49,243 research outputs found
Adaptive multichannel control of time-varying broadband noise and vibrations
This paper presents results obtained from a number of applications in which a recent adaptive algorithm for broadband multichannel active noise control is used. The core of the algorithm uses the inverse of the minimum-phase part of the secondary path for improvement of the speed of convergence. A further improvement of the speed of convergence is obtained by using double control filters for elimination of adaptation loop delay. Regularization was found to be necessary for robust operation. The regularization technique which is used preserves the structure to eliminate the adaptation loop delay. Depending on the application at hand, a number of extensions are used for this algorithm. For an application with rapidly changing disturbance spectra, the core algorithm was extended with an iterative affine projection scheme, leading to improved convergence rates as compared to the standard nomalized lms update rules. In another application, in which the influence of the parametric uncertainties was critical, the core algorithm was extended with low authority control loops operating at high sample rates. In addition, results of other applications are given, such as control of acoustic energy density and control of time-varying periodic and non-periodic vibrations
Rapidly converging multichannel controllers for broadband noise and vibrations
Applications are given of a preconditioned adaptive algorithm for broadband multichannel active noise control. Based on state-space descriptions of the relevant transfer functions, the algorithm uses the inverse of the minimum-phase part of the secondary path in order to improve the speed of convergence. A further improvement of the convergence rate is obtained by using double control filters for elimination of adaptation loop delay. Regularization was found to be essential for robust operation. The particular regularization technique preserves the structure to eliminate the adaptation loop delay. Depending on the application at hand, a number of extensions are used for this algorithm, such as for applications with rapidly changing disturbance spectra, applications with large parametric uncertainty, applications with control of time-varying acoustic energy density
Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs
This paper addresses the distributed consensus protocol design problem for
multi-agent systems with general linear dynamics and directed communication
graphs. Existing works usually design consensus protocols using the smallest
real part of the nonzero eigenvalues of the Laplacian matrix associated with
the communication graph, which however is global information. In this paper,
based on only the agent dynamics and the relative states of neighboring agents,
a distributed adaptive consensus protocol is designed to achieve
leader-follower consensus for any communication graph containing a directed
spanning tree with the leader as the root node. The proposed adaptive protocol
is independent of any global information of the communication graph and thereby
is fully distributed. Extensions to the case with multiple leaders are further
studied.Comment: 16 page, 3 figures. To appear in IEEE Transactions on Automatic
Contro
Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems
A robust controller is developed for uncertain, second-order nonlinear
systems subject to simultaneous unknown, time-varying state delays and known,
time-varying input delays in addition to additive, sufficiently smooth
disturbances. An integral term composed of previous control values facilitates
a delay-free open-loop error system and the development of the feedback control
structure. A stability analysis based on Lyapunov-Krasovskii (LK) functionals
guarantees uniformly ultimately bounded tracking under the assumption that the
delays are bounded and slowly varying
Output consensus of nonlinear multi-agent systems with unknown control directions
In this paper, we consider an output consensus problem for a general class of
nonlinear multi-agent systems without a prior knowledge of the agents' control
directions. Two distributed Nussbaumtype control laws are proposed to solve the
leaderless and leader-following adaptive consensus for heterogeneous multiple
agents. Examples and simulations are given to verify their effectivenessComment: 10 pages;2 figure
New advances in H∞ control and filtering for nonlinear systems
The main objective of this special issue is to
summarise recent advances in H∞ control and filtering
for nonlinear systems, including time-delay, hybrid and
stochastic systems. The published papers provide new
ideas and approaches, clearly indicating the advances
made in problem statements, methodologies or applications
with respect to the existing results. The special
issue also includes papers focusing on advanced and
non-traditional methods and presenting considerable
novelties in theoretical background or experimental
setup. Some papers present applications to newly
emerging fields, such as network-based control and
estimation
Robust nonlinear control of vectored thrust aircraft
An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations
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