Robust output stabilization: improving performance via supervisory control

We analyze robust stability, in an input-output sense, of switched stable systems. The primary goal (and contribution) of this paper is to design switching strategies to guarantee that input-output stable systems remain so under switching. We propose two types of {\em supervisors}: dwell-time and hysteresis based. While our results are stated as tools of analysis they serve a clear purpose in design: to improve performance. In that respect, we illustrate the utility of our findings by concisely addressing a problem of observer design for Lur'e-type systems; in particular, we design a hybrid observer that ensures ``fast'' convergence with ``low'' overshoots. As a second application of our main results we use hybrid control in the context of synchronization of chaotic oscillators with the goal of reducing control effort; an originality of the hybrid control in this context with respect to other contributions in the area is that it exploits the structure and chaotic behavior (boundedness of solutions) of Lorenz oscillators.Comment: Short version submitted to IEEE TA

Input-to-State Safety With Control Barrier Functions

This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward invariance of a set, input-to-state safety (ISSf) conditions are specified in terms of forward invariance of a slightly larger set. In this context, invariance of the larger set implies that the states stay either inside or very close to the smaller safe set; and this closeness is bounded by the magnitude of the disturbances. The main contribution of the letter is the methodology used for obtaining a valid ISSf-CBF, given a control barrier function (CBF). The associated universal control law will also be provided. Towards the end, we will study unified quadratic programs (QPs) that combine control Lyapunov functions (CLFs) and ISSf-CBFs in order to obtain a single control law that ensures both safety and stability in systems with input disturbances.Comment: 7 pages, 7 figures; Final submitted versio

Development of a ground testing facility and attitude control for magnetically actuated nanosatellites

Growing popularity of the highly capable small- and nano-satellites, driven by components miniaturization, face new technological challenges and at the same time provides new opportunities for the whole space sector. Low cost of nanosatellites launches make them accessible. Reliability is an exigency: especially challenging is design and testing of Attitude and Determination Control Systems (ADCS). Demand for nanosatellitesdedicated attitude control algorithms and careful performance assessment of the spacecrafts motivates the research work presented in this thesis. In the first part of the manuscript, development and assessment of the three degreesoffreedom ADCS testbed for nanosatellites testing is described. The facility was developed within the Microsatellites and Space Microsystems Lab at University of Bologna, and designed to meet strict low-cost requirements. The facility includes several integrated subsystems to simulate the on-orbit environment: i) an air-bearing based, three degree of freedom platform with automatic balancing system, ii) a Helmholtz , iii) a Sun simulator, and iv) a metrology vision system . Experimental assessment of the subsystems guarantee necessary level of performance. Control law design for smallsats is addressed in the second part. Limited power availability and reliability makes magnetic actuation particularly suited for ADCS design, but, the control system faces inherent underactuation. To overcome the intrinsic limits of existing control designs, a novel approach to the three-axis attitude control of a magnetically actuated spacecrafts is proposed, based on hybrid systems theory. A local H-inf regulator with guaranteed performance and a global nonlinear controller used for ensuring global stability and robustness, are combined. Hybrid control theory is employed to develop a mixed continuous-discrete controller able to switch between different feedbacks. Analytical results are verified by means of realistic numerical simulations: errors on the state comply with the computed bounds and stability is guaranteed

Measurements, Models, Systems and Design

531 s.

Automatic Control and Routing of Marine Vessels

Due to the intensive development of the global economy, many problems are constantly emerging connected to the safety of ships’ motion in the context of increasing marine traffic. These problems seem to be especially significant for the further development of marine transportation services, with the need to considerably increase their efficiency and reliability. One of the most commonly used approaches to ensuring safety and efficiency is the wide implementation of various automated systems for guidance and control, including such popular systems as marine autopilots, dynamic positioning systems, speed control systems, automatic routing installations, etc. This Special Issue focuses on various problems related to the analysis, design, modelling, and operation of the aforementioned systems. It covers such actual problems as tracking control, path following control, ship weather routing, course keeping control, control of autonomous underwater vehicles, ship collision avoidance. These problems are investigated using methods such as neural networks, sliding mode control, genetic algorithms, L2-gain approach, optimal damping concept, fuzzy logic and others. This Special Issue is intended to present and discuss significant contemporary problems in the areas of automatic control and the routing of marine vessels

Nonlinear constrained and saturated control of power electronics and electromechanical systems

Power electronic converters are extensively adopted for the solution of timely issues, such as power quality improvement in industrial plants, energy management in hybrid electrical systems, and control of electrical generators for renewables. Beside nonlinearity, this systems are typically characterized by hard constraints on the control inputs, and sometimes the state variables. In this respect, control laws able to handle input saturation are crucial to formally characterize the systems stability and performance properties. From a practical viewpoint, a proper saturation management allows to extend the systems transient and steady-state operating ranges, improving their reliability and availability. The main topic of this thesis concern saturated control methodologies, based on modern approaches, applied to power electronics and electromechanical systems. The pursued objective is to provide formal results under any saturation scenario, overcoming the drawbacks of the classic solution commonly applied to cope with saturation of power converters, and enhancing performance. For this purpose two main approaches are exploited and extended to deal with power electronic applications: modern anti-windup strategies, providing formal results and systematic design rules for the anti-windup compensator, devoted to handle control saturation, and “one step” saturated feedback design techniques, relying on a suitable characterization of the saturation nonlinearity and less conservative extensions of standard absolute stability theory results. The first part of the thesis is devoted to present and develop a novel general anti-windup scheme, which is then specifically applied to a class of power converters adopted for power quality enhancement in industrial plants. In the second part a polytopic differential inclusion representation of saturation nonlinearity is presented and extended to deal with a class of multiple input power converters, used to manage hybrid electrical energy sources. The third part regards adaptive observers design for robust estimation of the parameters required for high performance control of power systems

Network and systems medicine: Position paper of the European Collaboration on Science and Technology action on Open Multiscale Systems Medicine

Introduction: Network and systems medicine has rapidly evolved over the past decade, thanks to computational and integrative tools, which stem in part from systems biology. However, major challenges and hurdles are still present regarding validation and translation into clinical application and decision making for precision medicine. Methods: In this context, the Collaboration on Science and Technology Action on Open Multiscale Systems Medicine (OpenMultiMed) reviewed the available advanced technologies for multidimensional data generation and integration in an open-science approach as well as key clinical applications of network and systems medicine and the main issues and opportunities for the future. Results: The development of multi-omic approaches as well as new digital tools provides a unique opportunity to explore complex biological systems and networks at different scales. Moreover, the application of findable, applicable, interoperable, and reusable principles and the adoption of standards increases data availability and sharing for multiscale integration and interpretation. These innovations have led to the first clinical applications of network and systems medicine, particularly in the field of personalized therapy and drug dosing. Enlarging network and systems medicine application would now imply to increase patient engagement and health care providers as well as to educate the novel generations of medical doctors and biomedical researchers to shift the current organ- and symptom-based medical concepts toward network- and systems-based ones for more precise diagnoses, interventions, and ideally prevention. Conclusion: In this dynamic setting, the health care system will also have to evolve, if not revolutionize, in terms of organization and management