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

Is the Weibel instability enhanced by the suprathermal populations, or not?

The kinetic instabilities of the Weibel-type are presently invoked in a large variety of astrophysical scenarios because anisotropic plasma structures are ubiquitous in space. The Weibel instability is driven by a temperature anisotropy which is commonly modeled by a bi-axis distribution function, such as a bi-Maxwellian or a generalized bi-Kappa. Previous studies have been limited to a bi-Kappa distribution and found a suppression of this instability in the presence of suprathermal tails. In the present paper it is shown that the Weibel growth rate is rather more sensitive to the shape of the anisotropic distribution function. In order to illustrate the distinguishing properties of this instability a \emph{product-bi-Kappa distribution} is introduced, with the advantage that this distribution function enables the use of different values of the spectral index in the two directions, $\kappa_{\parallel} \ne \kappa_{\perp}$. The growth rates and the instability threshold are derived and contrasted with those for a simple bi-Kappa and a bi-Maxwellian. Thus, while the maximum growth rates reached at the saturation are found to be higher, the threshold is drastically reduced making the anisotropic product-bi-Kappa (with small kappas) highly susceptible to the Weibel instability. This effect could also rise questions on the temperature or the temperature anisotropy that seems to be not an exclusive source of free energy for this instability, and definition of these notions for such Kappa distributions must probably be reconsidered

Effects of suprathermal electrons on the proton temperature anisotropy in space plasmas: Electromagnetic ion-cyclotron instability

In collision-poor plasmas from space, e.g., the solar wind and planetary magnetospheres, the kinetic anisotropy of the plasma particles is expected to be regulated by the kinetic instabilities. Driven by an excess of ion (proton) temperature perpendicular to the magnetic field $(~T_\perp >T_\parallel)$, the electromagnetic ion-cyclotron (EMIC) instability is fast enough to constrain the proton anisotropy, but the observations do not conform to the instability thresholds predicted by the standard theory for bi-Maxwellian models of the plasma particles. This paper presents an extended investigation of the EMIC instability in the presence of suprathermal electrons which are ubiquitous in these environments. The analysis is based on the kinetic (Vlasov-Maxwell) theory assuming that both species, protons and electrons, may be anisotropic, and the EMIC unstable solutions are derived numerically providing an accurate description for conditions typically encountered in space plasmas. The effects of suprathermal populations are triggered by the electron anisotropy and the temperature contrast between electrons and protons. For certain conditions the anisotropy thresholds exceed the limits of the proton anisotropy measured in the solar wind considerably restraining the unstable regimes of the EMIC modes.Comment: Accepted for publication in Astrophysics and space scienc

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