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1148documents trouvés

18296
19/12/2018

Nonlinear control for an uncertain electromagnetic actuator

F.DESCHAUX, F.GOUAISBAUT, Y.ARIBA

MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami (USA), Décembre 2018, 6p. , N° 18296

Lien : https://hal.laas.fr/hal-01868623

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Abstract

This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work, we aim at taking into account a magnetic phenomenon that is usually neglected: flux fringing. This issue is addressed with an uncertain modeling approach. The proposed control law consists of two steps, a backstepping control regulates the mechanical part and a sliding mode approach controls the coil current and the magnetic force implicitly. An illustrative example shows the effectiveness of the presented approach.

144677
18674
19/12/2018

LMI-based design of dynamic event-triggering mechanism for linear systems

S.TARBOURIECH, A.GIRARD

MAC, L2S

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018 , N° 18674

Lien : https://hal.laas.fr/hal-02268566

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This paper deals with the design of an event-triggering mechanism using local information for a linear system controlled by an observer-based feedback controller. The event-triggered control strategy is based on a new dynamic triggering mechanism, which is introduced through an internal dynamic variable. Sufficient conditions based on linear matrix inequalities are proposed to ensure the asymptotic stability of the closed loop together with the avoidance of Zeno behavior. A convex optimization problem leans on these conditions to determine the parameters of the event-trigger rule aiming at reducing the number of control updates. Discussion with respect to the simpler state feedback case is drawn

147833
18451
19/12/2018

Observability of Discrete-Time Linear Systems with Communication Protocols and Dropouts

A.TANWANI, R.JUNGERS, W.P.M.H.HEEMELS

MAC, UCL, Eindhoven

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018, 6p. , N° 18451

Lien : https://hal.laas.fr/hal-01951815

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Abstract

We consider the problem of analyzing observability in discrete-time linear systems when the sensors, deployed in a distributed manner, may not communicate to an observer at once, and a protocol determines the communication pattern among different sensors. We use the formalism of automata to model the sequence of measurements determined by a protocol and show that the question of observability is decidable for the resulting system. We give upper bounds on the number of measurements required for deciding observability. In addition, we consider the effects of dropouts, which may occur in communicating the measurements across the channel. Again using the formalism of automatons to model certain classes of dropouts combined with the protocol, it is shown that observability is decidable in finite time for measurements sent across a communication channel using a protocol, and subject to dropouts.

145899
18454
19/12/2018

Max-Min Lyapunov Functions for Switching Differential Inclusions

M.DELLA ROSSA, A.TANWANI, L.ZACCARIAN

MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018 , N° 18454

Lien : https://hal.archives-ouvertes.fr/hal-01951377

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We use a class of locally Lipschitz continuous Lyapunov functions to establish stability for a class of differential inclusions where the set-valued map on the right-hand-side comprises the convex hull of a finite number of vector fields. Starting with a finite family of continuously differentiable positive definite functions, we study conditions under which a function obtained by max-min combinations over this family of functions is a Lyapunov function for the system under consideration. For the case of linear systems, using the S-Procedure, our conditions result in bilinear matrix inequalities. The proposed construction also provides nonconvex Lyapunov functions, which are shown to be useful for systems with state-dependent switching that do not admit a convex Lyapunov function.

145905
18061
19/12/2018

Exponential Lyapunov Stability Analysis of a Drilling Mechanism

M.BARREAU, A.SEURET, F.GOUAISBAUT

MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018, 6p. , N° 18061

Lien : https://hal.laas.fr/hal-01725416

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This article deals with the stability analysis of a drilling system which is modelled as a coupled ordinary differential equation / string equation. The string is damped at the two boundaries but leading to a stable open-loop system. The aim is to derive a linear matrix inequality ensuring the exponential stability with a guaranteed decay-rate of this interconnected system. A strictly proper dynamic controller based on boundary measurements is proposed to accelerate the system dynamics and its effects are investigated through the stability theorem and simulations. It results in an efficient finite dimension controller which subsequently improves the system performances.

144227
18081
19/12/2018

Relaxed periodic switching controllers of high-frequency DC-DC converters using the δ-operator formulation

A.CUTILLAS, C.ALBEA SANCHEZ, A.SEURET, F.GORDILLO

Seville, MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018, 6p. , N° 18081

Lien : https://hal.archives-ouvertes.fr/hal-01746435

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This paper deals with the design of new periodic switching control laws for high frequency DC-DC converters. The contributions are twofolds. On a first hand, the DC-DC converter model are rewritten as a periodic switched affine systems thanks to a δ-operator formulation, which represent an efficient framework for the numerical discretization at high frequencies. On a second hand, three different control laws are provided, the first one being the usual Lyapunov-based control law and the two others being relaxed versions of this first solution. The benefits of these two new control laws over the usual Lyapunov-based one are demonstrated on an simple example. More particularly, it is showed that the selection of sampling period and of the control law strongly influence the size of the region of attraction.

147718
18580
19/12/2018

Unsafe Point Avoidance in Linear State Feedback

P.BRAUN, C.M.KELLETT, L.ZACCARIAN

Duisburg-Essen, EXT, MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami (USA), Décembre 2018, pp.2372-2377 , N° 18580

Lien : https://hal.laas.fr/hal-01995607

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We propose a hybrid solution for the stabilization of the origin of a linear time-invariant stabilizable system with the property that a suitable neighborhood of a pre-defined unsafe point in the state space is avoided by the closed-loop solutions. Hybrid tools are motivated by the fact that the task at hand cannot be solved with continuous feedback, whereas the proposed hybrid solution induces nominal and robust asymptotic stability of the origin. More specifically, we formulate a semiglobal version of the problem at hand and describe a fully constructive approach under the assumption that the unsafe point to be avoided does not belong to the equilibrium subspace induced by the control input on the linear dynamics. The approach is illustrated on a numerical example

146743
18675
19/12/2018

Continuous-Time Gain-Scheduled H-infinity Controllers with Causality for Scheduling Parameters via Parameter-Dependent Lyapunov Functions

M.SATO, D.PEAUCELLE

JAXA, Tokyo, MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami (USA), Décembre 2018, pp.4908-4913 , N° 18675

Lien : https://hal.archives-ouvertes.fr/hal-02270940

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147893
18221
19/12/2018

Stabilization of an unstable wave equation using an infinite dimensional dynamic controller

M.BARREAU, F.GOUAISBAUT, A.SEURET

MAC

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018, 7p. , N° 18221

Lien : https://hal.laas.fr/hal-01845845

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This paper deals with the stabilization of an anti-stable string equation with Dirichlet actuation where the instability appears because of the uncontrolled boundary condition. Then, infinitely many unstable poles are generated and an infinite dimensional control law is therefore proposed to exponentially stabilize the system. The idea behind the choice of the controller is to extend the domain of the PDE so that the anti-damping term is compensated by a damping at the other boundary condition. Additionally, notice that the system can then be exponentially stabilized with a chosen decay-rate and is robust to uncertainties on the wave speed and the anti-damped coefficient of the wave equation, with the only use of a point-wise boundary measurement. The efficiency of this new control strategy is then compared to the backstepping approach.

144233
18509
19/12/2018

Stability of distributed delay system with infinite support

Y.ARIBA, F.GOUAISBAUT, A.SEURET, K.LIU

MAC, CPPM

Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2018 du 17 décembre au 19 décembre 2018, Miami Beach (USA), Décembre 2018, 6p. , N° 18509

Lien : https://hal.laas.fr/hal-01962563

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This paper is devoted to the stability analysis of infinite distributed delay systems. The basic idea is to model the original time-delay system into an interconnected feedback system in order to use robust analysis and especially quadratic separation. This approach has been widely used to study classical pointwise time-delay system. The stability analysis is performed by introducing new quadratic inequalities based on Laguerre polynomials particularly well fitted to deal with infinite distributed delay. It allows to develop new stability results which accuracy depends on the chosen polynomial degree.

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