May 2021
7th of May 2021 - 3pm Online Seminar
Speaker : Daniel Cunico
Title : Nonlinear modeling and feedback control of boom barrier automation
Abstract : In this work we propose a novel control strategy for a gate access automation system. After developing and identifying a model of the system, an ad-hoc control algorithm is presented with the aim of maximizing the performance considering its non-linear dynamic behavior, the motor drive dynamics, and the physical limits of the device. A nonlinear optimization problem is solved offline to generate a feasible trajectory associated with a feedforward action. The feedback controller parameters are tuned by solving a set of convex linear matrix inequalities, making a trade-off between disturbances attenuation and closed-loop performance. The experimental results show the fulfillment of the requirements in terms of robustness, load disturbances rejection and tracking performance.
Title : Nonlinear modeling and feedback control of boom barrier automation
Abstract : In this work we propose a novel control strategy for a gate access automation system. After developing and identifying a model of the system, an ad-hoc control algorithm is presented with the aim of maximizing the performance considering its non-linear dynamic behavior, the motor drive dynamics, and the physical limits of the device. A nonlinear optimization problem is solved offline to generate a feasible trajectory associated with a feedforward action. The feedback controller parameters are tuned by solving a set of convex linear matrix inequalities, making a trade-off between disturbances attenuation and closed-loop performance. The experimental results show the fulfillment of the requirements in terms of robustness, load disturbances rejection and tracking performance.
Speaker : Mathieu Bajodek
Title : Stability of a system interconnected with the reaction-diffusion equation
Abstract : This presentation deals with the analysis of a finite dimensional system interconnected with a reaction-diffusion equation subject to Robin boundary conditions. In this situation, stability is not straightforward to assess and one needs to look for dedicated tools to provide accurate numerical tests. Here, the objective is to provide a Lyapunov analysis leading to an efficient and scalable stability criteria. This is made possible thanks to the Legendre orthogonal basis which allows building accurate Lyapunov functionals. Indeed this functional is expressed thanks to the state of the finite-dimensional system, the first Fourier-Legendre coefficients and the remainder of the Fourier-Legendre expansion of the infinite-dimensional state. Using this representation, an efficient formulation of the Bessel and Wirtinger inequalities are provided leading to sufficient stability conditions expressed in terms of linear matrix inequalities. A numerical example finally illustrate the accuracy and the potential of the stability result.
Title : Stability of a system interconnected with the reaction-diffusion equation
Abstract : This presentation deals with the analysis of a finite dimensional system interconnected with a reaction-diffusion equation subject to Robin boundary conditions. In this situation, stability is not straightforward to assess and one needs to look for dedicated tools to provide accurate numerical tests. Here, the objective is to provide a Lyapunov analysis leading to an efficient and scalable stability criteria. This is made possible thanks to the Legendre orthogonal basis which allows building accurate Lyapunov functionals. Indeed this functional is expressed thanks to the state of the finite-dimensional system, the first Fourier-Legendre coefficients and the remainder of the Fourier-Legendre expansion of the infinite-dimensional state. Using this representation, an efficient formulation of the Bessel and Wirtinger inequalities are provided leading to sufficient stability conditions expressed in terms of linear matrix inequalities. A numerical example finally illustrate the accuracy and the potential of the stability result.