In this paper, we propose a self-triggered formulation of model predictive control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to ...execute control tasks but also provides a way to discretize the optimal control trajectory into several control samples, so that the reduction of communication load will be obtained. Stability analysis under the sample-and-hold implementation is also given, which guarantees that the state converges to a terminal region where the system can be stabilized by a local state feedback controller. Some simulation examples validate our proposed framework.
The text begins with an overview of concepts from system theory. New results are provided on feedback stabilization and smooth control of non-holonomic systems. Control design moves from open-loop ...steering control of an individual vehicle to cooperative control of multiple vehicles, a progression culminating in a decentralized control hierarchy requiring only local feedback information. Novel methods are presented: parameterization for collision avoidance and optimization in path planning, near-optimal control for tracking and regulation of non-holonomic chained systems and matrix-theoretical analysis of cooperativity. These methods generate solutions of guaranteed performance for problems of: optimal and collision-free path planning, near-optimal stabilization of non-holonomic systems, cooperative control of dynamic systems. Examples, simulations and comparative studies add zest to the fundamental issues, illustrate the technical approaches and verify the performance of the final control designs.
Describes the general principles and current research into Model Predictive Control (MPC); the most up-to-date control method for power converters and drivesThe book starts with an introduction to ...the subject before the first chapter on classical control methods for power converters and drives. This covers classical converter control methods and classical electrical drives control methods. The next chapter on Model predictive control first looks at predictive control methods for power converters and drives and presents the basic principles of MPC. It then looks at MPC for power electronics and drives. The third chapter is on predictive control applied to power converters. It discusses: control of a three-phase inverter; control of a neutral point clamped inverter; control of an active front end rectifier, and; control of a matrix converter. In the middle of the book there is Chapter four - Predictive control applied to motor drives. This section analyses predictive torque control of industrial machines and predictive control of permanent magnet synchronous motors. Design and implementation issues of model predictive control is the subject of the final chapter. The following topics are described in detail: cost function selection; weighting factors design; delay compensation; effect of model errors, and prediction of future references. While there are hundreds of books teaching control of electrical energy using pulse width modulation, this will be the very first book published in this new topic.Unique in presenting a completely new theoretic solution to control electric power in a simple wayDiscusses the application of predictive control in motor drives, with several examples and case studiesMatlab is included on a complementary website so the reader can run their own simulations
Offshore platforms are widely used to explore, drill, produce, storage, and transport ocean resources and are usually subject to environmental loading, such as waves, winds, ice, and currents, which ...may lead to failure of deck facilities, fatigue failure of platforms, inefficiency of operation, and even discomfort of crews. In order to ensure reliability and safety of offshore platforms, it is of great significance to explore a proper way of suppressing vibration of offshore platforms. There are mainly three types of control schemes, i.e., passive control schemes, semi-active control schemes, and active control schemes, to deal with vibration of offshore platforms. This paper provides an overview of these schemes. Firstly, passive control schemes and several semi-active control schemes are briefly summarized. Secondly, some classical active control approaches, such as optimal control, robust control, and intelligent control, are briefly reviewed. Thirdly, recent advances of active control schemes with delayed feedback control, sliding model control, sampled-data control, and network-based control are deeply analyzed. Finally, some challenging issues are provided to guide future research directions.
This study proposes an adaptive non-singular integral terminal sliding mode control (ANITSMC) scheme for trajectory tracking of autonomous underwater vehicles (AUVs) with dynamic uncertainties and ...time-varying external disturbances. The ANITSMC is first proposed for a first-order uncertain non-linear dynamic system to eliminate the singularity problem in conventional terminal sliding mode control (TSMC) and avoid the requirement of the bound information of the lumped system uncertainty. The time taken to reach the equilibrium point from any initial error is guaranteed to be finite. The proposed ANITSMC is then applied to trajectory tracking control of AUVs. It guarantees that the velocity tracking errors locally converge to zero in finite time and after that the position tracking errors locally converge to zero exponentially. The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds as opposite to the existing globally finite-time stable tracking control (GFTSTC), provides higher tracking accuracy than the existing GFTSTC and adaptive non-singular TSMC (ANTSMC) and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control (APISMC). Comparative simulation results are presented to validate the superiority of the ANITSMC over the APISMC.
Objectives To evaluate the prophylactic efficacy of the human papillomavirus (HPV) quadrivalent vaccine in preventing low grade cervical, vulvar, and vaginal intraepithelial neoplasias and anogenital ...warts (condyloma acuminata).Design Data from two international, double blind, placebo controlled, randomised efficacy trials of quadrivalent HPV vaccine (protocol 013 (FUTURE I) and protocol 015 (FUTURE II)). The trials were to be 4 years in length, and the results reported are from final study data of 42 months’ follow-up.Setting Primary care centres and university or hospital associated health centres in 24 countries and territories around the world.Participants 17 622 women aged 16-26 years enrolled between December 2001 and May 2003. Major exclusion criteria were lifetime number of sexual partners (>4), history of abnormal cervical smear test results, and pregnancy.Intervention Three doses of quadrivalent HPV vaccine (for serotypes 6, 11, 16, and 18) or placebo at day 1, month 2, and month 6.Main outcome measures Vaccine efficacy against cervical, vulvar, and vaginal intraepithelial neoplasia grade I and condyloma in a per protocol susceptible population that included subjects who received all three vaccine doses, tested negative for the relevant vaccine HPV types at day 1 and remained negative through month 7, and had no major protocol violations. Intention to treat, generally HPV naive, and unrestricted susceptible populations were also studied.Results In the per protocol susceptible population, vaccine efficacy against lesions related to the HPV types in the vaccine was 96% for cervical intraepithelial neoplasia grade I (95% confidence interval 91% to 98%), 100% for both vulvar and vaginal intraepithelial neoplasia grade I (95% CIs 74% to 100%, 64% to 100% respectively), and 99% for condyloma (96% to 100%). Vaccine efficacy against any lesion (regardless of HPV type) in the generally naive population was 30% (17% to 41%), 75% (22% to 94%), and 48% (10% to 71%) for cervical, vulvar, and vaginal intraepithelial neoplasia grade I, respectively, and 83% (74% to 89%) for condyloma.Conclusions Quadrivalent HPV vaccine provided sustained protection against low grade lesions attributable to vaccine HPV types (6, 11, 16, and 18) and a substantial reduction in the burden of these diseases through 42 months of follow-up.Trial registrations NCT00092521 and NCT00092534.
A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is ...developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small prespecified constant. Visualizing the prescribed performance characteristics as tracking error constraints, the key idea is to transform the ldquoconstrainedrdquo system into an equivalent ldquounconstrainedrdquo one, via an appropriately defined output error transformation. It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem. Besides guaranteeing a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop, the proposed robust adaptive controller is smooth with easily selected parameter values and successfully bypasses the loss of controllability issue. Simulation results on a two-link robot, clarify and verify the approach.
The editors of this Special Issue titled “Intelligent Control in Energy Systems” have attempted to create a book containing original technical articles addressing various elements of intelligent ...control in energy systems. In response to our call for papers, we received 60 submissions. Of those submissions, 27 were published and 33 were rejected. In this book, we offer the 27 accepted technical articles as well as one editorial. Authors from 15 countries (China, Netherlands, Spain, Tunisia, United Sates of America, Korea, Brazil, Egypt, Denmark, Indonesia, Oman, Canada, Algeria, Mexico, and the Czech Republic) elaborate on several aspects of intelligent control in energy systems. The book covers a broad range of topics including fuzzy PID in automotive fuel cell and MPPT tracking, neural networks for fuel cell control and dynamic optimization of energy management, adaptive control on power systems, hierarchical Petri Nets in microgrid management, model predictive control for electric vehicle battery and frequency regulation in HVAC systems, deep learning for power consumption forecasting, decision trees for wind systems, risk analysis for demand side management, finite state automata for HVAC control, robust μ-synthesis for microgrids, and neuro-fuzzy systems in energy storage.
This is a reprint of the articles from the Special Issue entitled "10th Anniversary of Actuators", published in the open-access journal, Actuators. It consists of 18 representative works with four ...main topics: systematic reviews for specific types of actuators, performance evaluation, design and controls, and new actuators' applications. This reprint helps readers to understand the challenges and the trends of research and development in advancing the theories, methodologies, and design tools of actuators.
Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a ...rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by manned aircraft. Many technological, economic, and political factors have encouraged the development and operation of UAVs. New sensors, microprocessors, and propulsion systems are smaller, lighter, and more capable, leading to levels of endurance, efficiency, and autonomy that exceed human capacities. Comprising the latest research, this book describes step by step the development of small or miniature unmanned aerial vehicles and discusses in detail the integrated prototypes developed at the robotics laboratory of Chiba University. With demonstration videos, the book will interest not only graduate students, scientists, and engineers but also newcomers to the field.
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