Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 6, Issue 12, 16 August 2012
Volumes & issues:
Volume 6, Issue 12
16 August 2012
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- Author(s): J. Blesa ; V. Puig ; J. Saludes
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1767 –1777
- DOI: 10.1049/iet-cta.2010.0610
- Type: Article
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1767
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This article proposes a robust set-membership fault detection method based on the use of polytopes to bound the parameter uncertainty set. The algorithm is able to handle systems with bounded parameter variation between samples. It is shown that consistency checks indicating faults can be performed in a natural manner with a polytope description of the feasible parameter set. Finally, an application example is given, which demonstrates how the algorithm works on the well-known four-tank system benchmark. A comparison with a zonotope-based fault detection approach recently proposed in the literature is included. - Author(s): Q. Ling
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1778 –1786
- DOI: 10.1049/iet-cta.2011.0530
- Type: Article
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This study investigates the global asmptotic stabilisability of an n-dimensional quantised feedforward non-linear system. The system’s dynamics are assumed to be locally Lipschitz. So the ranges of the state variables are tightly related to the parameters of the quantisation procedure, that is, there exists coupling between quantisation and control. To save network transmission bandwidth, less quantisation bits (per sample) are preferred. In De Persis’ paper, n bits (per sample) are shown to be enough to stabilise the n-dimensional system by taking a time-invariant quantiser, which assigns 1 bit to each state variable (dimension). We design a time-varying quantiser and can globally stabilise the system with only 1 bit, instead of n bits. That single bit is assigned to the most ‘important’ state variable at each sampling instant, which yields the time-varying coupling among the quantisation errors of state variables besides the coupling between quantisation and control. Owing to the well-designed structure of our quantiser, we can place exponentially converging upper bounds on the quantisation errors of state variables and well handle both types of couplings, so that the global stability of the system is guaranteed with 1 bit. An example is used to demonstrate the effectiveness of the proposed quantiser. - Author(s): L. García-Delgado ; A. Dzul ; V. Santibáñez ; M. Llama
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1787 –1802
- DOI: 10.1049/iet-cta.2011.0370
- Type: Article
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This study proposes a formation control scheme for a group of quad-rotor aircrafts. The formation is realised by considering a constant altitude for the group of aircrafts. The authors propose a stability analysis that considers the aircraft group as a large-scale interconnected linear system in order to compute the value of the formation gain that guarantees its stabilisation. The control scheme for the group is based on the potential field theory, whereas the stabilising control law for each rotorcraft is done through nested saturation functions. The author also propose repulsive functions in order to guarantee obstacle avoidance. The repulsive functions take into account the attractive forces to compute, in a suitable way, the repulsive forces. Simulation results emphasise the effectiveness of the proposed control scheme. - Author(s): J. Zhu ; L.P. Wang ; M. Spiryagin
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1803 –1811
- DOI: 10.1049/iet-cta.2011.0302
- Type: Article
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This study investigates control and decision strategy for the failure prone manufacturing process, which is modelled as a two-mode Markovian jump system (MJS). Considering the historical effects on the system, the mode transition rate matrix (MTRM) is time-varying instead of homogeneous. A piecewise homogeneous MJS is thus proposed to characterise this phenomenon, in which the MTRM is homogeneous during certain time intervals but non-homogeneous for the whole time interval. By regarding each homogeneous MTRM as one event, all the MTRMs over the whole time interval will take values in an event set and be governed by a higher-level Markov chain. To ensure such system operates normally with high probability, the decisions including preventive maintenance and corrective maintenance are introduced to adjust the higher-level Markov chain. Motivated by this, a new joint performance, consisting of both cost function for decision making and controller design, is developed. Optimal decisions are obtained by an iterative algorithm whose convergence is proved, as well as an optimal controller is designed. The effectiveness of this method is demonstrated by simulations. - Author(s): K. Alexis ; G. Nikolakopoulos ; A. Tzes
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1812 –1827
- DOI: 10.1049/iet-cta.2011.0348
- Type: Article
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This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation data. Based on an attached inertia measurement unit, a sonar and an optic-flow sensor, the state vector is estimated using sensor fusion algorithms. A novel switching model predictive controller is designed in order to achieve precise trajectory control, under the presence of forcible wind gusts. The quadrotor’s attitude, altitude and horizontal linearised dynamics result in a set of piecewise affine models, enabling the controller to account for a larger part of the quadrotor’s flight envelope while modelling the effects of atmospheric disturbances as additive-affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude manoeuvres experiments. The experimental results indicate the overall system’s efficiency in position/altitude/attitude set-point manoeuvres. - Author(s): Y. Wang ; T. Chai ; J. Fu ; Y. Zhang ; Y. Fu
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1828 –1841
- DOI: 10.1049/iet-cta.2011.0053
- Type: Article
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This study introduces a multivariable adaptive decoupling control strategy using multiple models and neural networks for a class of discrete-time nonlinear dynamic systems. The adaptive decoupling switching control strategy based on generalised predictive control is composed of a linear adaptive decoupling controller, a neural-network-based nonlinear adaptive decoupling controller and a switching mechanism. First, the linear adaptive decoupling controller is designed to ensure the boundedness of the input and output signals of the closed-loop system. Second, the neural-network-based nonlinear adaptive decoupling controller is developed to improve the transient performance of the closed-loop system. Third, the stability and convergence of the closed-loop system are achieved simultaneously by using multiple-models-based switching mechanism. Simulation studies are provided for a numerical example and a forced-circulation evaporation process of an alumina production system so as to demonstrate the effectiveness of the proposed method. - Author(s): H.C. Sung ; J.B. Park ; Y.H. Joo
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1842 –1850
- DOI: 10.1049/iet-cta.2010.0580
- Type: Article
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This study proposes the digital redesign (DR) method for an observer-based output-feedback control in the presence of parametric uncertainties. The term DR is to convert an existing analogue control into an equivalent digital one in the sense of state-matching. The DR problem can be reduced to find the digital gains minimising the norm distance between the closed-loop states of the analogue and digital control. The main feature of the proposed DR is that the state estimation error in the plant dynamics is considered for the state-matching condition. Also, by handling the parametric uncertainties in the concerned system, the robust stability is well guaranteed in the proposed DR procedure. Its constructive conditions are expressed as the linear matrix inequalities A numerical example has been demonstrated to visualise the feasibility of the proposed methodology. - Author(s): F.G. Rossomando ; C. Soria ; R. Carelli
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1851 –1860
- DOI: 10.1049/iet-cta.2011.0581
- Type: Article
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This study proposes an inverse non-linear controller combined with an adaptive neural network proportional integral (PI) sliding mode using an on-line learning algorithm. The neural network acts as a compensator for a conventional inverse controller in order to improve the control performance when the system is affected by variations on their dynamics and kinematics. Also, the proposed controller can reduce the steady-state error of a non-linear inverse controller using the on-line adaptive technique based on Lyapunov's theory. Experimental results show that the proposed method is effective in controlling dynamic systems with unexpected large uncertainties. - Author(s): Q. Jiang ; H.-S. Xi ; B.-Q. Yin
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1861 –1869
- DOI: 10.1049/iet-cta.2011.0174
- Type: Article
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1861
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Motivated by the optimisation of network communication systems, this paper presents a hierarchical analytical model for event-driven switching control of stochastic dynamic systems. First, the model called semi-Markov switching state-space control processes is introduced. The semi-Markov kernel and equivalent infinitesimal generator are constructed to characterise the hierarchical dynamics, and the sensitivity formula for performance difference under average criterion is derived based on potential theory. Then, by exploiting the structure of dynamic hierarchy and the features of event-driven policy, an online adaptive optimisation algorithm that combines potentials estimation and policy iteration is proposed. The convergence of this algorithm is also proved. Finally, as an illustrative example, the dynamic service composition problem in service overlay networks is formulated and addressed. Simulation results demonstrate the effectiveness of the presented approach. - Author(s): J. Zhang ; A.K. Swain ; S.K. Nguang
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1870 –1880
- DOI: 10.1049/iet-cta.2011.0440
- Type: Article
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The present study proposes a new scheme for detection and isolation of incipient sensor faults for a class of uncertain non-linear systems by combining sliding mode observers (SMOs) with a Luenberger observer. Initially, a state and output transformation is introduced to transform the original system into two subsystems such that the first subsystem (subsystem-1) has system uncertainties but is free from sensor faults and the second subsystem (subsystem-2) has sensor faults but without any uncertainties. The sensor faults in subsystem-2 are then transformed to actuator faults using integral observer-based approach. The states of subsystem-1 are estimated using an SMO to eliminate the effects of uncertainties. However, since subsystem-2 does not have any uncertainties, the incipient faults present in this subsystem are detected by designing a Luenberger observer. These faults are then isolated by applying a bank of SMOs to subsystem-2. The sufficient condition of stability of the proposed scheme has been derived and expressed as linear matrix inequalities (LMIs). The design parameters of the observers are determined by using LMI techniques. The effectiveness of the proposed scheme in detecting and isolating sensor faults is illustrated considering an example of a single-link robotic arm with revolute elastic joint. The results of the simulation demonstrate that the proposed scheme can successfully detect and isolate sensor faults even in the presence of system uncertainties. - Author(s): L.A. Maccari ; V.F. Montagner ; H. Pinheiro ; R.C.L.F. Oliveira
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1881 –1888
- DOI: 10.1049/iet-cta.2011.0755
- Type: Article
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This study proposes a design procedure and experimental validation for a robust ℋ2 state feedback controller applied to a DC–DC boost converter modelled as a linear system affected by time-varying parameters lying in known intervals. The parameters considered as time-varying are the input voltage, the load resistance and the operating point duty cycle. A polytopic representation of the system is derived and the controller is designed by means of a convex optimisation problem based on linear matrix inequalities. The conventional ℋ2 controller is extended to cope with alpha-stability and robust linear quadratic regulator design, providing different strategies to trade-off the magnitude of the control gains and the response of the closed-loop system. Tight correspondences between numerical simulations and the experimental results prove the viability of the application of this technique for this kind of plant. Finally, a robust performance analysis illustrates the capacity of the closed-loop system to reject energy bounded disturbances, with interpretation for the cases of time-varying and time-invariant parameters. - Author(s): P. Giani ; M. Tanelli ; M. Lovera
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1889 –1898
- DOI: 10.1049/iet-cta.2011.0277
- Type: Article
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Information technology (IT) systems must provide their users with prescribed quality of service (Qos) levels, usually defined in terms of application performance. Qos requirements are in general difficult to satisfy, since the system workload may vary by orders of magnitude within the same business day. To meet Qos requirements, resources have to dynamically be allocated among running applications, re-configuring them at run-time. To deal with resource allocation so as to manage system overload issues admission control and server virtualization are typically used: the former is a protection mechanism that rejects requests under peak workload, whereas the latter allows partitioning physical resources such as CPU and disks into multiple virtual ones. For designing effective controllers to ensure the desired Qos levels, a reliable model of the server dynamics is needed. The given systems, while retaining the time-varying nature that allows one to model workload variations. To address this issue, a constrained black-box subspace identification approach endowed with a novel structure selection is designed, and the performance of the identified models are assessed on experimental data. - Author(s): J. Liu and Z. Deng
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1899 –1908
- DOI: 10.1049/iet-cta.2011.0408
- Type: Article
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For the multisensor single-channel autoregressive moving average (ARMA) signal with common coloured measurement noise, applying the modern time-series analysis method, based on the ARMA innovation model, the optimal weighted measurement fusion Wiener filter is presented. When the model parameters of coloured measurement noise and partial noise variances are unknown, by applying the recursive instrumental variable, the correlation method and the Gevers–Wouters iterative algorithm with dead band, their local estimates are obtained, then the fused estimates are obtained by taking the average of all corresponding local estimates. Substituting these fused estimates into the optimal weighted measurement fusion Wiener filter, a self-tuning weighted measurement fusion Wiener filter is obtained. By applying the dynamic error system analysis method, it is rigorously proved that the self-tuning weighted measurement fusion Wiener filter converges to the corresponding optimal weighted measurement fusion Wiener filter in a realisation, so that it has asymptotically global optimality. A simulation example shows its effectiveness.
Robust fault detection using polytope-based set-membership consistency test
Using a single bit to stabilise an n-dimensional quantised non-linear feedforward system
Quad-rotors formation based on potential functions with obstacle avoidance
Control and decision strategy for a class of Markovian jump systems in failure prone manufacturing process
Model predictive quadrotor control: attitude, altitude and position experimental studies
Adaptive decoupling switching control based on generalised predictive control
Robust control of observer-based sampled-data systems: digital redesign approach
Neural network-based compensation control of mobile robots with partially known structure
Event-driven semi-Markov switching state-space control processes
Detection and isolation of incipient sensor faults for a class of uncertain non-linear systems
Robust ℋ2 control applied to boost converters: design, experimental validation and performance analysis
Linear parameter-varying model identification with structure selection for autonomic web service systems
Self-tuning weighted measurement fusion Wiener filter for autoregressive moving average signals with coloured noise and its convergence analysis
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- Author(s): J. Pan ; S. Fei ; T.M. Guerra ; A. Jaadari
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1909 –1917
- DOI: 10.1049/iet-cta.2011.0380
- Type: Article
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This study presents a descriptor system method to deal with the nonquadratic stabilisation design problem for continuous-time Takagi–Sugeno fuzzy models. Most of the previous results intended to establish global non-quadratic stabilisation conditions by bounding the time derivatives of membership functions (MFs). Those results are hard to uphold because of the difficulty of evaluating the bounds of MFs practically. By reducing global stabilisation goals via local considerations, new non-quadratic stabilisation conditions are proposed which remove the aforementioned difficulty. It is shown that the derived local non-quadratic stabilisation conditions actually lead to reasonable advantages over the existing quadratic approach as well as some previous non-quadratic attempts. Moreover, conditions for the solvability of controller given here are not only expressed as linear matrix inequalities, but also take advantage of the redundancy of descriptor system method to reduce computational requirement. Simulation examples are provided to demonstrate the validity and applicability of the proposed approach. - Author(s): Y.-J. Chen ; H. Ohtake ; K. Tanaka ; W.-J. Wang ; H.O. Wang
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1918 –1925
- DOI: 10.1049/iet-cta.2010.0697
- Type: Article
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1918
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Piecewise Lyapunov functions and non-quadratic Lyapunov functions have been employed to analyse Takagi–Sugeno (T–S) fuzzy systems for getting relaxed results in the literature. Nevertheless, until now piecewise non-quadratic Lyapunov functions have not been used to design T–S fuzzy control systems. Motivated by the aforementioned concerns, this study utilises the minimum-type piecewise non-quadratic Lyapunov function to design the discrete T–S fuzzy control system. Based on the piecewise non-quadratic Lyapunov function, the switching non-parallel distributed compensation control law is proposed to obtain the relaxed stabilisation criterion. Owing to that some conditions of the proposed criterion are bilinear matrix inequalitiy conditions, the particle swarm optimisation algorithm is applied for finding out the solution of the criterion. An example is provided to illustrate the effectiveness of the proposed criterion. - Author(s): M. Nabi-Abdolyousefi and M. Mesbahi
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1926 –1932
- DOI: 10.1049/iet-cta.2011.0096
- Type: Article
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In this note, the authors examine the problem of identifying the interaction geometry among a known number of agents, adopting a consensus-type algorithm for their coordination. The proposed identification process is facilitated by introducing ‘ports’ for stimulating a subset of network vertices via an appropriately defined interface and observing the network’s response at another set of vertices. It is first noted that under the assumption of controllability and observability of corresponding steered-and-observed network, the proposed procedure identifies a number of important features of the network using the spectrum of the graph Laplacian. The authors then proceed to use degree-based graph reconstruction methods to propose a sieve method for further characterisation of the underlying network. An example demonstrates the application of the proposed method. - Author(s): Y. Cui and Y. Jia
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1933 –1940
- DOI: 10.1049/iet-cta.2011.0577
- Type: Article
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1933
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This study is devoted to the L2–L∞ consensus problem for high-order multi-agent systems subjected to external disturbances. The network with time-varying delays is particularly taken into consideration under switching network topologies. By performing a model transformation, the consensus problem of the multi-agent systems is turned into a normal L2–L∞ control problem. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all agents could asymptotically reach consensus with a prescribed disturbance attenuation performance, which provide the allowable upper bound of communication delays. Numerical simulations are provided to demonstrate the effectiveness of our theoretic results. - Author(s): H.-Y. Liu and Z.-S. Duan
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1941 –1947
- DOI: 10.1049/iet-cta.2011.0611
- Type: Article
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1941
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A non-linear unknown input observer (UIO) is designed for systems with non-linearities having lower bonds on their slopes. The observer is constructed such that the non-linearity in the observer error system satisfies a sector property. Based on this property rather than the Lipschitz property, an algorithm not limited by Lipschitz constant is proposed. Further, all the parameters in the proposed non-linear UIO can be calculated by solving a linear matrix inequality. The UIO is also extended to an adaptive one for a class of uncertain non-linear systems in which the arguments of non-linear terms are perturbed by unknown parameters. Finally, simulations of electric driving system are used to illustrate the effectiveness of the UIOs. - Author(s): X.-J. Wu ; X.-L. Wu ; X.-Y. Luo ; X.-P. Guan
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1948 –1957
- DOI: 10.1049/iet-cta.2011.0543
- Type: Article
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1948
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The problem of tracking control for a class of uncertain time-delay non-linear system with state constraint is addressed. To prevent constraint violation, the tangent barrier Lyapunov function (TBLF) is firstly used for time-delay non-linear system. By ensuring boundedness of the TBLF in the closed loop, besides those limits are not transgressed, the authors also tackle scenarios wherein parametric uncertainties and time delays are presented. Asymptotically tracking stable in the sense of uniformly ultimate boundedness is achieved without violation of the constraint. Finally, the performance of the proposed control has been illustrated through a chaotic system. - Author(s): R.H. Gielen and M. Lazar
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1958 –1964
- DOI: 10.1049/iet-cta.2012.0100
- Type: Article
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1958
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The stabilisation of linear delay difference inclusions is often complicated by computational issues and the presence of constraints. In this study, to solve this problem, a receding horizon control scheme is proposed based on the Razumikhin approach and time-varying control Lyapunov functions. By allowing the control Lyapunov function to be time varying, the computational advantages of the Razumikhin approach can be exploited and at the same time the conservatism associated with this approach is avoided. Thus, a control scheme is obtained which takes constraints into account and requires solving on-line a low-dimensional semi-definite programming problem. The effectiveness of the proposed results is illustrated via an example that also shows the computational limitations of existing control strategies. - Author(s): J. Yu and Y. Wu
- Source: IET Control Theory & Applications, Volume 6, Issue 12, p. 1965 –1971
- DOI: 10.1049/iet-cta.2011.0551
- Type: Article
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1965
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This study considers the global set-point tracking control problem for a class of non-linear systems with input-to-state stable dynamic uncertainties and unknown control coefficients. A partial-state feedback controller is proposed, which could achieve the global set-point tracking control of the system output and keep the other signals bounded. The overparameterisation is avoided with the help of a technical lemma concerning the multiple Nussbaum-type functions. It is shown that the developed control scheme can be applied to the temperature control in a continuously stirred tank reactor. The simulation results demonstrate its effectiveness.
Non-quadratic local stabilisation for continuous-time Takagi–Sugeno fuzzy models: a descriptor system method
Relaxed stabilisation criterion for discrete T–S fuzzy systems by minimum-type piecewise non-quadratic Lyapunov function
Sieve method for consensus-type network tomography
L2–L∞ consensus control for high-order multi-agent systems with switching topologies and time-varying delays
Unknown input observer design for systems with monotone non-linearities
Dynamic surface control for a class of state-constrained non-linear systems with uncertain time delays
Stabilisation of linear delay difference inclusions via time-varying control Lyapunov functions
Global set-point tracking control for a class of non-linear systems and its application in continuously stirred tank reactor systems
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