The Experts below are selected from a list of 31047 Experts worldwide ranked by ideXlab platform
Henk Nijmeijer - One of the best experts on this subject based on the ideXlab platform.
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Extremum-Seeking Control for the Adaptive Design of Variable Gain Controllers
IEEE Transactions on Control Systems Technology, 2015Co-Authors: Bram Hunnekens, N. Van De Wouw, Antonio Di Dino, Niels Van Dijk, Henk NijmeijerAbstract:In this paper, we experimentally demonstrate an extremum-seeking control strategy for nonlinear systems with periodic steady-state outputs, for the adaptive design of variable-Gain Controllers. Variable-Gain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than linear Controllers can. However, the optimal performance-based tuning of the variable-Gain Controller parameters is far from trivial, and depends on the unknown disturbances acting on the system. The extremum-seeking Controller only utilizes output measurements of the plant, and can therefore be used to optimally design the parameters of the variable Gain Controller, without using direct information on the disturbances acting on the system. Experimental results are presented for the performance-optimal tuning of a variable-Gain Controller applied to a magnetically levitated industrial motion control setup performing tracking motions. The influence of the different parameter choices on the performance of the extremum-seeking Controller is illustrated through experiments.
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ACC - Model-based piecewise affine variable-Gain Controller synthesis
2013 American Control Conference, 2013Co-Authors: Bram Hunnekens, Mf Marcel Heertjes, N. Van De Wouw, Henk NijmeijerAbstract:In this paper, we introduce piecewise affine variable-Gain Controllers as a means to improve performance compared to linear Controllers. Variable-Gain Controllers can improve upon the tradeoff between low-frequency tracking and sensitivity to high-frequency disturbances. However, performance-based tuning of the variable-Gain Controllers, is far from trivial. The piecewise affine control structure introduced in this paper allows to synthesize the shape of the variable-Gain Controller, by means of model-based optimization of a certain performance objective. Subsequently, this allows the Controller design to be tuned for the disturbance situation at hand while optimizing performance. The proposed nonlinear performance-based Controller synthesis strategy is applied to a model of a wafer stage of a wafer scanner.
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CDC - Steady-state performance optimization for variable-Gain motion control using extremum seeking
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Co-Authors: Bram Hunnekens, N. Van De Wouw, Mark Haring, Henk NijmeijerAbstract:In this paper, we employ an extremum-seeking control strategy for steady-state performance optimization of variable-Gain Controllers for linear motion systems. Variable-Gain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than linear Controllers can. However, the optimal performance-based tuning of the variable-Gain Controller parameters is far from trivial. A model-based performance optimization method would require an accurate disturbance model, which may be hard to obtain in practice. The extremum-seeking Controller proposed here does not require any plant- or disturbance model and therewith circumvents this difficulty. To illustrate the results, the variable-Gain Controller of a short-stroke wafer stage of a wafer scanner is optimized using extremum-seeking control.
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Multi-variable iterative tuning of a variable Gain Controller with application to a scanning stage system
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Mf Marcel Heertjes, Tufan Tepe, Henk NijmeijerAbstract:Toward improved performance of fast and nano-accurate motion systems an iterative tuning procedure for the parameters of a variable Gain Controller is presented. Under constrained optimization, optimal values for the variable Gain parameters are found by minimizing a quadratic function of the servo error signals in a representative sampled-data interval. An effective method for improved performances is demonstrated on a scanning stage system, using a combined model/data based approach in obtaining the gradients with respect to the parameters to be optimized.
Hidetoshi Oya - One of the best experts on this subject based on the ideXlab platform.
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LQ Optimal Control-Based Variable Gain Controllers for Linear Systems with Structured Uncertainties and Its Performance Analysis
British Journal of Mathematics & Computer Science, 2015Co-Authors: Hidetoshi Oya, Yuhei UeharaAbstract:This paper proposes a variable Gain Controller for a linear system with structured uncertainties. The proposed variable Gain Controller is based on LQ optimal control for the nominal system and consists of the optimal feedback Gain and a time-varying adjustable parameter which is designed so as to reduce the effect of uncertainties. The proposed LQ optimal control-based variable Gain Controller can achieve good transient performance which is close to LQ optimal control for the nominal system and adjust the magnitude of the control input. In this paper, we show sufficient conditions for the existence of the proposed variable Gain robust Controller for the uncertain linear system. Finally, an illustrative example is included.
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ASCC - Synthesis of variable Gain robust Controllers based on point memory LQ regulator for a class of uncertain time-delay systems
2015 10th Asian Control Conference (ASCC), 2015Co-Authors: Kensaku Endo, Hidetoshi Oya, Tomohiro Kubo, Tsuyoshi MatsukiAbstract:This paper proposes a design method of a variable Gain robust Controller based on point memory feedback for a class of uncertain time-delay systems. The proposed variable Gain robust Controller consists of a fixed Gain Controller derived by using the nominal time-delay system and a variable Gain one, and the fixed Gain Controller is a point memory LQ regulator. In this paper, we show that sufficient conditions for the existence of the proposed variable Gain robust Controller are given in terms of LMIs. Finally, a simple numerical example is included to show the effectiveness of the proposed robust control system.
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a new variable Gain Controller for a class of uncertain linear systems via piecewise lyapunov functions less conservative lmi conditions
Conference of the Industrial Electronics Society, 2012Co-Authors: Hidetoshi Oya, Yuji Morishima, Kojiro HaginoAbstract:In this paper, we present a new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions. The proposed variable Gain Controller is designed so as to reduce the effect of uncertainties and achieves good transient performance which is close to desired trajectory. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show new LMI conditions for the existence of the proposed variable Gain Controller for uncertain linear systems. The proposed LMI conditions are useful, because the LMI conditions are less conservative comparing with the existing results. Finally, numerical examples are presented.
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IECON - A new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions — Less conservative LMI conditions —
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012Co-Authors: Hidetoshi Oya, Yuji Morishima, Kojiro HaginoAbstract:In this paper, we present a new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions. The proposed variable Gain Controller is designed so as to reduce the effect of uncertainties and achieves good transient performance which is close to desired trajectory. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show new LMI conditions for the existence of the proposed variable Gain Controller for uncertain linear systems. The proposed LMI conditions are useful, because the LMI conditions are less conservative comparing with the existing results. Finally, numerical examples are presented.
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Synthesis of variable Gain Controllers based on LQ optimal control for a class of uncertain linear systems
Proceedings of 2012 UKACC International Conference on Control, 2012Co-Authors: Hidetoshi Oya, Yuhei UeharaAbstract:This paper proposes a new variable Gain Controller for a class of uncertain linear systems. The proposed variable Gain Controller is based on optimal control for the nominal system and consists of the optimal feedback Gain and a time-varying adjustable parameter which is designed so as to reduce the effect of uncertainties, i.e. the proposed variable Gain Controller can achieve good transient performance which is close to LQ optimal control for the nominal system. In this paper, we show sufficient conditions for the existence of the proposed variable Gain Controller for uncertain linear systems. Finally, numerical examples are presented.
Kojiro Hagino - One of the best experts on this subject based on the ideXlab platform.
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a new variable Gain Controller for a class of uncertain linear systems via piecewise lyapunov functions less conservative lmi conditions
Conference of the Industrial Electronics Society, 2012Co-Authors: Hidetoshi Oya, Yuji Morishima, Kojiro HaginoAbstract:In this paper, we present a new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions. The proposed variable Gain Controller is designed so as to reduce the effect of uncertainties and achieves good transient performance which is close to desired trajectory. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show new LMI conditions for the existence of the proposed variable Gain Controller for uncertain linear systems. The proposed LMI conditions are useful, because the LMI conditions are less conservative comparing with the existing results. Finally, numerical examples are presented.
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IECON - A new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions — Less conservative LMI conditions —
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012Co-Authors: Hidetoshi Oya, Yuji Morishima, Kojiro HaginoAbstract:In this paper, we present a new variable Gain Controller for a class of uncertain linear systems via piecewise Lyapunov functions. The proposed variable Gain Controller is designed so as to reduce the effect of uncertainties and achieves good transient performance which is close to desired trajectory. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show new LMI conditions for the existence of the proposed variable Gain Controller for uncertain linear systems. The proposed LMI conditions are useful, because the LMI conditions are less conservative comparing with the existing results. Finally, numerical examples are presented.
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Synthesis of Variable Gain Controllers for a Class of Uncertain Linear Systems with State Delays via Piecewise Lyapunov Functions
IFAC Proceedings Volumes, 2011Co-Authors: Hidetoshi Oya, Tomohiro Kubo, Kojiro HaginoAbstract:Abstract This paper proposes a variable Gain Controller for a class of uncertain linear systems with state delays via piecewise Lyapunov functions. The variable Gain Controller is designed so as to reduce the effect of uncertainties. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show sufficient conditions for the existence of the proposed variable Gain Controller for uncertain linear time-delay systems. Finally, numerical examples are presented.
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ECC - Synthesis of variable Gain Controllers for a class of uncertain nonlinear systems via piecewise Lyapunov functions
2009 European Control Conference (ECC), 2009Co-Authors: Hidetoshi Oya, Kojiro HaginoAbstract:This paper deals with a design problem of a variable Gain Controller for a class of uncertain nonlinear systems via piecewise Lyapunov functions. The variable Gain Controller is designed so as to reduce the effect of uncertainties and nonlinear perturbations. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show sufficient conditions for the existence of the proposed variable Gain Controller. Finally, numerical examples are presented.
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Synthesis of variable Gain Controllers for a class of uncertain switched linear systems
2008Co-Authors: Hidetoshi Oya, Kojiro Hagino, Soseki KayoAbstract:This paper discusses a design problem of a variable Gain Controller for a class of uncertain switched linear systems. The uncertainties under consideration are supposed to satisfy the matching condition. The proposed variable Gain Controller consists of the switching rule, the state feedback law with fixed Gain matrices and the state feedback law with a variable Gain matrix, and can reduce the chattering phenomenon comparing with existing results. In this paper, we show a design method of the switching rule, the feedback Gain matrices and the variable Gain matrix. Finally, illustrative examples are included.
Zhengrong Xiang - One of the best experts on this subject based on the ideXlab platform.
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stochastic stability analysis and l Gain Controller design for positive markov jump systems with time varying delays
Nonlinear Analysis: Hybrid Systems, 2016Co-Authors: Shuo Li, Zhengrong XiangAbstract:Abstract This paper is concerned with stochastic stability analysis and L ∞ -Gain (also called L ∞ -induced norm) Controller design for positive Markov jump systems (MJSs) in continuous-time context by means of a linear programming (LP) technique. Firstly, by introducing an equivalent deterministic positive continuous-time linear system, we propose necessary and sufficient conditions of stochastic stability with a prescribed L ∞ -Gain performance in LP form for the underlying system. Then based on the obtained results, an effective method for designing a desired L ∞ -Gain Controller is established. All the proposed conditions are solvable in terms of LP with additional parameters. Finally, a numerical example is given to illustrate the effectiveness of the present method.
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Stochastic stability analysis and L∞-Gain Controller design for positive Markov jump systems with time-varying delays
Nonlinear Analysis: Hybrid Systems, 2016Co-Authors: Zhengrong XiangAbstract:Abstract This paper is concerned with stochastic stability analysis and L ∞ -Gain (also called L ∞ -induced norm) Controller design for positive Markov jump systems (MJSs) in continuous-time context by means of a linear programming (LP) technique. Firstly, by introducing an equivalent deterministic positive continuous-time linear system, we propose necessary and sufficient conditions of stochastic stability with a prescribed L ∞ -Gain performance in LP form for the underlying system. Then based on the obtained results, an effective method for designing a desired L ∞ -Gain Controller is established. All the proposed conditions are solvable in terms of LP with additional parameters. Finally, a numerical example is given to illustrate the effectiveness of the present method.
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stability and l1 Gain Controller design for positive switched systems with mixed time varying delays
Applied Mathematics and Computation, 2013Co-Authors: Shuo Li, Zhengrong Xiang, Hamid Reza KarimiAbstract:This paper investigates the problems of stability and L"1-Gain Controller design for positive switched systems with mixed time-varying delays. The mixed time-varying delays are presented in the forms of discrete delay and distributed delay. The purpose of this paper is to design a class of switching signals and a state feedback Controller for the considered system such that the resulting closed-loop system is exponentially stable with L"1-Gain performance. By constructing an appropriate co-positive type Lyapunov-Krasovskii functional and using the average dwell time approach, we propose a sufficient condition to ensure the exponential stability with weighted L"1-Gain performance for the system. On the basis of the obtained results, an effective method for designing such Controller is established. Finally, a numerical example is presented to demonstrate the feasibility of the results obtained.
Bram Hunnekens - One of the best experts on this subject based on the ideXlab platform.
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Extremum-Seeking Control for the Adaptive Design of Variable Gain Controllers
IEEE Transactions on Control Systems Technology, 2015Co-Authors: Bram Hunnekens, N. Van De Wouw, Antonio Di Dino, Niels Van Dijk, Henk NijmeijerAbstract:In this paper, we experimentally demonstrate an extremum-seeking control strategy for nonlinear systems with periodic steady-state outputs, for the adaptive design of variable-Gain Controllers. Variable-Gain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than linear Controllers can. However, the optimal performance-based tuning of the variable-Gain Controller parameters is far from trivial, and depends on the unknown disturbances acting on the system. The extremum-seeking Controller only utilizes output measurements of the plant, and can therefore be used to optimally design the parameters of the variable Gain Controller, without using direct information on the disturbances acting on the system. Experimental results are presented for the performance-optimal tuning of a variable-Gain Controller applied to a magnetically levitated industrial motion control setup performing tracking motions. The influence of the different parameter choices on the performance of the extremum-seeking Controller is illustrated through experiments.
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ACC - Model-based piecewise affine variable-Gain Controller synthesis
2013 American Control Conference, 2013Co-Authors: Bram Hunnekens, Mf Marcel Heertjes, N. Van De Wouw, Henk NijmeijerAbstract:In this paper, we introduce piecewise affine variable-Gain Controllers as a means to improve performance compared to linear Controllers. Variable-Gain Controllers can improve upon the tradeoff between low-frequency tracking and sensitivity to high-frequency disturbances. However, performance-based tuning of the variable-Gain Controllers, is far from trivial. The piecewise affine control structure introduced in this paper allows to synthesize the shape of the variable-Gain Controller, by means of model-based optimization of a certain performance objective. Subsequently, this allows the Controller design to be tuned for the disturbance situation at hand while optimizing performance. The proposed nonlinear performance-based Controller synthesis strategy is applied to a model of a wafer stage of a wafer scanner.
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CDC - Steady-state performance optimization for variable-Gain motion control using extremum seeking
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Co-Authors: Bram Hunnekens, N. Van De Wouw, Mark Haring, Henk NijmeijerAbstract:In this paper, we employ an extremum-seeking control strategy for steady-state performance optimization of variable-Gain Controllers for linear motion systems. Variable-Gain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than linear Controllers can. However, the optimal performance-based tuning of the variable-Gain Controller parameters is far from trivial. A model-based performance optimization method would require an accurate disturbance model, which may be hard to obtain in practice. The extremum-seeking Controller proposed here does not require any plant- or disturbance model and therewith circumvents this difficulty. To illustrate the results, the variable-Gain Controller of a short-stroke wafer stage of a wafer scanner is optimized using extremum-seeking control.
