Decentralized control of linear dynamical systems with partial aggregation
Decomposition of a second-order linear time-varying differential system as the series connection of two first order commutative pairs
Necessary and sufficiently conditions are derived for the decomposition of a second order linear time- varying system into two cascade connected commutative first order linear time-varying subsystems. The explicit formulas describing these subsystems are presented. It is shown that a very small class of systems satisfies the stated conditions. The results are well verified by simulations. It is also shown that its cascade synthesis is less sensitive to numerical errors than the direct simulation...
Decomposition of homogeneous vector fields of degree one and representation of the flow
Decoupling in nonlinear singular systems with applications in autonomous vehicles
Dekompozícia, koordinácia a agregácia v hierarchickom riadení mnohoúrovňových sústav
Delay Dynamics of Cancer and Immune Cell Model
We investigate optimal control of a cancer-immune cell interactive model with delay in the interphase compartment. By applying the optimal control theory, we seek to minimize the cost associated with the chemotherapy drug, minimize the accumulation of cancer cells, and increase the immune cell presence. Optimality conditions and characterization of the control are provided. Numerical analyses are given to enhance the understanding of the difficulties...
Deployment/retrieval modeling of cable-driven parallel robot.
Derivation of physically motivated constraints for efficient interval simulations applied to the analysis of uncertain dynamical systems
Interval arithmetic techniques such as VALENCIA-IVP allow calculating guaranteed enclosures of all reachable states of continuous-time dynamical systems with bounded uncertainties of both initial conditions and system parameters. Considering the fact that, in naive implementations of interval algorithms, overestimation might lead to unnecessarily conservative results, suitable consistency tests are essential to obtain the tightest possible enclosures. In this contribution, a general framework for...
Derived cones to reachable sets of a nonlinear differential inclusion
We consider a nonlinear differential inclusion defined by a set-valued map with nonconvex values and we prove that the reachable set of a certain variational inclusion is a derived cone in the sense of Hestenes to the reachable set of the initial differential inclusion. In order to obtain the continuity property in the definition of a derived cone we use a continuous version of Filippov's theorem for solutions of our differential inclusion. As an application, in finite dimensional spaces, we obtain...
Design of observer based compensators: The polynomial approach
Design of spline-based self-tuners
Design of the state predictive model following control system with time-delay
Time-delay systems exist in many engineering fields such as transportation systems, communication systems, process engineering and, more recently, networked control systems. It usually results in unsatisfactory performance and is frequently a source of instability, so the control of time-delay systems is practically important. In this paper, a design of the state predictive model following control system (PMFCS) with time-delay is discussed. The bounded property of the internal states for the control...
Design of unknown input fractional-order observers for fractional-order systems
This paper considers a method of designing fractional-order observers for continuous-time linear fractional-order systems with unknown inputs. Conditions for the existence of these observers are given. Sufficient conditions for the asymptotical stability of fractional-order observer errors with the fractional order α satisfying 0 < α < 2 are derived in terms of linear matrix inequalities. Two numerical examples are given to demonstrate the applicability of the proposed approach, where the...
Designing a ship course controller by applying the adaptive backstepping method
The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic...
Differentiability of perturbed semigroups and delay semigroups
Suppose that A generates a C₀-semigroup T on a Banach space X. In 1953 R. S. Phillips showed that, for each bounded operator B on X, the perturbation A+B of A generates a C₀-semigroup on X, and he considered whether certain classes of semigroups are stable under such perturbations. This study was extended in 1968 by A. Pazy who identified a condition on the resolvent of A which is sufficient for the perturbed semigroups to be immediately differentiable. However, M. Renardy showed in 1995 that immediate...
Differenzverfahren für Schwingungen mit trockener und zäher Reibung und für Regelungssysteme. -A Finite Difference Method in Forced Vibrations with Combined Viscous and Coulomb Damping and in Feedback Control
Discretization of singular systems and error estimation
Distributed event-triggered tracking control of leader-follower multi-agent systems with communication delays
As embedded microprocessors are applied widerly to multi-agent systems, control scheduling and time-delay problems arose in the case of limited energy and computational ability. It has been shown that the event-triggered actuation strategy is an effective methodology for designing distributed control of multi-agent systems with limited computational resources. In this paper, a tracking control problem of leader-follower multi-agent systems with/without communication delays is formulated and a distributed...
Double fault distinguishability in linear systems
This paper develops a new approach to double fault isolation in linear systems with the aid of directional residuals. The method of residual generation for computational as well as internal forms is applied. Isolation of double faults is based on the investigation of the coplanarity of the residual vector with the planes defined by the individual pairs of directional fault vectors. Additionally, the method of designing secondary residuals, which are structured and directional, is proposed. These...
Dynamická optimalizácia riadenej mnohoparametrickej sústavy s ohraničením na riadiace aj riadené veličiny