共查询到20条相似文献,搜索用时 10 毫秒
1.
In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system, while preserving a hybrid Hamiltonian structure at the closed-loop level. Furthermore, an inverse optimal hybrid feedback control framework is developed that characterizes a class of globally stabilizing energy-based controllers that guarantee hybrid sector and gain margins to multiplicative input uncertainty of hybrid Hamiltonian systems. 相似文献
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从连续系统的角度出发,提出并证明了混合动态系统的有界性定理,并以一类具体的数字反馈采样控制系统为例,详细阐述了有界性定理的具体应用,最终得到系统在其状态空间内有界的充分条件。 相似文献
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Andrey V. Savkin Ian R. Petersen Efstratios Skafidas Robin J. Evans 《Systems & Control Letters》1996,29(2):2248
The paper presents a new approach to robust control synthesis problems for hybrid dynamical systems. The hybrid system under consideration is a composite of a continuous plant and a discrete event controller. State and output feedback problems are considered. The main results are given in terms of the existence of suitable solutions to a dynamic programming equation and a Riccati differential equation of the H∞ filtering type. These results show a connection between the theories of hybrid dynamical systems and robust and nonlinear control. 相似文献
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This paper studies a dynamic buffer management problem with one buffer inserted between two interacting components. The component to be controlled is assumed to have multiple power modes corresponding to different data processing rates. The overall system is modeled as a hybrid system and the buffer management problem is formulated as an optimal control problem. Different from many previous studies, the objective function of the proposed problem depends on the switching cost and the size of the continuous state space, making its solution much more challenging. By exploiting some particular features of the problem, the best mode sequence and the optimal switching instants are characterized analytically using a variational approach. Simulation results based on real data shows that the proposed method can significantly reduce the energy consumption compared with another heuristic scheme in several typical situations. 相似文献
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Output-to-state stability (OSS) is a dual notion of input-to-state stability for dynamical systems. This paper presents Lyapunov and asymptotic characterizations of OSS for hybrid dynamical systems, emphasizing that a globally detectable (i.e. nonuniformly OSS) hybrid system admits a smooth OSS-Lyapunov function. 相似文献
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Recently, hybrid dynamical systems have attracted considerable attention in the automatic control domain. In this article,
a theory for recurrent neural networks is presented from a hybrid dynamical systems point of view. The hybrid dynamical system
is defined by a continuous dynamical system discretely switched by external temporal inputs. The theory suggests that the
dynamics of continuous-time recurrent neural networks, which are stochastically excited by external temporal inputs, are generally
characterized by a set of continuous trajectories with a fractal-like structure in hyper-cylindrical phase space.
This work was presented, in part, at the 7th International Symposium on Artificial Life and Robotics, Oita, Japan, January
16–18, 2002 相似文献
8.
Alfonso Baños Juan I. Mulero Antonio Barreiro Miguel A. Davó 《International journal of control》2016,89(10):1985-2007
Impulsive dynamical systems is a well-established area of dynamical systems theory, and it is used in this work to analyse several basic properties of reset control systems: existence and uniqueness of solutions, and continuous dependence on the initial condition (well-posedness). The work scope is about reset control systems with a linear and time-invariant base system, and a zero-crossing resetting law. A necessary and sufficient condition for existence and uniqueness of solutions, based on the well-posedness of reset instants, is developed. As a result, it is shown that reset control systems (with strictly proper plants) do not have Zeno solutions. It is also shown that full reset and partial reset (with a special structure) always produce well-posed reset instants. Moreover, a definition of continuous dependence on the initial condition is developed, and also a sufficient condition for reset control systems to satisfy that property. Finally, this property is used to analyse sensitivity of reset control systems to sensor noise. This work also includes a number of illustrative examples motivating the key concepts and main results. 相似文献
9.
Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics 总被引:1,自引:0,他引:1
S. Di Cairano Author Vitae A. Bemporad Author Vitae J. Júlvez Author Vitae 《Automatica》2009,45(5):1243-1251
In this paper we introduce a class of continuous-time hybrid dynamical systems called integral continuous-time hybrid automata (icHA) for which we propose an event-driven optimization-based control strategy. Events include both external actions applied to the system and changes of continuous dynamics (mode switches). The icHA formalism subsumes a number of hybrid dynamical systems with practical interest, e.g., linear hybrid automata. Different cost functions, including minimum-time and minimum-effort criteria, and constraints are examined in the event-driven optimal control formulation. This is translated into a finite-dimensional mixed-integer optimization problem, in which the event instants and the corresponding values of the control input are the optimization variables. As a consequence, the proposed approach has the advantage of automatically adjusting the attention of the controller to the frequency of event occurrence in the hybrid process. A receding horizon control scheme exploiting the event-based optimal control formulation is proposed as a feedback control strategy and proved to ensure either finite-time or asymptotic convergence of the closed-loop. 相似文献
10.
Multilinear model approach turns out to be an ideal candidate for dealing with nonlinear systems control problem. However, how to identify the optimal active state subspace of each linear subsystem is an open problem due to that the closed-loop performance of nonlinear systems interacts with these subspaces ranges. In this paper, a new systematic method of integrated state space partition and optimal control of multi-model for nonlinear systems based on hybrid systems is initially proposed, which can deal with the state space partition and associated optimal control simultaneously and guarantee an overall performance of nonlinear systems consequently. The proposed method is based on the framework of hybrid systems which synthesizes the multilinear model, produced by nonlinear systems, in a unified criterion and poses a two-level structure. At the upper level, the active state subspace of each linear subsystem is determined under the optimal control index of a hybrid system over infinite horizon, which is executed off-line. At the low level, the optimal control is implemented online via solving the optimal control of hybrid system over finite horizon. The finite horizon optimal control problem is numerically computed by simultaneous method for speeding up computation. Meanwhile, the model mismatch produced by simultaneous method is avoided by using the strategy of receding-horizon. Simulations on CSTR (Continuous Stirred Tank Reactor) confirm that a superior performance can be obtained by using the presented method. 相似文献
11.
Ion Necoara Author Vitae Ton J.J. van den Boom Author VitaeAuthor Vitae Hans Hellendoorn Author Vitae 《Automatica》2008,44(4):971-981
Max-plus-linear (MPL) systems are a class of event-driven nonlinear dynamic systems that can be described by models that are “linear” in the max-plus algebra. In this paper we derive a solution to a finite-horizon model predictive control (MPC) problem for MPL systems where the cost is designed to provide a trade-off between minimizing the due date error and a just-in-time production. In general, MPC can deal with complex input and states constraints. However, in this paper we assume that these are not present and it is only required that the input should be a nondecreasing sequence, i.e. we consider the “unconstrained” case. Despite the fact that the controlled system is nonlinear, by employing recent results in max-plus theory we are able to provide sufficient conditions such that the MPC controller is determined analytically and moreover the stability in terms of Lyapunov and in terms of boundedness of the closed-loop system is guaranteed a priori. 相似文献
12.
The paper introduces a new method for finding optimal control of algebraic dynamic systems. The structure of algebraic dynamical systems is nonlinear with quadratic and bilinear terms. A new hybrid extended Fourier series is introduced, and state and control variables of the system are expanded by this series. Moreover, properties of new series are presented, and integration and product operational matrices are obtained. Using operational matrices, optimal control of the systems is converted to a set of simultaneous nonlinear algebraic relations. An illustrative example is included to compare our results with those in the literature. 相似文献
13.
Nearly optimal control laws for nonlinear systems with saturating actuators using a neural network HJB approach 总被引:8,自引:0,他引:8
The Hamilton-Jacobi-Bellman (HJB) equation corresponding to constrained control is formulated using a suitable nonquadratic functional. It is shown that the constrained optimal control law has the largest region of asymptotic stability (RAS). The value function of this HJB equation is solved for by solving for a sequence of cost functions satisfying a sequence of Lyapunov equations (LE). A neural network is used to approximate the cost function associated with each LE using the method of least-squares on a well-defined region of attraction of an initial stabilizing controller. As the order of the neural network is increased, the least-squares solution of the HJB equation converges uniformly to the exact solution of the inherently nonlinear HJB equation associated with the saturating control inputs. The result is a nearly optimal constrained state feedback controller that has been tuned a priori off-line. 相似文献
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Francesco Borrelli Author Vitae Mato Baoti? Author Vitae Alberto Bemporad Author Vitae 《Automatica》2005,41(10):1709-1721
In this paper we study the solution to optimal control problems for constrained discrete-time linear hybrid systems based on quadratic or linear performance criteria. The aim of the paper is twofold. First, we give basic theoretical results on the structure of the optimal state-feedback solution and of the value function. Second, we describe how the state-feedback optimal control law can be constructed by combining multiparametric programming and dynamic programming. 相似文献
16.
The linear partially observed discrete-continuous (hybrid) stochastic controllable system described by differential equations with measures is considered. The optimal filtering equations in the form of generalized Kalman filter are obtained in the case of non-anticipating control. This result could be a theoretical basis for the optimal control in stochastic hybrid systems with incomplete information. 相似文献
17.
Nael H. El-Farra Prashant Mhaskar Panagiotis D. Christofides 《Systems & Control Letters》2005,54(12):1046-1182
This work presents a hybrid nonlinear control methodology for a broad class of switched nonlinear systems with input constraints. The key feature of the proposed methodology is the integrated synthesis, via multiple Lyapunov functions, of “lower-level” bounded nonlinear feedback controllers together with “upper-level” switching laws that orchestrate the transitions between the constituent modes and their respective controllers. Both the state and output feedback control problems are addressed. Under the assumption of availability of full state measurements, a family of bounded nonlinear state feedback controllers are initially designed to enforce asymptotic stability for the individual closed-loop modes and provide an explicit characterization of the corresponding stability region for each mode. A set of switching laws are then designed to track the evolution of the state and orchestrate switching between the stability regions of the constituent modes in a way that guarantees asymptotic stability of the overall switched closed-loop system. When complete state measurements are unavailable, a family of output feedback controllers are synthesized, using a combination of bounded state feedback controllers, high-gain observers and appropriate saturation filters to enforce asymptotic stability for the individual closed-loop modes and provide an explicit characterization of the corresponding output feedback stability regions in terms of the input constraints and the observer gain. A different set of switching rules, based on the evolution of the state estimates generated by the observers, is designed to orchestrate stabilizing transitions between the output feedback stability regions of the constituent modes. The differences between the state and output feedback switching strategies, and their implications for the switching logic, are discussed and a chemical process example is used to demonstrate the proposed approach. 相似文献
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By means of the internal model principle, an approach to improve the performance of a stabilised closed-loop continuous time linear system based on manipulation of the reference signal is developed. A change in the reference signal is equivalent to implementing an instantaneous change via the choice of a decision vector in the state of the reference signal model, and the analysis of the proposed approach called hybrid reference control (HRC) system is then shown to be equivalent to the analysis of a linear impulsive dynamical system. Conditions for asymptotic stability and convergence of the output tracking error for a HRC system are expressed in term of conditions on the decision vectors. Conditions are then derived which guarantee that the HRC system leads to an improved transient performance compared to a conventional closed-loop control system. In particular, it is shown how decision vectors are chosen so that a HRC system results in a deadbeat response. 相似文献