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This paper presents a new learning algorithm for the design of Mamdani- type or fully-linguistic fuzzy controllers based on available input-output data. It relies on the use of a previously introduced parametrized defuzzification strategy. The learning scheme is supported by an investigated property of the defuzzification method. In addition, the algorithm is tested by considering a typical non-linear function that has been adopted in a number of published research articles. The test stresses on...
The article discusses an optimal Linear Quadratic (LQ) deterministic control problem when the Youla–Kučera parametrisation of controller is used. We provide a computational procedure for computing a deterministic optimal single-input single-output (SISO) controller from any stabilising controller. This approach allows us to calculate a new optimal LQ deterministic controller from a previous one when the plant has changed. The design based on the Youla –Kučera parametrisation approach is compared...
This paper presents an (infinite-dimensional) geometric framework for control systems, based on infinite jet bundles, where a system is represented by a single vector field and dynamic equivalence (to be precise: equivalence by endogenous dynamic feedback) is conjugation by diffeomorphisms. These diffeomorphisms are very much related to Lie-Bäcklund transformations. It is proved in this framework that dynamic equivalence of single-input systems is the same as static equivalence.
We give a new proof of the Weiss conjecture for analytic semigroups. Our approach does not make any recourse to the bounded -calculus and is based on elementary analysis.
We consider chained systems that model various systems of mechanical or biological
origin. It is known according to Brockett that this class of systems, which are
controllable, is not stabilizable by continuous stationary feedback (i.e.
independent of time). Various approaches have been proposed to remedy this
problem, especially instationary or discontinuous feedbacks. Here, we look at another
stabilization strategy (by continuous stationary or...
We consider chained systems that model various systems of mechanical or biological
origin. It is known according to Brockett that this class of systems, which are
controllable, is not stabilizable by continuous stationary feedback (i.e.
independent of time). Various approaches have been proposed to remedy this
problem, especially instationary or discontinuous feedbacks. Here, we look at another
stabilization strategy (by continuous stationary or...
The paper presents a new method for diagnosis of a process fault which takes the form of an abrupt change in some real parameter of a time-continuous linear system. The abrupt fault in the process real parameter is reflected in step changes in many parameters of the input/output model as well as in step changes in canonical state variables of the system. Detection of these state changes will enable localization of the faulty parameter in the system. For detecting state changes, a special type of...
This paper deals with the global position control problem of robot manipulators in joint space, a new family of control schemes consisting of a suitable combination of hyperbolic functions is presented. The proposed control family includes a large class of bounded hyperbolic-type control schemes to drive both position error and derivative action terms plus gravity compensation. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict...
This paper presents a novel family of Lyapunov-based controllers for the maximum power point tracking problem in the buck converter case. The solar power generation system here considered is composed by a stand-alone photovoltaic panel connected to a DC/DC buck converter. Lyapunov function candidates depending on the output are considered to develop conditions which, in some cases, can be expressed as linear matrix inequalities; these conditions guarantee that the output goes asymptotically to zero,...
This paper details nonlinear Model-based Predictive Control (MPC) algorithms for MIMO processes modelled by means of neural networks of a feedforward structure. Two general MPC techniques are considered: the one with Nonlinear Optimisation (MPC-NO) and the one with Nonlinear Prediction and Linearisation (MPC-NPL). In the first case a nonlinear optimisation problem is solved in real time on-line. In order to reduce the computational burden, in the second case a neural model of the process is used...
This paper analyses the implementation of the generalized finite differences method for the HJB equation of stochastic control, introduced by two of the authors in [Bonnans and Zidani, SIAM J. Numer. Anal. 41 (2003) 1008–1021]. The computation of coefficients needs to solve at each point of the grid (and for each control) a linear programming problem. We show here that, for two dimensional problems, this linear programming problem can be solved in operations, where is the size of the stencil....
This paper analyses the implementation of the generalized
finite differences method for the HJB equation of
stochastic control, introduced by two of the authors in
[Bonnans and Zidani,
SIAM J. Numer. Anal.41 (2003) 1008–1021]. The computation of coefficients needs to
solve at each point of the grid (and for each control)
a linear programming problem.
We show here that, for two dimensional problems, this
linear programming problem can be solved in O(pmax)
operations, where pmax is the size of...
In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This...
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