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ISA Transactions

A W Hermansson, S Syafiie
This paper investigates a novel offset-free control scheme based on a multiple model predictive controller (MMPC) and an adaptive integral action controller for nonlinear processes. Firstly, the multiple model description captures the essence of the nonlinear process, while keeping the MPC optimization linear. Multiple models also enable the controller to deal with the uncertainty associated with changing setpoint. Then, a min-max approach is utilized to counter the effect of parametric uncertainty between the linear models and the nonlinear process...
February 13, 2019: ISA Transactions
Yang Liu, Xiaohui Hou
In this article, the event-triggered consensus control is investigated for general linear multi-agent systems with external disturbances, by using the accessible measurement outputs. In particular, a novel protocol is proposed using the local observed state variables at event-triggered instants, which are respectively derived by adopting an observer to each agent based on output signal. Then it is proved that under the designed event-triggered control protocol consensus can be achieved with the desired disturbance attenuation ability and no Zeno behavior occurs...
February 12, 2019: ISA Transactions
Bing Zhu, Zhiling Ren, Wenjing Xie, Fengyi Guo, Xiaohua Xia
In this paper, a nonlinear partial-state feedback control is designed for a 3-DOF pantograph-catenary system by using backstepping approach, such that the contacting force of the closed-loop system is capable of tracking its reference profile. In the control design, the pantograph-catenary model is transformed into a triangular form, facilitating the utilization of backstepping. Derivatives of virtual controls in backstepping are calculated explicitly. A high-order differentiator is designed to estimate the unknown time derivatives of elasticity coefficient; and an observer is proposed to reconstruct the unmeasurable states...
February 12, 2019: ISA Transactions
Espen Skjong, Tor Arne Johansen, Marta Molinas
It can be challenging to design and implement Model Predictive Control (MPC) schemes in systems with fast dynamics. As MPCs often introduce high computational loads, it can be hard to assure real-time properties required by the dynamic system. An understanding of the system's behavior, to exploit system properties that can benefit real-time implementation is imperative. Moreover, MPC implementations on embedded local devices rarely allows flexibility to changes in model and control philosophy, due to increased complexity and computational loads...
February 12, 2019: ISA Transactions
Fangzheng Gao, Xiaochun Zhu, Yuqiang Wu, Jiacai Huang, Hongsheng Li
This paper is concerned with the problem of global finite-time stabilization by output feedback for a class of feedforward (upper-triangular) nonlinear systems in p-normal form. Remarkably, both the high order powers and the saturated input are involved in the system under consideration, that renders the existing output feedback control methods are inapplicable. Based on the finite-time stability theorem, and by skillfully using the homogeneous domination approach and the nested saturation technique, a reduced order observer-based saturated finite-time output feedback control scheme is successfully developed...
February 11, 2019: ISA Transactions
Yifang Yan, Chunyu Yang, Xiaoping Ma, Linna Zhou
In this paper, the problem of sampled-data observer-based anti-windup (AW) control for singularly perturbed systems with actuator saturation is considered. A sampled-data observer-based AW controller consisting of a sampled-data observer, controller and AW compensator is proposed for the first time. Based on an ε-dependent Lyapunov-Krasovskii functional and linear matrix inequalities, the three components of sampled-data observer-based AW controller are designed simultaneously, which can reduce the conservatism...
February 8, 2019: ISA Transactions
D Aravindh, R Sakthivel, B Kaviarasan, S Marshal Anthoni, Faris Alzahrani
This paper establishes an observer-based finite-time non-fragile load frequency control design using electric vehicles for power systems with modeling uncertainties and external disturbances. A state space representation of the addressed power systems together with dynamic interactions of electric vehicles is formulated. A full-order observer-based non-fragile controller is designed to ensure finite-time boundedness and satisfactory finite-time H∞ performance of the considered system. By constructing an augmented Lyapunov-Krasovskii functional and employing Wirtinger-based integral inequality, the required conditions are obtained in terms of linear matrix inequalities...
February 7, 2019: ISA Transactions
Xi Wang, Shukai Li, Tao Tang
With the rapid developments in communication technology, the bidirectional wireless communication channel is widely used to exchange information between the train and wayside control center. As an emerging technology, the communication based heavy haul train control (CBHHTC) system is becoming a better alternative for administrative department to provide the greater transport capacity. In order to put the latest automatic control methods into the practice, this paper investigates the robust optimal control problem of heavy haul train under CBHHTC...
February 7, 2019: ISA Transactions
Liming Li, Tao Li
In this paper, we establish exponential stability criteria for the sampled-data impulsive control of the linear time-invariant system. With average impulse interval (AII), less conservative conditions are obtained on the exponential stability problem for the sampled-data systems. It is proved that when the AII of the impulsive sequences is fixed, the upper bound of the impulsive intervals could be very large, which guarantees the less conservativeness of the obtained result concerning the sampling intervals...
February 6, 2019: ISA Transactions
Xinjun Wang, Qinghui Wu, Xinghui Yin
In this paper, adaptive tracking control problem is investigated for a class of switched stochastic nonlinear systems with an asymmetric output constraint. By introducing a nonlinear mapping (NM), the asymmetric output-constrained switched stochastic system is first transformed into a new system without any constraint, which achieves the equivalent control objective. The command filter technique is employed to handle the "explosion of complexity" in traditional backstepping design, and neural networks (NNs) are directly utilized to cope with the completely unknown nonlinear functions and stochastic disturbances existing in systems...
February 6, 2019: ISA Transactions
Ammara Mehmood, Naveed Ishtiaq Chaudhary, Aneela Zameer, Muhammad Asif Zahoor Raja
In this work, novel application of evolutionary computational heuristics is presented for parameter identification problem of nonlinear Hammerstein controlled auto regressive auto regressive (NHCARAR) systems through global search competency of backtracking search algorithm (BSA), differential evolution (DE) and genetic algorithms (GAs). The mean squared error metric is used for the fitness function of NHCARAR system based on difference between actual and approximated design variables. Optimization of the cost function is conducted with BSA for NHCARAR model by varying degrees of freedom and noise variances...
February 6, 2019: ISA Transactions
Guofei Xiang, Jianbo Su
This paper investigate the problem of disturbance observer (DOB) based disturbance rejection control with closed loop performance guaranteed. A generalized DOB based control framework is presented. Specifically, the novel DOB framework if obtained by taking advantage of Youla factorization of a two degree-of-freedom controller in a nontraditional way. Closed loop analysis clarifies that generalized DOB inherits advantages of the traditional one, while mitigating its restrictions. Through appropriate reconfiguration, the Q-filter synthesizing is transformed into reduced-order controller designing...
February 5, 2019: ISA Transactions
Daniel Feliu-Talegon, Vicente Feliu-Batlle, Inés Tejado, Blas M Vinagre, S Hassan HosseinNia
The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate with humans. Robot control is difficult in these cases because: (1) bouncing between free and constrained motion appears that may cause instability, (2) switching between free motion (position) controller and constrained motion (force) controller is required being the switching instants difficult to know and (3) robot control must be robust since the mechanical impedance of the environment is unknown...
February 5, 2019: ISA Transactions
Sami Mnasri, Nejah Nasri, Adrien van den Bossche, Thierry Val
The 3D indoor deployment of sensor nodes is a complex real world problem, proven to be NP-hard and difficult to resolve using classical methods. In this context, we propose a hybrid approach relying on a novel bird's accent-based many objective particle swarm optimization algorithm (named acMaPSO) to resolve the problem of 3D indoor deployment on the Internet of Things collection networks. The new concept of bird's accent is presented to assess the search ability of particles in their local areas. To conserve the diversity of the population during searching, particles are separated into different accent groups by their regional habitation and are classified into different categories of birds/particles in each cluster according to their common manner of singing...
February 4, 2019: ISA Transactions
Chenghu Jing, Hongguang Xu, Xinjian Niu
This study proposes an adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators. A transformation with respect to tracking error using certain performance functions is used to ensure the transient and steady-state performances of the trajectory tracking control for robotic manipulators. Using the transformed error, a nonsingular terminal sliding mode surface is proposed. A continuous terminal sliding mode control (SMC) is presented to stabilize the system. To compensate for the uncertainty and external disturbance, a novel sliding mode disturbance observer is proposed...
February 4, 2019: ISA Transactions
V Tharanidharan, R Sakthivel, Yong-Ki Ma, L Susana Ramya, S Marshal Anthoni
This paper employs linear matrix inequality-based optimization algorithm to establish finite-time boundedness and dissipativeness for a class of large-scale systems in the presence of actuator faults and actuator saturation. In addition, for the proposed system, a novel time-varying actuator fault model is incorporated in controller design, which is more general than the conventional actuator fault models. Specifically, by constructing a suitable Lyapunov-Krasovskii functional, a new set of sufficient conditions is derived, which ensures the finite-time boundedness with dissipativity of the considered large-scale systems...
February 4, 2019: ISA Transactions
Tahereh Niyazmand, Iman Izadi
Proper monitoring of performance of an alarm system throughout its life cycle is an important factor in safety and reliability of industrial plants. Complexity and extent of modern industrial plants and poor design and management of alarm systems, have increased the importance of monitoring of alarm systems. Alarm floods, defined as a large number of alarms triggered in a short interval, is one of the problems that modern complexes are facing regularly. Many researchers have been focusing on this issue both in academia and industry...
February 4, 2019: ISA Transactions
Ling Zhao, Ying Li, Yuan Yuan, Huanhuan Yuan
In this paper, an optimal power allocation strategy for multiple denial-of-service attackers is investigated in a wireless networked control system with stochastic disturbances. In the presence of denial-of-service attackers, effective signals sent by a transmitter are interfered with causing degradation of signal-to-interference-plus-noise ratio and even packet loss. The effect of multiple attacks on the wireless networked control system is maximized by cooperative game. An H∞ minimax controller is also designed to guarantee an optimal performance for the wireless networked control system in the worst case...
February 4, 2019: ISA Transactions
Yu Yang, Christie Sutanto
This paper presents a scenario-based method to solve the chance-constrained optimization for the nonconvex program. The sample complexity is first developed to guarantee the probabilistic feasibility. Then through the sampling on uncertain parameters, many scenarios are generated to form a large-scale deterministic approximation for the original chance-constrained program. Solving the resulting scenario-based nonconvex optimization is usually time-consuming. To overcome this challenge, we propose a sequential approach to find the global optimum more efficiently...
February 4, 2019: ISA Transactions
Igor Henrique Beloti Pizetta, Alexandre Santos Brandão, Mário Sarcinelli-Filho
This work deals with load transportation by quadrotors, when the load is attached to the vehicles through flexible cables. More specifically, two quadrotors are used to carry a single load, which is attached to both vehicles, through such kind of cables. The idea of using two quadrotors working cooperatively to carry the load is adopted to suppress any load oscillation in the direction of movement, what would happen if just one UAV were used. As a consequence of using two UAVs (or more than two) it can happen collisions between the vehicles when carrying the load, caused by the forces the load exert on the two vehicles, whose tendency is to bring the vehicles closer one to the other when they accelerate forward...
February 4, 2019: ISA Transactions
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