Investigation On Robust Codesign Methods For Networked Control Systems
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Investigation On Robust Codesign Methods For Networked Control Systems
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Author : Sanad Al-Areqi
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2015-12-31
Investigation On Robust Codesign Methods For Networked Control Systems written by Sanad Al-Areqi and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-12-31 with Mathematics categories.
The problem of jointly designing a robust controller and an intelligent scheduler for networked control systems (NCSs) is addressed in this thesis. NCSs composing of multiple plants that share a single channel communication network with uncertain time-varying transmission times are modeled as switched polytopic systems with additive norm-bounded uncertainty. Switching is deployed to represent scheduling, the polytopic uncertainty to overapproximatively describe the uncertain time-varying transmission times. Based on the resulting NCS model and a state feedback control law, the control and scheduling codesign problem is then introduced and formulated as a robust (minimax) optimization problem with the objective of minimizing the worst-case value of an associated infinite time-horizon quadratic cost function. Five robust codesign strategies are investigated for tackling the introduced optimization problem, namely: Periodic control and scheduling (PCS), Receding-horizon control and scheduling (RHCS), Implementation-aware control and scheduling (IACS), Event-based control and scheduling (EBCS), Prediction-based control and scheduling (PBCS). All these codesign strategies are determined from LMI optimization problems based on the Lyapunov theory. The properties of each are evaluated and compared in terms of computational complexity and control performance based on simulation and experimental study, showing their effectiveness in improving the performance while utilizing the limited communication resources very efficiently.
Co Design Approaches To Dependable Networked Control Systems
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Author : Daniel Simon
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-04
Co Design Approaches To Dependable Networked Control Systems written by Daniel Simon and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-04 with Science categories.
Networked Control Systems (NCS) is a growing field of application and calls for the development of integrated approaches requiring multidisciplinary skills in control, real-time computing and communication protocols. This book describes co-design approaches, and establishes the links between the QoC (Quality of Control) and QoS (Quality of Service) of the network and computing resources. The methods and tools described in this book take into account, at design level, various parameters and properties that must be satisfied by systems controlled through a network. Among the important network properties examined are the QoC, the dependability of the system, and the feasibility of the real-time scheduling of tasks and messages. Correct exploitation of these approaches allows for efficient design, diagnosis, and implementation of the NCS. This book will be of great interest to researchers and advanced students in automatic control, real-time computing, and networking domains, and to engineers tasked with development of NCS, as well as those working in related network design and engineering fields.
Control Strategies And Co Design Of Networked Control Systems
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Author : Héctor Benítez-Pérez
language : en
Publisher: Springer
Release Date : 2018-07-31
Control Strategies And Co Design Of Networked Control Systems written by Héctor Benítez-Pérez and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-31 with Technology & Engineering categories.
This book presents Networked Control System (NCS) as a particular kind of a real-time distributed system (RTDS), composed of a set of nodes, interconnected by a network, and able to develop a complete control process. It describes important parts of the control process such as sensor and actuator activities, which rely on a real-time operating system, and a real-time communication network. As the use of common bus network architecture introduces different forms of uncertainties between sensors, actuators, and controllers, several approaches such as reconfigurable systems have been developed to tackle this problem. Moreover, modeling NCS is a challenging procedure, since there are several non-linear situations, like local saturations, uncertain time delays, dead-zones, or local situations, it is necessary to deal with. The book describes a novel strategy for modelling and control based on a fuzzy control approach and codesign strategies.
Optimal And Robust Scheduling For Networked Control Systems
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Author : Stefano Longo
language : en
Publisher: CRC Press
Release Date : 2018-09-03
Optimal And Robust Scheduling For Networked Control Systems written by Stefano Longo and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-03 with Technology & Engineering categories.
Optimal and Robust Scheduling for Networked Control Systems tackles the problem of integrating system components—controllers, sensors, and actuators—in a networked control system. It is common practice in industry to solve such problems heuristically, because the few theoretical results available are not comprehensive and cannot be readily applied by practitioners. This book offers a solution to the deterministic scheduling problem that is based on rigorous control theoretical tools but also addresses practical implementation issues. Helping to bridge the gap between control theory and computer science, it suggests that the consideration of communication constraints at the design stage will significantly improve the performance of the control system. Technical Results, Design Techniques, and Practical Applications The book brings together well-known measures for robust performance as well as fast stochastic algorithms to assist designers in selecting the best network configuration and guaranteeing the speed of offline optimization. The authors propose a unifying framework for modelling NCSs with time-triggered communication and present technical results. They also introduce design techniques, including for the codesign of a controller and communication sequence and for the robust design of a communication sequence for a given controller. Case studies explore the use of the FlexRay TDMA and time-triggered control area network (CAN) protocols in an automotive control system. Practical Solutions to Your Time-Triggered Communication Problems This unique book develops ready-to-use engineering tools for large-scale control system integration with a focus on robustness and performance. It emphasizes techniques that are directly applicable to time-triggered communication problems in the automotive industry and in avionics, robotics, and automated manufacturing.
Modelling And Control Of An Autonomous Two Wheeled Vehicle
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Author : Alen Turnwald
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2020-11-13
Modelling And Control Of An Autonomous Two Wheeled Vehicle written by Alen Turnwald and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-13 with Technology & Engineering categories.
With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.
A Hybrid Physical And Data Drivapproach To Motion Prediction And Control In Human Robot Collaboration
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Author : Min Wu
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2022-06-14
A Hybrid Physical And Data Drivapproach To Motion Prediction And Control In Human Robot Collaboration written by Min Wu and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-14 with Technology & Engineering categories.
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.
Applied Computer Sciences In Engineering
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Author : Juan Carlos Figueroa-García
language : en
Publisher: Springer Nature
Release Date : 2024-10-17
Applied Computer Sciences In Engineering written by Juan Carlos Figueroa-García and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-17 with Computers categories.
The two-volume set CCIS 2222 and 2223 constitutes the proceedings of the 11th Workshop on Engineering Applications, WEA 2024, which took place in Barranquilla, Colombia, during October 23–25, 2024. The 42 full papers presented here were carefully reviewed and selected from 97 submissions. The papers are organized in the following topical sections: Part I - Artificial Intelligence. Part II - Optimization; Simulation; Applications.
Packet Based Control For Networked Control Systems
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Author : Yun-Bo Zhao
language : en
Publisher: Springer
Release Date : 2017-09-14
Packet Based Control For Networked Control Systems written by Yun-Bo Zhao and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-14 with Technology & Engineering categories.
This book introduces a unique, packet-based co-design control framework for networked control systems. It begins by providing a comprehensive survey of state-of-the-art research on networked control systems, giving readers a general overview of the field. It then verifies the proposed control framework both theoretically and experimentally – the former using multiple control methodologies, and the latter using a unique online test rig for networked control systems. The framework investigates in detail the most common, communication constraints, including network-induced delays, data packet dropout, data packet disorders, and network access constraints, as well as multiple controller design and system analysis tools such as model predictive control, linear matrix inequalities and optimal control. This unique and complete co-design framework greatly benefits researchers, graduate students and engineers in the fields of control theory and engineering.
Artificial Intelligence And Computational Intelligence
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Author : Hepu Deng
language : en
Publisher: Springer
Release Date : 2011-09-25
Artificial Intelligence And Computational Intelligence written by Hepu Deng and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-09-25 with Computers categories.
This three-volume proceedings contains revised selected papers from the Second International Conference on Artificial Intelligence and Computational Intelligence, AICI 2011, held in Taiyuan, China, in September 2011. The total of 265 high-quality papers presented were carefully reviewed and selected from 1073 submissions. The topics of Part II covered are: heuristic searching methods; immune computation; information security; information theory; intelligent control; intelligent image processing; intelligent information fusion; intelligent information retrieval; intelligent signal processing; knowledge representation; and machine learning.
Hybrid Pid Based Predictive Control Strategies For Wirelesshart Networked Control Systems
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Author : Sabo Miya Hassan
language : en
Publisher: Springer Nature
Release Date : 2020-05-12
Hybrid Pid Based Predictive Control Strategies For Wirelesshart Networked Control Systems written by Sabo Miya Hassan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-05-12 with Technology & Engineering categories.
Recent advances in wireless technology have led to the emergence of industry standards such as WirelessHART. These strategies minimise the need for cumbersome cabling, thereby reducing costs. However, applying them involves the challenge of handling stochastic network delays, which can degrade control performance. To address this problem, commonly used simple PID could be employed. However, PID suffers from gain range limitations when used in a delayed environment. Furthermore, model-based controllers are complex and require exact models of the process and systematic system identification for implementation. Therefore, to address these issues, the book proposes control strategies that retain the simplicity of PID in terms of ease of tuning and structure, while improving on the performance of the closed-loop system with regard to stochastic network delays and mismatches. Concretely, it proposes and discusses three strategies, namely: Setpoint Weighting (SW), Filtered Predictive PI (FPPI) and Optimal Fuzzy PID. In order to optimise some of these controllers, two novel hybrid optimisation algorithms combining the dynamism of the Bacterial Foraging Algorithm (BFA) and advantages of both the Spiral Dynamic Algorithm (SDA) and the Accelerated Particle Swarm Optimisation (APSO) have been used. The strategies proposed here can also be applied in stochastic control scenarios (not necessarily wireless) characterised by uncertainties. This book will be useful to engineers and researchers in both industry and academia. In industry, it will be particularly useful to research and development efforts where PID controllers and wireless sensor networks (WSNs) involving both short and long term stochastic network delay are employed. Thus, it can be used for real-time control design in these areas. In the academic setting, the book will be useful for researchers, undergraduate and graduate students of instrumentation and control. It can also be used as reference material for teaching courses on predictive and adaptive controls and their application.