approach to generate the complex-valued conjugate gradient Least Mean Square (LMS) techniques with optimal adaptations. The proposed algorithms exploit the concept of the complex conjugate gradients to find the orthogonal directions for updating the adaptive filter coefficients at each iteration. Along each orthogonal direction, the presented algorithms employ the complex Taylor series expansion to calculate time-varying convergence factors tailored for the adaptive filter coefficients. The performance of the developed technique is tested in the applications of channel estimation, channel equalization, and adaptive array beamforming. Comparing with the state of the art methods, the proposed techniques demonstrate improved performance and exhibit desirable characteristics for practical use. The second complex-valued signal processing technique is a novel Optimal Block Adaptive algorithm based on Circularity, OBA-C. The proposed OBA-C method compensates for a complex imbalanced signal by restoring its circularity. In addition, by utilizing the complex iv Taylor series expansion, the OBA-C method optimally updates the adaptive filter coefficients at each iteration. This algorithm can be applied to mitigate the frequency-dependent I/Q mismatch effects in analog front-end. Simulation results indicate that comparing with the existing methods, OBA-C exhibits superior convergence speed while maintaining excellent accuracy. The third technique is regarding interference rejection in communication systems. The research on both LMS and Independent Component Analysis (ICA) based techniques continues to receive significant attention in the area of interference cancellation. The performance of the LMS and ICA based approaches is studied for signals with different probabilistic distributions. Our research indicates that the ICA-based approach works better for super-Gaussian signals, while the LMS-based method is preferable for sub-Gaussian signals. Therefore, an appropriate choice of interference suppression algorithms can be made to satisfy the ever-increasing demand for better performance in modern receiver design

H2, fixed architecture, control design for large scale systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.Includes bibliographical references (p. 227-234).by Mathieu Mercadal.Ph.D