1139documents trouvés
A nonsmooth hybrid invariance principle applied to robust event-triggered design
A.SEURET, C.PRIEUR, S.TARBOURIECH, L.ZACCARIAN
MAC, GIPSA-Lab
Revue Scientifique : IEEE Transactions on Automatic Control, Vol.64, N°5, pp.2061-2068, Mai 2019 , N° 17179
Lien : https://hal.laas.fr/hal-01526331
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We first propose a nonsmooth hybrid invariance principle with relaxed conditions stemming from the fact that flowing solutions evolve only in the tangent cone, and complete jumping solutions cannot jump ouside the jump and flow sets. We then show an application consisting in the design of event-triggered rules to stabilize a class of uncertain linear control systems. The event-triggering rule depends only on local information, that is it uses only the output signals available to the controller. The approach proposed combines a hybrid framework to describe the closed-loop system with looped functionals based techniques. The proposed design conditions are formulated in terms of linear matrix inequalities (LMIs) ensuring global robust asymptotic stability of the closed-loop system. A tunable parameter is also available to guarantee an adjustable dwell-time property of the solutions. The effectiveness of the approach is evaluated through an example borrowed from the literature.
Optimal control problems with oscillations, concentrations and discontinuities
D.HENRION, M.KRUZIK, T.WEISSER
MAC, CzechTech. Univ.
Revue Scientifique : Automatica, Vol.103, pp.159-165, Mai 2019 , N° 18218
Lien : https://hal.archives-ouvertes.fr/hal-01802883
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Optimal control problems with oscillations (chattering controls) and concentrations (impulsive controls) can have integral performance criteria such that concentration of the control signal occurs at a discontinuity of the state signal. Techniques from functional analysis (anisotropic parametrized measures) are applied to give a precise meaning of the integral cost and to allow for the sound application of numerical methods. We show how this can be combined with the Lasserre hierarchy of semidefinite programming relaxations
Low-Complexity Controllers for Time-Delay Systems
A.SEURET, H.OZBAY, C.BONNET
MAC, Bilkent University, INRIA Paris
Ouvrage (éditeur) : Low-Complexity Controllers for Time-Delay Systems, N°ISBN 978-3-319-05575-6, Mars 2019 , N° 14820
Lien : https://hal.archives-ouvertes.fr/hal-02057344
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This volume in the newly established series Advances in Delays and Dynamics (ADD@S) provides a collection of recent results on the design and analysis of Low Complexity Controllers for Time Delay Systems. A widely used indirect method to obtain low order controllers for time delay systems is to design a controller for the reduced order model of the plant. In the dual indirect approach, an infinite dimensional controller is designed first for the original plant model; then, the controller is approximated by keeping track of the degradation in performance and stability robustness measures. The present volume includes new techniques used at different stages of the indirect approach. It also includes new direct design methods for fixed structure and low order controllers. On the other hand, what is meant by low complexity controller is not necessarily low order controller. For example, Smith predictor or similar type of controllers include a copy of the plant internally in the controller, so they are technically infinite dimensional. However, they have very nice numerical properties from the point of reliable implementation. Therefore, such predictor-based controllers are considered as low complexity. This book includes new predictor-based design techniques, with several application examples.
Long-term electric geostationary station-keeping via integer programming
C.GAZZINO, D.ARZELIER, C.LOUEMBET
MAC, ROC
Revue Scientifique : Journal of Guidance, Control, and Dynamics, Février 2019, doi10.2514/1.G003644 , N° 18024
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The problem of the computation of correction maneuvers for the fuel-optimal long-term station-keeping within a predefined longitude and latitude window of a geostationary satellite equipped with electric propulsion is investigated. The use of electric thrusters imposes some additional operational constraints on actuation that can be reformulated as logical constraints on the control function. The resulting fuel-optimal station-keeping problem is therefore transformed into a mixed linear integer programming problem. The long-term horizon of station-keeping is divided in shorter control cycles synchronized with the cycles of orbit determination, and the long-term station-keeping problem amounts to solve a sequence of similar mixed linear integer programming problems with different initial conditions. Two different terminal constraints on geographical positions and/or linear velocities are added to the formulation of the mixed linear integer programming problems to ease the feasibility of the whole sequence of successive resolutions. Nonlinear perturbed simulations of the computed control strategies show their efficiency on a long-term station-keeping problem lasting one year.
Hybrid models of opinion dynamics with opinion-dependent connectivity
P.FRASCA, S.TARBOURIECH, L.ZACCARIAN
GIPSA-Lab, MAC
Revue Scientifique : Automatica, Vol.100, pp.153-161, Février 2019 , N° 18402
Lien : https://hal.archives-ouvertes.fr/hal-01940187
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This paper is a first attempt at using tools from the theory of hybrid systems to study opinion dynamics on networks with opinion-dependent connectivity. According to the hybrid framework, our dynamics are represented by the combination of continuous flow dynamics and discrete jump dynamics. The flow embodies the attractive forces between the agents and is defined by an ordinary differential equation whose right-hand side is a Laplacian, whereas the jumps describe the activation or deactivation of the pairwise interactions between agents. We first reformulate the classical Hegselmann–Krause model in this framework and then define a novel interaction model, which has the property of being scale-invariant. We study the stability and convergence properties of both models by a Lyapunov analysis, showing convergence and clusterization of opinions.
Detectability and observer design for switched differential–algebraic equations
A.TANWANI, S.TRENN
MAC, University of Groningen
Revue Scientifique : Automatica, Vol.99, pp.289-300, Janvier 2019 , N° 18387
Lien : https://hal.laas.fr/hal-01933110
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This paper studies detectability for switched linear differential–algebraic equations (DAEs) and its application to the synthesis of observers, which generate asymptotically converging state estimates. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor at the end of that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component of the system is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption.
Stability analysis of a system coupled to a heat equation
L.BAUDOUIN, A.SEURET, F.GOUAISBAUT
MAC
Revue Scientifique : Automatica, Vol.99, pp.195-202, Janvier 2019 , N° 17247
Lien : https://hal.archives-ouvertes.fr/hal-01566455
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As a first approach to the study of systems coupling finite and infinite dimensional natures, this article addresses the stability of a system of ordinary differential equations coupled with a classic heat equation using a Lyapunov functional technique. Inspired from recent developments in the area of time delay systems, a new methodology to study the stability of such a class of distributed parameter systems is presented here. The idea is to use a polynomial approximation of the infinite dimensional state of the heat equation in order to build an enriched energy functional. A well known efficient integral inequality (Bessel inequality) will allow to obtain stability conditions expressed in terms of linear matrix inequalities. We will eventually test our approach on academic examples in order to illustrate the efficiency of our theoretical results.
An overview of recent advances in stability of linear systems with time-varying delays
Q.L.HAN, X.M.ZHANG, A.SEURET, F.GOUAISBAUT, Y.HE
Swinburne, MAC
Revue Scientifique : IET Control Theory & Applications, Vol.13, N°1, 15p., Janvier 2019, doi 10.1049/iet-cta.2018.5188 , N° 18362
Lien : https://hal.laas.fr/hal-01920425
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This paper provides an overview and in-depth analysis of rec ent advances in stability of linear systems with time-varyi ng delays. First, recent developments of a delay convex analys is approach, a reciprocally convex approach and the constru ction of Lyapunov-Krasovskii functionals are reviewed insightful ly. Second, in-depth analysis of the Bessel-Legendre inequ ality and some affine integral inequalities is made, and recent stability r esults are also summarized, including stability criteria f or three cases of a time-varying delay, where information on the bounds of the t ime-varying delay and its derivative is totally known, part ly known and completely unknown, respectively. Third, a number of stabi lity criteria are developed for the above three cases of the t ime-varying delay by employing canonical Bessel-Legendre inequalitie s, together with augmented Lyapunov-Krasovskii functiona ls. It is shown through numerical examples that these stability criteria o utperform some existing results. Finally, several challen ging issues are pointed out to direct the near future research.
D-optimal design for multivariate polynomial regression via the Chrstoffel function and semidefinite relaxations
Y.DE CASTRO, F.GAMBOA, D.HENRION, R.HESS, J.B.LASSERRE
LM, Orsay, IMT, Toulouse, MAC
Revue Scientifique : Annals of Statistics, Vol.47, N°1, pp.127-155, Janvier 2019 , N° 17044
Lien : https://hal.laas.fr/hal-01483490
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We present a new approach to the design of D-optimal experiments with multivariate polynomial regressions on compact semi-algebraic design spaces. We apply the moment-sum-of-squares hierarchy of semidefinite programming problems to solve numerically and approximately the optimal design problem. The geometry of the design is recovered with semidefinite programming duality theory and the Christoffel polynomial.
Distributed estimation based on multi-hop subspace decomposition
A.RODRIGUES DEL NOZAL, P.MILLAN GATA, L.ORIHUELA, A.SEURET, L.ZACCARIAN
Loyola Andalucía, MAC
Revue Scientifique : Automatica, Vol.99, pp.213-220, Janvier 2019 , N° 18383
Lien : https://hal.laas.fr/hal-01920417
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This paper deals with the problem of distributedly estimating the state of an LTI plant through an interconnected network of agents. The proposed approach results in an observer structure that incorporates consensus among the agents and that can be distributedly designed, achieving a robust solution with a good estimation performance. The developed solution is based on an iterative decomposition of the plant in the local observable staircase forms. The proposed observer has several positive features compared to recent results in the literature, which include milder assumptions on the network connectivity and the ability to set the convergence rate.