Passivity-based adaptive inventory control

A new adaptive inventory control strategy is developed by applying online adaptation in the framework of passivity-based control. By using the system model and definition of the inventory, a feedback-feedforward control structure is derived from the passivity theorem. The stability analysis and the extension of the controller to a non-passive system are also given in this paper. This control strategy is demonstrated in a transfer function example and an application to a pressure tank unit in a chemical plant.     

Passivity-based adaptive attitude control of a rigid spacecraft

An adaptive control scheme for the attitude control of a rigid spacecraft is derived using a linear parameterization of the equation of motion. The tracking error is described with the Euler parameter vector. Global convergence of the tracking error to zero is shown using passivity theory. This allows for the use of time-varying positive-definite feedback gain matrices, and the results can easily be extended to other passive parameter update laws     

Fault-tolerant control of a class of asynchronous sequential machines with permanent faults

In this note, we address a fault-tolerant control scheme for asynchronous sequential machines with permanent faults. The considered asynchronous machine is influenced by faults that change perpetually a portion of its state transition logic. If the asynchronous machine has appropriate analytic redundancy in its reachability, we can design a corrective controller so that the stable-state behavior of the closed-loop system can match that of a reference model despite occurrences of permanent faults. It is assumed that the controller is always fault-free. The existence condition and design procedure for an appropriate controller are presented based on the corrective control scheme. We also provide a controller synthesis example for validating the proposed scheme.     

Passivity-based control of nonlinear flexible multibody systems

In this paper, global asymptotic stability of a class of nonlinear multibody flexible space structures under certain dissipative compensation is established. Furthermore, for an important subclass of such systems, the stability is shown to be robust to certain types of actuator and sensor nonlinearities. The results are applicable to robust stabilization of a wide class of systems, including flexible space structures and manipulators with articulated flexible appendages. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems     

Passivity-based nonlinear control of CSTR via asymptotic observers

This work makes use of a passivity-based approach (PBA) and tools from Lyapunov theory to design a nonlinear controller for the asymptotic stabilization of a class of nonisothermal Continuous Stirred Tank Reactors (CSTR) around any desired stationary point. The convergence and stability proofs are derived in the port Hamiltonian framework. Asymptotic observers that do not require knowledge of reaction kinetics are also proposed for a system with incomplete state measurement. Numerical simulations are given to illustrate the application of the theoretical results to a CSTR with multiple steady states.     

Passivity-based switching control of flexible-joint complementarity mechanical systems

In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. Particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows one to extend the stability analysis described in our previous works to the case of systems with lumped flexibilities, is proposed. Numerical tests show the effectiveness of the controller.     

Passivity-based control for bilateral teleoperation: A tutorial

This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework—based on a general Lyapunov–like function—that, upon slight modification, allows to analyze the stability of all the schemes.     

Passivity-based control and synchronization of general complex dynamical networks

This paper presents some sufficient conditions for complex dynamical networks with and without coupling delays in the state to be passive. Based on the passivity property and linearization, control and synchronization of the dynamical networks are also addressed. An example and simulation results are included.     

Passivity-based sliding mode control of uncertain singular time-delay systems

In this paper the problem of sliding mode control (SMC) with passivity of a class of uncertain nonlinear singular time-delay systems is studied. An integral-type switching surface function is designed by taking the singular matrix into account, thus the resulting sliding mode dynamics is a full-order uncertain singular time-delay system. By introducing some slack matrices, a delay-dependent sufficient condition is proposed in terms of linear matrix inequality (LMI), which guarantees the sliding mode dynamics to be generalized quadratically stable and robustly passive. The passification solvability condition is then established. Moreover, a SMC law and an adaptive SMC law are synthesized to drive the system trajectories onto the predefined switching surface in a finite time. Finally, a numerical example is provided to illustrate the effectiveness of the proposed theory.     

Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces

Intelligent Service Robotics - This paper addresses the problem of asymptotic stability and position tracking in nonlinear teleoperation systems interacting with non-passive operator and...     

Passivity-based control for variable speed constant frequency operation of a DFIG wind turbine

A standard passivity based control for a double fed induction generator of a wind turbine is presented. The control problem is posed as a variable speed constant frequency operation with the aim to maximise the generated electric power. The controller is designed in such a way that the dual control objective, unity power factor in the stator side and speed tracking in the mechanical port, are satisfied guaranteeing internal stability. The proposed scheme is the first attempt to approach the speed tracking operation from the energy dissipation (passivity) perspective. Simulation results show good performance of the control scheme for wind speeds in different operating regimes.     

Analysis of a class of communicating finite state machines

Thereachability, deadlok detection andunboundedness detection problems are considered for the class ofcyclic one-type message networks of communicating finite state machines. We show that all the three problems are effectively solvable by (a) constructing canonical execution event sequences which belong to a context-free language, and (b) showing that the reachability sets are semilinear. Our algorithms have polynomial complexity in terms of size of a global structure of a network, called theshuffle-product. The relationships between general Petri nets and the class of communicating finite state machines considered here are also explored.Supported in part by NSF CCR-9004121     

On a class of optimal abstractions of finite-state machines

Anabstraction A of an fsmM consists in partitioning its states, inputs, and outputs into groups, thus turning it into a non-deterministic fsmM _A. For fixed sets of states, inputs, and outputs, and abstraction generally maps a number of machinesM defined on these sets into the sameM _A. We would like to find anoptimal abstractionA ^* which minimizes this number, while lumping the states, inputs, and outputs into a specified number of classes. We extend these ideas to an fsmM operating in a random environment, and show that the abstraction results in a probabilistic fsm . Thinking of changes inM's output map as resulting in machinesM≠MM, we want to find anA ^* that minimizes the number ofMM which are such that the transition probabilities of their abstracted version are identical to those of the specification machine . SuchMM arise from statistically-undetectable output faults inM. Abstractions are directly applicable to the monitoring of a complex system by an observer for deviations from correct behavior (faults). Complex systems are usually accessible through restricted interfaces, which do not allow the observer to distinguish among all states, inputs, and outputs, thus rendering some faulty transitions undetectable. An optimal interface design will minimize the number of such undetectable faults. Assuming that only single-transition output faults occur inM, we show that each of the classes into which the abstraction lumps the outputs contributes a number of undetectable output faults. We then show that the problem of partitioning the outputs into a given number of classes that minimizes the maximum of these numbers is NP-complete. However, we give (a) an approximate minimization algorithm, running in time linear in the number of classes and quadratic in the number ofM's outputs, and (b) a lower bound on the minimum, computable in the same amount of time. The concept of optimal abstractions is illustrated by numerical results on combinational logic circuits that perform arithmetical operations. The results shed light on the trade-off between model simplification and the ability to detect erroneous behaviors in complex systems.     

Unboundedness detection for a class of communicating finite-state machines

Let M and N be two communicating finite-state machines that exchange one type of message. We discuss an algorithm to decide whether the communication between M and N is bounded. The algorithm is based on constructing a finite representation of the reachability tree of M and N assuming that M and N progress at equal speeds.     

Passivity-based analysis of the decentralized and extended minimal control synthesis algorithms

This paper presents new rigorous proofs of stability and robustness for the decentralized minimal control synthesis (DMCS) and extended minimal control synthesis (EMCS) algorithms, using the concept of system passivity. The stability result imposes no additional restrictions on the decentralized algorithm compared with the centralized form of the algorithm (Hodgson and Stoten 1996). Thus, previous restrictions on the amplitude of cross-coupling terms between degrees-offreedom of the controlled plant are removed. The robustness results apply in the cases of plant parameter variations and external disturbances.     

On one class of counter machines

In this paper, we are concerned with the properties of a certain class of “automaton” counter machines in which each transition is defined nondeterministically according to the control states and irrespectively of the data being handled. Automaton counter machines are useful as a general means for demonstrating the undecidability of a series of problems that can be modeled by these machines, in particular, this being so for interacting coloring processes, which are useful in modeling the movement of data of various kinds between the components of a distributed system.     

Passivity-based robust feedback control for non-linear systems with input dynamical uncertainty

This paper addresses the robust feedback control problem for a class of non-linear systems with uncertain input dynamics. The main objective is to develop a passivity-based systematic design approach for this kind of uncertain system. First, a passivity condition is presented for a non-linear system in feedback interconnection form, and then it is shown that with the help of this condition, a state feedback control law can be designed to render the uncertain system passive. Moreover, the extensions of the passivation controller are investigated in two cases where the uncertainty allows unknown control direction and there exists the external disturbance, respectively. It will be shown that an adaptive controller with a Nussbaum-type function can be incorporated into the passivation controller to deal with the unknown control direction and the L ₂-gain performance can be achieved by gain re-assignment of the passivation controller. Finally, a numerical example is given to demonstrate the proposed approach.     

Passivity-based neural network adaptive output feedback control for nonlinear nonnegative dynamical systems

The potential clinical applications of adaptive neural network control for pharmacology in general, and anesthesia and critical care unit medicine in particular, are clearly apparent. Specifically, monitoring and controlling the depth of anesthesia in surgery is of particular importance. Nonnegative and compartmental models provide a broad framework for biological and physiological systems, including clinical pharmacology, and are well suited for developing models for closed-loop control of drug administration. In this paper, we develop a neural adaptive output feedback control framework for adaptive set-point regulation of nonlinear uncertain nonnegative and compartmental systems. The proposed framework is Lyapunov-based and guarantees ultimate boundedness of the error signals corresponding to the physical system states and the neural network weighting gains. The approach is applicable to nonlinear nonnegative systems with unmodeled dynamics of unknown dimension and guarantees that the physical system states remain in the nonnegative orthant of the state-space for nonnegative initial conditions. Finally, a numerical example involving the infusion of the anesthetic drug midazolam for maintaining a desired constant level of depth of anesthesia for noncardiac surgery is provided to demonstrate the efficacy of the proposed approach.     

Successful adaptive control of paper machines

The papermaking process can be viewed as a time-varying stochastic system. The purpose of the control is to minimize the variance of moisture and basis weight of the manufactured paper. In the framework of stochastic theory and recently published papers on adaptive control an algorithm has been developed to cover the above-mentioned purpose. The strategy which hardly requires any a priori knowledge about the process is, in fact, a self-adjusting regulator. The central part of the algorithm is a compact identification scheme which gives directly the optimal control action. It is notable that contrary to normal identification and control methods the process dynamics never need to be calculated. The algorithm has been applied to several real-time computer control systems for paper machines. Up to now medium-scale computers have been used, but as the control program is powerful and short, some hundred words in length, it is in fact sufficient to perform the control with a mini-computer. Before the implementation of the algorithm for the above processes, the control system was built around digitalized PI-controllers, the parameters of which were carefully chosen and constant. A great number of comparative tests have been made in order to evaluate the efficiency of the adaptive regulator. The results were so successful that the algorithm has been permanently installed in the systems. The algorithm has not only decreased the output variance but also reduced the losses at quality changes and mill set-ups. Finally, it should be mentioned that the general nature of the algorithm permits application to many other types of processes.