scholarly journals Distributed estimation and control of a four-tank process

2021 ◽  
Vol 9 (3) ◽  
pp. 133-142
Author(s):  
Awatef K Ali ◽  
Magdi S Mahmoud
Keyword(s):  
Distributed Model ◽  
Flow Sheet ◽  
Global State ◽  
Communication Structure ◽  
Modeling And Control ◽  
Process Dynamics ◽  
Multivariable Process ◽  
Estimation And Control ◽  
Water Tanks ◽  
And Control

A multivariable process of four interconnected water tanks is considered for modeling and control. The objective of the current study is to design and implement a distributed control and estimation (DEC) for a multivariable four-tank process. Distributed model and inter-nodal communication structure are derived from global state–space matrices, thus combining the topology of plant flow sheet and the interaction dynamics across the plant subunits. Using experimental data, the process dynamics and disturbance effects are modeled. A typical lab-scale system was simulated and the obtained results demonstrated the potential of the DEC algorithm.

A Sampling Approach to Modeling and Control of a Large-Size Robot Population

2010 ◽  
Author(s):  
Dejan Milutinovic´ ◽  
Devendra P. Garg
Keyword(s):  
Stochastic Process ◽  
Optimal Control ◽  
Close Relation ◽  
Modeling And Control ◽  
Stochastic Sampling ◽  
Large Size ◽  
Continuous Components ◽  
Estimation And Control ◽  
The Individual ◽  
And Control

Motivated by the close relation between estimation and control problems, we explore the possibility to utilize stochastic sampling for computing the optimal control for a large-size robot population. We assume that the individual robot state is composed of discrete and continuous components, while the population is controlled in a probability space. Utilizing a stochastic process, we can compute the state probability density function evolution, as well as use the stochastic process samples to evaluate the Hamiltonian defining the optimal control. The proposed method is illustrated by an example of centralized optimal control for a large-size robot population.

Distributed Parameter-Dependent Modeling and Control of Flexible Structures

2004 ◽  
Vol 127 (2) ◽  
pp. 230-239 ◽  
Author(s):  
Fen Wu ◽  
Suat E. Yildizoglu
Keyword(s):  
Optimization Problems ◽  
Flexible Structures ◽  
Synthesis Condition ◽  
Distributed Model ◽  
Linear Matrix ◽  
Distributed Parameter ◽  
Modeling And Control ◽  
L2 Norm ◽  
And Control ◽  
Parameter Dependent

In this paper, distributed parameter-dependent modeling and control approaches are proposed for flexible structures. The distributed model is motivated from distributed control design, which is advantageous in reducing control implementation cost and increasing control system reliability. This modeling approach mainly relies on a central finite difference scheme to capture the distributed nature of the flexible system. Based on the proposed distributed model, a sufficient synthesis condition for the design of a distributed output-feedback controller is presented using induced L2 norm as the performance criterion. The controller synthesis condition is formulated as linear matrix inequalities, which are convex optimization problems and can be solved efficiently using interior-point algorithms. The distributed controller inherits the same structure as the plant, which results in a localized control architecture and a simple implementation scheme. These modeling and control approaches are demonstrated on a non-uniform cantilever beam problem through simulation studies.

Wheel Dynamics Fundamentals for Agile Tire Slippage Modeling and Control

2014 ◽  
Author(s):  
Vladimir V. Vantsevich
Keyword(s):  
Friction Coefficient ◽  
Rolling Resistance ◽  
Resistance Coefficient ◽  
Rate Of Change ◽  
Technical Problems ◽  
Modeling And Control ◽  
Wheel Torque ◽  
Control Decision ◽  
Estimation And Control ◽  
And Control

One of the technical problems in wheel dynamics is to establish and control the relationship between the tire kinematic and force characteristics related to tire slippage and thus to tire-soil power losses and wheel mobility estimation. This problem has been attracting a lot attention from the research community for decades. The electronization of modern vehicles can enhance their performance in complex and severe vehicle-road/terrain environments by implementing agile control decision within the scale of milliseconds. Thus, agility requires new approaches when considering and analyzing the tire slippage process. This paper presents an analysis of the tire slippage process in stochastic terrain conditions for the purpose of agile tire slip modeling, estimation and control. Based on the introduced relations between the rolling radii of the tire, circumferential wheel force/wheel torque, wheel kinematic parameters and tire slippage, a set of agile tire-terrain characteristics is offered in the paper. The proposed characteristics take in consideration the rate of change of the listed parameters and thus allow a user to estimate the agile dynamics of the tire slip and evidence the closeness to the peak friction coefficient and hence estimate potential mobility loss. The characteristics establish relationships between the stochastic peak friction coefficient, rolling resistance coefficient, and wheel kinematic/force parameters. The characteristics are illustrated by computer simulation results in several terrain conditions.

Distributed Parameter Dependent Modeling and Control of Flexible Structures

2002 ◽  
Author(s):  
Fen Wu ◽  
Suat E. Yildizoglu
Keyword(s):  
Optimization Problems ◽  
Flexible Structures ◽  
Sufficient Conditions ◽  
Distributed Model ◽  
Distributed Parameter ◽  
Modeling And Control ◽  
Distributed Controller ◽  
L2 Norm ◽  
And Control ◽  
Parameter Dependent

In this paper, distributed parameter-dependent modeling and control approaches are proposed for flexible structures. This modeling approach mainly relies on a central finite difference scheme to capture the distributed nature of the flexible system. The distributed model is motivated from distributed control design, which is advantageous for reduced control implementation cost and control system reliability. The displacements at each discretized node are assumed measurable in real-time for controller use. Based on the proposed distributed model, sufficient conditions for analysis and synthesis of a distributed output-feedback controller are presented using the induced L2 norm as the performance criterion. The controller synthesis condition is characterized in terms of linear matrix inequalities (LMIs), which are convex optimization problems and can be solved efficiently using available software. The distributed controller inherits the same structure as the plant, which results in a localized control architecture and a simple implementation. The simulation results of a distributed controller is provided.

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