Rhythmic stabilization of periodic orbits in a wedge

The paper addresses the rhythmic stabilization of periodic orbits in a wedge billiard with actuated edges. The output feedback strategy, based on the sole measurement of impact times, results from the combination of a stabilizing state feedback control law and a nonlinear deadbeat state estimator. It is shown that the robustness of both the control law and the observer leads to a simple rhythmic controller achieving a large basin of attraction. Copyright © 2005 IFAC.

A perturbation approach to the stabilization of nonlinear cascade systems with time-delay

The effect of bounded input perturbations on the stability of nonlinear globally asymptotically stable delay differential equations is analyzed. We investigate under which conditions global stability is preserved and if not, whether semi-global stabilization is possible by controlling the size or shape of the perturbation. These results are used to study the stabilization of partially linear cascade systems with partial state feedback.

Trading the stability of finite zeros for global stabilization of nonlinear cascade systems

This note analyzes the stabilizability properties of nonlinear cascades in which a nonminimum phase linear system is interconnected through its output to a Stable nonlinear system. It is shown that the instability of the zeros of the linear System can be traded with the stability of the nonlinear system up to a limit fixed by the growth properties of the cascade interconnection term. Below this limit, global stabilization is achieved by smooth static-state feedback. Beyond this limit, various examples illustrate that controllability of the cascade may be lost, making it impossible to achieve large regions of attractions.

Trading the stability of finite zeros for global stabilization of nonlinear cascade systems

This paper analyzes the stabilizability properties of nonlinear cascades in which a nonminimum phase linear system is interconnected through its output to a stable nonlinear system. It is shown that the instability of the zeros of the linear system can be traded with the stability of the nonlinear system up to a limit fixed by the growth properties of the cascade interconnection term. Below this limit, global stabilization is achieved by smooth static state feedback. Beyond this limit, various examples illustrate that controllability of the cascade may be lost, making it impossible to achieve large regions of attractions.

移动机器人数学模型的近似线性化

针对机器人控制领域中一类多输入多输出(MIMO)仿射非线性系统,提出了一种基于平衡流形的近似线性化状态反馈镇定算法,并用此算法解决了一类完整约束轮式移动机器人(WMR)的镇定问题.仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性.

基于谓词不变性的状态反馈控制在机器人遥操作中的应用

传统的基于事件遥操作系统虽然巧妙地避开了变化时延问题[8] ,但是它具有“走走停停”的特点 ,即机器人将当前状态发送出去之后直到操作者的下一个指令到来之前机器人必须保证状态没有变化。对此本文首次提出了利用基于谓词不变性的状态反馈控制来对原有的方法进行改进 ,使机器人能够对动态环境具有适应性

On the Interaction between TCP and the Wireless Channel in CDMA2000 Networks

In this work, we conducted extensive active measurements on a large nationwide CDMA2000 1xRTT network in order to characterize the impact of both the Radio Link Protocol and more importantly, the wireless scheduler, on TCP. Our measurements include standard TCP/UDP logs, as well as detailed RF layer statistics that allow observability into RF dynamics. With the help of a robust correlation measure, normalized mutual information, we were able to quantify the impact of these two RF factors on TCP performance metrics such as the round trip time, packet loss rate, instantaneous throughput etc. We show that the variable channel rate has the larger impact on TCP behavior when compared to the Radio Link Protocol. Furthermore, we expose and rank the factors that influence the assigned channel rate itself and in particular, demonstrate the sensitivity of the wireless scheduler to the data sending rate. Thus, TCP is adapting its rate to match the available network capacity, while the rate allocated by the wireless scheduler is influenced by the sender's behavior. Such a system is best described as a closed loop system with two feedback controllers, the TCP controller and the wireless scheduler, each one affecting the other's decisions. In this work, we take the first steps in characterizing such a system in a realistic environment.

Control of uncertain compartmental systems

Os sistemas compartimentais são frequentemente usados na modelação de diversos processos em várias áreas, tais como a biomedicina, ecologia, farmacocinética, entre outras. Na maioria das aplicações práticas, nomeadamente, aquelas que dizem respeito à administração de drogas a pacientes sujeitos a cirurgia, por exemplo, a presença de incertezas nos parâmetros do sistema ou no estado do sistema é muito comum. Ao longo dos últimos anos, a análise de sistemas compartimentais tem sido bastante desenvolvida na literatura. No entanto, a análise da sensibilidade da estabilidade destes sistemas na presença de incertezas tem recebido muito menos atenção. Nesta tese, consideramos uma lei de controlo por realimentação do estado com restrições de positividade e analisamos a sua robustez quando aplicada a sistemas compartimentais lineares e invariantes no tempo com incertezas nos parâmetros. Além disso, para sistemas lineares e invariantes no tempo com estado inicial desconhecido, combinamos esta lei de controlo com um observador do estado e a robustez da lei de controlo resultante também é analisada. O controlo do bloqueio neuromuscular por meio da infusão contínua de um relaxante muscular pode ser modelado como um sistema compartimental de três compartimentos e tem sido objecto de estudo por diversos grupos de investigação. Nesta tese, os nossos resultados são aplicados a este problema de controlo e são fornecidas estratégias para melhorar os resultados obtidos.

Results of applying sensor fusion to a control system using optic flow

The results from applying a sensor fusion process to an adaptive controller used to balance all inverted pendulum axe presented. The goal of the sensor fusion process was to replace some of the four mechanical measurements, which are known to be sufficient inputs for a linear state feedback controller to balance the system, with optic flow variables. Results from research into the psychology of the sense of balance in humans were the motivation for the investigation of this new type of controller input. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described. The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training till-le for the adaptive controller and reduced performance (measured as the time the pendulum remains upright)

Dynamic recurrent neural network for system identification and control

A dynamic recurrent neural network (DRNN) that can be viewed as a generalisation of the Hopfield neural network is proposed to identify and control a class of control affine systems. In this approach, the identified network is used in the context of the differential geometric control to synthesise a state feedback that cancels the nonlinear terms of the plant yielding a linear plant which can then be controlled using a standard PID controller.

Stable linearization using multilayer neural networks

The main limitation of linearization theory that prevents its application in practical problems is the need for an exact knowledge of the plant. This requirement is eliminated and it is shown that a multilayer network can synthesise the state feedback coefficients that linearize a nonlinear control affine plant. The stability of the linearizing closed loop can be guaranteed if the autonomous plant is asymptotically stable and the state feedback is bounded.

Robust pole assignment and optimal stability margins

A robust pole assignment by linear state feedback is achieved in state-space representation by selecting a feedback which minimises the conditioning of the assigned eigenvalues of the closed-loop system. It is shown here that when this conditioning is minimised, a lower bound on the stability margin in the frequency domain is maximised.

Robustness in partial pole placement

The robustness of state feedback solutions to the problem of partial pole placement obtained by a new projection procedure is examined. The projection procedure gives a reduced-order pole assignment problem. It is shown that the sensitivities of the assigned poles in the complete closed-loop system are bounded in terms of the sensitivities of the assigned reduced-order poles, and the sensitivities of the unaltered poles are bounded in terms of the sensitivities of the corresponding open-loop poles. If the assigned poles are well-separated from the unaltered poles, these bounds are expected to be tight. The projection procedure is described in [3], and techniques for finding robust (or insensitive) solutions to the reduced-order problem are given in [1], [2].

Robust terminal attitude navigation for autonomous vehicles

Here we define the terminal attitude of the pursuer with respect to a target and present a LQR and H¿ control approach to solving the problem of pursuer achieving a desired terminal attack/approach angle. The intercept or engagement criteria is defined in terms of both minimizing the miss distance and controlling the pursuer's body attitude with respect to the target at the terminal point. This approach in comparison to previous approaches consider the relativistic approach of the pursuer with respect to the target as opposed the absolute velocities of the two dynamic bodies, and have possible applications ranging from autonomous vehicle entry in to a mother craft to nossle engagements in on-flight refuelling or even in precision missile guidance. Here we also suitably formulate the H¿ control ideas directly applicable to the underlying problem and presents both state feedback and output feed back results for the case of finite horizon and non-zero initial conditions together with a optimal parameter value to achieve a desired terminal characteristic in terms of the original weighting parameters.

Observer-based control of multi-agent systems under decentralized information structure

This paper addresses the problem of decentralized implementation of a global state feedback controller for multi-agent systems. The system is assumed to be under the constraint of a complete decentralized information structure. The decentralization of the control task is achieved through the construction of low-order decentralized functional observers with the purpose of generating the required corresponding control signal for each local control station. A design procedure is developed for obtaining an approximate solution to the design of the observers. Stability analysis is provided for the global system using the proposed observer-based approach. A numerical example is given to illustrate the design procedure and cases when the observers' order increases from the lowest value.