scholarly journals Semiactive Nonsmooth Control for Building Structure with Deep Learning

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Qing Wang ◽  
Jianhui Wang ◽  
Xiaofang Huang ◽  
Li Zhang
Keyword(s):  
Deep Learning ◽  
Control Algorithm ◽  
Closed Loop ◽  
Passive Control ◽  
Harmful Effect ◽  
Structural Vibration ◽  
Stable Theory ◽  
Seismic Action ◽  
Building Structure ◽  
Closed Loop System

Aiming at suppressing harmful effect for building structure by surface motion, semiactive nonsmooth control algorithm with Deep Learning is proposed. By finite-time stable theory, the building structure closed-loop system’s stability is discussed under the proposed control algorithm. It is found that the building structure closed-loop system is stable. Then the proposed control algorithm is applied on controlling the building structural vibration. The seismic action is chosen as El Centro seismic wave. Dynamic characteristics have comparative analysis between semiactive nonsmooth control and passive control in two simulation examples. They demonstrate that the designed control algorithm has great robustness and anti-interference. The proposed control algorithm is more effective than passive control in suppressing structural vibration.

A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

1987 ◽  
Vol 109 (4) ◽  
pp. 320-327 ◽  
Author(s):  
C. K. Kao ◽  
A. Sinha ◽  
A. K. Mahalanabis
Keyword(s):  
Control Algorithm ◽  
State Feedback ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Minimum Time ◽  
State Feedback Control ◽  
Final States ◽  
Closed Loop System ◽  
Time Control ◽  
Digital Algorithm

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

Sliding Mode Output Feedback Control of Vibration in a Flexible Structure

2007 ◽  
Vol 129 (6) ◽  
pp. 851-855 ◽  
Author(s):  
M. C. Pai ◽  
A. Sinha
Keyword(s):  
Output Feedback ◽  
Control Algorithm ◽  
Closed Loop ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Flexible Structure ◽  
Numerical Verification ◽  
Closed Loop System ◽  
New Approach ◽  
Small Gain

This paper presents a new approach for the robust control of vibration in a flexible structure in the presence of uncertain parameters and residual modes. The technique is based on the sliding mode control algorithm using direct output feedback and assumes that actuators and sensors are not collocated. The uncertainty matrix need not satisfy the invariance or matching conditions. The small gain theorem/μ analysis is applied to analyze the asymptotic behavior of the closed-loop system with parametric uncertainties inside boundary layers. The model of a flexible tetrahedral truss structure is used to conduct numerical verification of the theoretical analysis.

scholarly journals An Improved PID Algorithm Based on Insulin-on-Board Estimate for Blood Glucose Control with Type 1 Diabetes

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Ruiqiang Hu ◽  
Chengwei Li
Keyword(s):  
Blood Glucose ◽  
Control Algorithm ◽  
Insulin Infusion ◽  
Closed Loop ◽  
Blood Glucose Control ◽  
Infusion Therapy ◽  
Closed Loop System ◽  
Carbohydrate Ingestion ◽  
Pid Algorithm

Automated closed-loop insulin infusion therapy has been studied for many years. In closed-loop system, the control algorithm is the key technique of precise insulin infusion. The control algorithm needs to be designed and validated. In this paper, an improved PID algorithm based on insulin-on-board estimate is proposed and computer simulations are done using a combinational mathematical model of the dynamics of blood glucose-insulin regulation in the blood system. The simulation results demonstrate that the improved PID algorithm can perform well in different carbohydrate ingestion and different insulin sensitivity situations. Compared with the traditional PID algorithm, the control performance is improved obviously and hypoglycemia can be avoided. To verify the effectiveness of the proposed control algorithm,in silicotesting is done using the UVa/Padova virtual patient software.

Repetitive Control for Rejection of Periodic Multiplicative Disturbances and Adaptive Identification of the Unknown Period

2004 ◽  
Author(s):  
Sandipan Mishra ◽  
Manabu Yamada ◽  
Masayoshi Tomizuka
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Design Method ◽  
Repetitive Control ◽  
Adaptive Controller ◽  
Least Mean Square ◽  
Closed Loop System ◽  
Internal Model Principle ◽  
Periodic Disturbances ◽  
The Stability

Repetitive control has been used extensively for rejection of periodic disturbances, in systems that have to follow periodic trajectories. To date, most repetitive controllers have focused on rejection of additive periodic disturbances. This paper suggests the use of a repetitive control algorithm for rejection of periodic multiplicative disturbances. The first result is a simple design method of a new controller to reject the multiplicative disturbance effectively, provided that the period of the disturbance is known. This controller is based on the internal model principle and the design method consists of a simple norm condition. It is shown that this repetitive-type controller can reject the disturbance. The second result is an extension of the first one to the case that the period of the disturbance is unknown. A period estimator is added to the control system to identify the period of the multiplicative disturbance. The algorithm, consisting of an adaptive recursive least mean square method, is simple. It is shown that this adaptive controller can reject the disturbance with an uncertain period and guarantee the stability of the adaptive closed-loop system including the period estimator.

scholarly journals Probabilistic Control for Uncertain Systems

2012 ◽  
Vol 134 (2) ◽  
Author(s):  
Randa Herzallah
Keyword(s):  
Control Algorithm ◽  
Probabilistic Models ◽  
Closed Loop ◽  
Inverse Dynamics ◽  
Loop System ◽  
Model Parameters ◽  
Control Input ◽  
Closed Loop System ◽  
Optimal Control Strategy ◽  
Mixture Density

In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the probabilistic models of both the forward and inverse dynamics are estimated such that they are dependent on the state and the control input. The optimal control strategy is then derived which minimizes uncertainty of the closed loop system. In the absence of reliable plant models, the proposed control algorithm incorporates uncertainties in model parameters, observations, and latent processes. The local stability of the closed loop system has been established. The efficacy of the control algorithm is demonstrated on two nonlinear stochastic control examples with additive and multiplicative noise.

DYNAMIC ANALYSIS AND CONTROL OF CABLE DRIVEN ROBOTS WITH ELASTIC CABLES

2011 ◽  
Vol 35 (4) ◽  
pp. 543-557 ◽  
Author(s):  
Mohammad A. Khosravi ◽  
Hamid D. Taghirad
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Lyapunov Theorem ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Internal Forces ◽  
And Control ◽  
Flexible Cables ◽  
Elastic Cables

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the proposed control algorithm. The control algorithm is developed in cable coordinates in which the internal forces play an important role. Finally, asymptotic stability of the closed loop system is analyzed through Lyapunov theorem, and the performance of the proposed algorithm is studied by simulations.

scholarly journals RBF Nonsmooth Control Method for Vibration of Building Structure with Actuator Failure

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-7 ◽  
Author(s):  
Jianhui Wang ◽  
Chunliang Zhang ◽  
Houyao Zhu ◽  
Xiaofang Huang ◽  
Li Zhang
Keyword(s):  
Control Method ◽  
Rbf Neural Network ◽  
Structural Vibration ◽  
Stable Theory ◽  
Control Methods ◽  
Building Structure ◽  
Control Effect ◽  
Actuator Failure ◽  
Lqr Control ◽  
Simulation Results

In order to accommodate the actuator failure, the finite-time stable nonsmooth control method with RBF neural network is used to suppress the structural vibration. The traditional designed control methods neglect influence of actuator failure in structural vibration. By Lyapunov stable theory, the designed control method is demonstrated to suppress the building structural vibration with actuator failure. Finally, there are some examples to numerically simulate the three-layer building structure which is affected by El Centro seismic wave. Control effect of nonsmooth control is compared with no control and LQR control. The simulation results demonstrate that the designed control method is great for vibration of building structure with actuator failure and great antiseismic effect.

scholarly journals Controlled Passage through Resonance for Flexible Vibration Units

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Dmitry A. Tomchin ◽  
Olga P. Tomchina ◽  
Alexander L. Fradkov
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Initial Conditions ◽  
Algorithm Design ◽  
Slow Motion ◽  
Passage Time ◽  
Closed Loop System ◽  
Near Resonance ◽  
Speed Gradient

The problem of controlled passage through resonance zone for mechanical systems with several degrees of freedom is studied. Control algorithm design is based on speed-gradient method and estimate for the frequency of the slow motion near resonance (Blekhman frequency). The simulation results for two-rotor flexible vibration units illustrating efficiency of the proposed algorithms and fractal dependence of the passage time on the initial conditions are presented. The novelty of the results is in demonstration of good behavior of the closed loop system if flexibility is taken into account.

Robust Passivity Control for Uncertain Time-Delayed Systems

2010 ◽  
Vol 29-32 ◽  
pp. 2025-2030
Author(s):  
Gui Fang Li ◽  
Yong Cheng Sun ◽  
Sheng Guo Huang
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Passive Control ◽  
Linear Time ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
Delayed Systems ◽  
Controller Gain ◽  
Uncertain Time

This paper focuses on the robust passivity synthesis problem for a class of linear time-delayed systems subject to parameter uncertainties. The time delay is assumed to be unknown, and the parameter uncertainties are allowed to appear in all matrices of the model. The aim lies in designing observer-based dynamic controller that render the closed-loop system be strongly robustly stable and strict passive for all admissible uncertainties, independently of time delay. Using a scaling parameterization approach, the problem being considered is transformed into a class of strongly stable and strictly passive control problem for a parameterized system without uncertainties. And then, the controller gain and the observer gain are obtained in terms of a linear matrix inequality. Finally, a numerical example is provided to demonstrate the validity of the proposed approach.

scholarly journals Adaptive Regulation of a Class of Uncertain Nonlinear Systems with Nonstrict Feedback Form

2016 ◽  
Vol 2016 ◽  
pp. 1-7 ◽  
Author(s):  
Jian-xiong Li ◽  
Chong-yi Gao ◽  
Yi-ming Fang ◽  
Cui Guo ◽  
Wen-bo Zhang
Keyword(s):  
Nonlinear Systems ◽  
Control Algorithm ◽  
Closed Loop ◽  
High Gain ◽  
Design Parameters ◽  
System State ◽  
Closed Loop System ◽  
Feedback Form ◽  
Semiglobal Stabilization ◽  
Adaptive Control Algorithm

This paper focuses on the semiglobal stabilization for a class of nonlinear systems with nonstrict feedback form. Based on a generalized scaling technique, an adaptive control algorithm with dynamic high gain is developed for a class of nonstrict feedback nonlinear systems. It can be proved that, under some appropriate design parameters, all signals of the resulting closed-loop system are bounded semiglobally, and the system state will be convergent to origin exponentially. Finally, a numerical simulation is provided to confirm the effectiveness of the proposed method.

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