Flexible Lyapunov Functions and Applications to Fast Mechatronic Systems

The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions (CLFs). Classically, a CLF enforces that the resulting closed-loop state trajectory is contained within a cone with a fixed, predefined shape, and which is centered at and converges to a desired converging point. However, such a requirement often proves to be overconservative, which is why most of the real-time controllers do not have a stability guarantee. Recently, a novel idea that improves the design of CLFs in terms of flexibility was proposed. The focus of this new approach is on the design of optimization problems that allow certain parameters that define a cone associated with a standard CLF to be decision variables. In this way non-monotonicity of the CLF is explicitly linked with a decision variable that can be optimized on-line. Conservativeness is significantly reduced compared to classical CLFs, which makes \emph{flexible CLFs} more suitable for stabilization of constrained discrete-time nonlinear systems and real-time control. The purpose of this overview is to highlight the potential of flexible CLFs for real-time control of fast mechatronic systems, with sampling periods below one millisecond, which are widely employed in aerospace and automotive applications.Comment: 2 figure

Towards parallelizable sampling-based Nonlinear Model Predictive Control

This paper proposes a new sampling-based nonlinear model predictive control (MPC) algorithm, with a bound on complexity quadratic in the prediction horizon N and linear in the number of samples. The idea of the proposed algorithm is to use the sequence of predicted inputs from the previous time step as a warm start, and to iteratively update this sequence by changing its elements one by one, starting from the last predicted input and ending with the first predicted input. This strategy, which resembles the dynamic programming principle, allows for parallelization up to a certain level and yields a suboptimal nonlinear MPC algorithm with guaranteed recursive feasibility, stability and improved cost function at every iteration, which is suitable for real-time implementation. The complexity of the algorithm per each time step in the prediction horizon depends only on the horizon, the number of samples and parallel threads, and it is independent of the measured system state. Comparisons with the fmincon nonlinear optimization solver on benchmark examples indicate that as the simulation time progresses, the proposed algorithm converges rapidly to the "optimal" solution, even when using a small number of samples.Comment: 9 pages, 9 pictures, submitted to IFAC World Congress 201

Cartan's spiral staircase in physics and, in particular, in the gauge theory of dislocations

In 1922, Cartan introduced in differential geometry, besides the Riemannian curvature, the new concept of torsion. He visualized a homogeneous and isotropic distribution of torsion in three dimensions (3d) by the "helical staircase", which he constructed by starting from a 3d Euclidean space and by defining a new connection via helical motions. We describe this geometric procedure in detail and define the corresponding connection and the torsion. The interdisciplinary nature of this subject is already evident from Cartan's discussion, since he argued - but never proved - that the helical staircase should correspond to a continuum with constant pressure and constant internal torque. We discuss where in physics the helical staircase is realized: (i) In the continuum mechanics of Cosserat media, (ii) in (fairly speculative) 3d theories of gravity, namely a) in 3d Einstein-Cartan gravity - this is Cartan's case of constant pressure and constant intrinsic torque - and b) in 3d Poincare gauge theory with the Mielke-Baekler Lagrangian, and, eventually, (iii) in the gauge field theory of dislocations of Lazar et al., as we prove for the first time by arranging a suitable distribution of screw dislocations. Our main emphasis is on the discussion of dislocation field theory.Comment: 31 pages, 8 figure

Quasilinear approach of the cumulative whistler instability in fast solar winds: Constraints of electron temperature anisotropy

Context. Solar outflows are a considerable source of free energy which accumulates in multiple forms like beaming (or drifting) components and/or temperature anisotropies. However, kinetic anisotropies of plasma particles do not grow indefinitely and particle-particle collisions are not efficient enough to explain the observed limits of these anisotropies. Instead, the self-generated wave instabilities can efficiently act to constrain kinetic anisotropies, but the existing approaches are simplified and do not provide satisfactory explanations. Thus, small deviations from isotropy shown by the electron temperature ($T$) in fast solar winds are not explained yet. Aims. This paper provides an advanced quasilinear description of the whistler instability driven by the anisotropic electrons in conditions typical for the fast solar winds. The enhanced whistler-like fluctuations may constrain the upper limits of temperature anisotropy $A \equiv T_\perp /T_\parallel > 1$, where $\perp, \parallel$ are defined with respect to the magnetic field direction. Methods. Studied are the self-generated whistler instabilities, cumulatively driven by the temperature anisotropy and the relative (counter)drift of the electron populations, e.g., core and halo electrons. Recent studies have shown that quasi-stable states are not bounded by the linear instability thresholds but an extended quasilinear approach is necessary to describe them in this case. Results. Marginal conditions of stability are obtained from a quasilinear theory of the cumulative whistler instability, and approach the quasi-stable states of electron populations reported by the observations.The instability saturation is determined by the relaxation of both the temperature anisotropy and the relative drift of electron populations.Comment: Accepted for publication in A&