A maximum principle for infinite time asymptotically stable impulsive dynamic control systems

We consider an infinite horizon optimal impulsive control problems for which a given cost function is minimized by choosing control strategies driving the state to a point in a given closed set C ∞. We present necessary conditions of optimality in the form of a maximum principle for which the boundary condition of the adjoint variable is such that non-degeneracy due to the fact that the time horizon is infinite is ensured. These conditions are given for conventional systems in a first instance and then for impulsive control problems. They are proved by considering a family of approximating auxiliary interval conventional (without impulses) optimal control problems defined on an increasing sequence of finite time intervals. As far as we know, results of this kind have not been derived previously. © 2010 IFAC.

Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Vibration Control Applied in a Semi-Active Suspension using Magneto Rheological Damper and Optimal Linear Control Design

In this paper we study the behavior of a semi-active suspension witch external vibrations. The mathematical model is proposed coupled to a magneto rheological (MR) damper. The goal of this work is stabilize of the external vibration that affect the comfort and durability an vehicle, to control these vibrations we propose the combination of two control strategies, the optimal linear control and the magneto rheological (MR) damper. The optimal linear control is a linear feedback control problem for nonlinear systems, under the optimal control theory viewpoint We also developed the optimal linear control design with the scope in to reducing the external vibrating of the nonlinear systems in a stable point. Here, we discuss the conditions that allow us to the linear optimal control for this kind of non-linear system.

Proposta de avanço para o método Tambor-Pulmão-Corda Simplificado aplicado em ambientes de produção sob encomenda

Recentes aplicações da Teoria das Restrições em Gestão de Operações têm adotado o chamado método Tambor-Pulmão-Corda Simplificado (S-DBR - Simplified Drum-Buffer-Rope) como padrão para planejamento e controle da produção. Contudo, poucas são as referências bibliográficas, especialmente em periódicos nacionais e internacionais, que relatam seus principais conceitos e premissas. Este artigo se propõe a apresentar o método S-DBR para planejamento da produção e sua correspondente abordagem de controle da produção denominado Gerenciamento do Pulmão, aqui abordados em ambientes de produção sob encomenda (MTO - make to order), suas principais características, pressupostos e diferenças em relação ao método DBR clássico. É também apresentada uma proposta complementar ao método S-DBR para estabelecer promessas de entregas urgentes mantendo elevada probabilidade de entrega no prazo.

Effects of displacement and trajectory length on the variability pattern of reaching movements

The design of the present study enabled the authors to distinguish between the possible effects of movement displacement and trajectory length on the pattern of final positions of planar reaching movements. With their eyes closed, 9 subjects performed series of fast and accurate movements from different initial positions to the same target. For some series, the movements were unconstrained and were therefore performed along an approximately straight vertical line. For other series, an obstacle was positioned so that trajectory length was increased because of an increase in movement curvature. Ellipses of variability obtained by means of principal component analysis applied to the scatter of movement final positions enabled the authors to assess the pattern of movement variable errors. The results showed that the orientation of the ellipses was not affected by movement displacement or by trajectory length, whereas variable errors increased with move ment displacement. An increase in trajectory length as a consequence of increased curvature caused no change in variable error. From the perspective of current motor control theory, that finding was quite unexpected. Further studies are required so that one can distinguish among the possible effects of various kinematics, kinetics, and other variables that could affect the pattern of variable errors of reaching movements.

Slow-fast systems on algebraic varieties bordering piecewise-smooth dynamical systems

This article extends results contained in Buzzi et al. (2006) [4], Llibre et al. (2007, 2008) [12,13] concerning the dynamics of non-smooth systems. In those papers a piecewise C-k discontinuous vector field Z on R-n is considered when the discontinuities are concentrated on a codimension one submanifold. In this paper our aim is to study the dynamics of a discontinuous system when its discontinuity set belongs to a general class of algebraic sets. In order to do this we first consider F :U -> R a polynomial function defined on the open subset U subset of R-n. The set F-1 (0) divides U into subdomains U-1, U-2,...,U-k, with border F-1(0). These subdomains provide a Whitney stratification on U. We consider Z(i) :U-i -> R-n smooth vector fields and we get Z = (Z(1),...., Z(k)) a discontinuous vector field with discontinuities in F-1(0). Our approach combines several techniques such as epsilon-regularization process, blowing-up method and singular perturbation theory. Recall that an approximation of a discontinuous vector field Z by a one parameter family of continuous vector fields is called an epsilon-regularization of Z (see Sotomayor and Teixeira, 1996 [18]; Llibre and Teixeira, 1997 [15]). Systems as discussed in this paper turn out to be relevant for problems in control theory (Minorsky, 1969 [16]), in systems with hysteresis (Seidman, 2006 [17]) and in mechanical systems with impacts (di Bernardo et al., 2008 [5]). (C) 2011 Elsevier Masson SAS. All rights reserved.

Analysis of a sub-optimal scheme of drug dosage in the AIDS treatment

Here the results for CD4+T cells count and the viral load obtained from HIV sero-positive patients are compared with results from numerical simulations by computer. Also, the standard scheme of administration of drugs anti HIV (HAART schemes) which uses constant doses is compared with an alternative sub-optimal teatment scheme which uses variable drug dosage according to the evolution of a quantitative measure of the side effects. The quantitative analysis done here shows that it is possible to obtain, using the alternative scheme, the same performance of actual data but using variable dosage and having fewer side effects. Optimal control theory is used to solve and also to provide a prognosis related to the strategies for control of viraemia.

PID stabilization of a class of time delay systems

In this paper we use the Hermite-Biehler theorem to establish results for the design of proportional plus integral plus derivative (PID) controllers concerning a class of time delay systems. Using the property of interlacing at high frequencies of the class of systems considered and linear programming we obtain the set of all stabilizing PID controllers. © 2005 IEEE.

Comparative analysis of synchronization algorithms based on PLL, RDFT and Kalman Filter

This paper discusses the main characteristics and presents a comparative analysis of three synchronization algorithms based respectively, on a Phase-Locked Loop, a Kalman Filter and a Discrete Fourier Transform. It will be described the single and three-phase models of the first two methods and the single-phase model of the third one. Details on how to modify the filtering properties or dynamic response of each algorithm will be discussed in terms of their design parameters. In order to compare the different algorithms, these parameters will be set for maximum filter capability. Then, the dynamic response, during input amplitude and frequency deviations will be observed, as well as during the initialization procedure. So, advantages and disadvantages of all considered algorithms will be discussed. ©2007 IEEE.

Variable speed refrigeration system with HPF input rectifier stage

This paper is based on the analysis and implementation of a new drive system applied to refrigeration systems, complying with the restrictions imposed by the IEC standards (Harmonic/Flicker/EMI-Electromagnetic Interference restrictions), in order to obtain high efficiency, high power factor, reduced harmonic distortion in the input current and reduced electromagnetic interference, with excellent performance in temperature control of a refrigeration prototype system (automatic control, precision and high dynamic response). The proposal is replace the single-phase motor by a three-phase motor, in the conventional refrigeration system. In this way, a proper control technique can be applied, using a closed-loop (feedback control), that will allow an accurate adjustment of the desirable temperature. The proposed refrigeration prototype uses a 0.5Hp three-phase motor and an open (Belt-Drive) Bitzer IY type compressor. The input rectifier stage's features include the reduction in the input current ripple, the reduction in the output voltage ripple, the use of low stress devices, low volume for the EMI input filter, high input power factor (PF), and low total harmonic distortion (THD) in the input current, in compliance with the IEC61000-3-2 standards. The digital controller for the output three-phase inverter stage has been developed using a conventional voltage-frequency control (scalar V/f control), and a simplified stator oriented Vector control, in order to verify the feasibility and performance of the proposed digital controls for continuous temperature control applied at the refrigerator prototype. ©2008 IEEE.

Comparative study of LMI-based output feedback spr synthesis for plants with different numbers of inputs and outputs

New Linear Matrix Inequalities (LMI) conditions are proposed for the following problem, called Strictly Positive Real (SPR) synthesis: given a linear time-invariant plant, find a constant output feedback matrix Ko and a constant output tandem matrix F for the controlled system to be SPR. It is assumed that the plant has the number of outputs greater than the number of inputs. Some sufficient conditions for the solution of the problem are presented and compared. These results can be directly applied in the LMI-based design of Variable Structure Control (VSC) of uncertain plants. ©2008 IEEE.

Estudo da estabilidade a pequenas perturbações de sistemas elétricos de potência multimáquinas sob a ação dos controladores FACTS TCSC e UPFC

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Desenvolvimento de um software de apoio ao ensino de métodos de planejamento e controle da produção em ambientes MTS baseado na teoria das restrições

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)