scholarly journals Harnessing the Kelvin–Helmholtz instability: feedback stabilization of an inviscid vortex sheet

2018 ◽  
Vol 852 ◽  
pp. 146-177 ◽  
Author(s):  
Bartosz Protas ◽  
Takashi Sakajo

In this investigation, we use a simple model of the dynamics of an inviscid vortex sheet given by the Birkhoff–Rott equation to obtain fundamental insights about the potential for stabilization of shear layers using feedback control. As actuation, we consider two arrays of point sinks/sources located a certain distance above and below the vortex sheet and subject to the constraint that their mass fluxes separately add up to zero. First, we demonstrate using analytical computations that the Birkhoff–Rott equation linearized around the flat-sheet configuration is in fact controllable when the number of actuator pairs is sufficiently large relative to the number of discrete degrees of freedom present in the system, a result valid for generic actuator locations. Next, we design a state-based linear-quadratic regulator stabilization strategy, where the key difficulty is the numerical solution of the Riccati equation in the presence of severe ill-conditioning resulting from the properties of the Birkhoff–Rott equation and the chosen form of actuation, an issue that is overcome by performing computations with a suitably increased arithmetic precision. Analysis of the linear closed-loop system reveals exponential decay of the perturbation energy and the corresponding actuation energy in all cases. Computations performed for the nonlinear closed-loop system demonstrate that initial perturbations of non-negligible amplitude can be effectively stabilized when a sufficient number of actuators is used. We also thoroughly analyse the sensitivity of the closed-loop stabilization strategies to the variation of a number of key parameters. Subject to the known limitations of inviscid vortex models, our findings indicate that, in principle, it may be possible to stabilize shear layers for relatively large initial perturbations, provided that the actuation has sufficiently many degrees of freedom.

Author(s):  
Mounir Hammouche ◽  
Philippe Lutz ◽  
Micky Rakotondrabe

The problem of robust and optimal output feedback design for interval state-space systems is addressed in this paper. Indeed, an algorithm based on set inversion via interval analysis (SIVIA) combined with interval eigenvalues computation and eigenvalues clustering techniques is proposed to seek for a set of robust gains. This recursive SIVIA-based algorithm allows to approximate with subpaving the set solutions [K] that satisfy the inclusion of the eigenvalues of the closed-loop system in a desired region in the complex plane. Moreover, the LQ tracker design is employed to find from the set solutions [K] the optimal solution that minimizes the inputs/outputs energy and ensures the best behaviors of the closed-loop system. Finally, the effectiveness of the algorithm is illustrated by a real experimentation on a piezoelectric tube actuator.


Author(s):  
Wankun Sirichotiyakul ◽  
Aykut C. Satici ◽  
Eric S. Sanchez ◽  
Pranav A. Bhounsule

Abstract In this work, we discuss the modeling, control, and implementation of a rimless wheel with torso. We derive and compare two control methodologies: a discrete-time controller (DT) that updates the controls once-per-step and a continuous-time controller (CT) that updates gains continuously. For the discrete controller, we use least-squares estimation method to approximate the Poincaré map on a certain section and use discrete-linear-quadratic-regulator (DQLR) to stabilize a (closed-form) linearization of this map. For the continuous controller, we introduce moving Poincaré sections and stabilize the transverse dynamics along these moving sections. For both controllers, we estimate the region of attraction of the closed-loop system using sum-of-squares methods. Analysis of the impact map yields a refinement of the controller that stabilizes a steady-state walking gait with minimal energy loss. We present both simulation and experimental results that support the validity of the proposed approaches. We find that the CT controller has a larger region of attraction and smoother stabilization as compared with the DT controller.


2009 ◽  
Vol 419-420 ◽  
pp. 593-596 ◽  
Author(s):  
Jiang Chang ◽  
Qing Xin Meng

Nonholonomic wheeled mobile service robot’s posture error model denoted by polar coordinates in global coordinates is established .Based on the inherent discontinuousness of the closed-loop system model, a novel nonlinear state feedback stabilization control law is proposed,which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. By Lyapunov candidate function method,this paper concludes that the closed-loop system is global uniformly asymptotically stable at origin. Simulation results indicate that the proposed control law is effective.


2010 ◽  
Vol 139-141 ◽  
pp. 1933-1936 ◽  
Author(s):  
Bin Yang ◽  
Bin Xiong

This paper explains and demonstrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. In this paper, we use Lagrange Equation in analytical mechanics to obtain a mathematical model of crane crab motion system. Then the paper comes up with a piece of new idea, i.e. applies linear quadratic regulator techniques to the anti-sway controller’ design of overhead crane. In order to make the designed linear optimal system meet the practical production requirements better, we use a parametric formula’s method of solutions to LQ inverse problems to obtain the weighting matrix Q. In fact, the method is simple and practical, and ensures the performance of closed-loop system is optimized. The paper will introduce the design steps of anti-sway controller of overhead crane and realization of anti-sway controller, which are new and original in this paper.


2020 ◽  
Vol 71 (1) ◽  
pp. 1-10
Author(s):  
Miroslav Pokorný ◽  
Tomáš Dočekal ◽  
Danica Rosinová

AbstractUsing the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system theory into one common framework. The rule-based T-S fuzzy model splits a nonlinear system into several linear subsystems. Parallel Distributed Compensation (PDC) controller synthesis uses these T-S fuzzy model rules. The resulting fuzzy controller is nonlinear, based on fuzzy aggregation of state controllers of individual linear subsystems. The system is optimized by the linear quadratic control (LQC) method, its stability is analysed using the Lyapunov method. Stability conditions are guaranteed by a system of linear matrix inequalities (LMIs) formulated and solved for the closed loop system with the proposed PDC controller. The additional GA optimization procedure is introduced, and a new type of its fitness function is proposed to improve the closed-loop system performance.


2012 ◽  
Vol 134 (2) ◽  
Author(s):  
Rajiv Kumar

It is a well known fact that system parameters of the flexible structures keep on changing due to several reasons. Ordinary controllers lose their effectiveness in changed situations and do not guarantee the stability of the closed loop system. However, controllers designed based on robust control theory not only maintain the closed loop stability of the perturbed system with a large variation in system parameters but also maintain the best performance. H∞ loop shaping controller is designed and implemented experimentally on a smart flexible beam treated with precompressed layer damping and ACLD treatment. It outperforms linear quadratic Gaussian and standard H∞ controller both in terms of robust stability and robust performance. Relative merits and demerits of the μ-synthesis based controller are also discussed. Afterwards, these controllers were digitized at certain sampling frequencies and applied to the experimental flexible structure. Certain time domain parameters of the closed loop system discuss the relative superiority of these controllers which otherwise cannot be captured using frequency domain results alone.


Author(s):  
Handa Xi ◽  
Jing Sun

Solid Oxide Fuel Cell (SOFC) based Auxiliary Power Unit (APU) systems have many practical advantages given their high efficiency, low emissions and flexible fueling strategies. This paper focuses on model-based analysis and feedback control design for planar SOFC systems to achieve fast load following capability. A dynamic model is first developed for the integrated co-flow planar SOFC and CPOX (Catalytic Partial Oxidation) system aiming at APU applications. Simulation results illustrate that an open-loop system with optimal steady-state operating setpoints exhibits a slow transient power response when load increases. Feedback control is then explored to speed up the system response by controlling the flow rates of fuel and air supplies to the system. Model linearization, balanced truncation and Linear Quadratic Gaussian (LQG) approaches are used to derive the low-order observer-based controller. With the feedback controller developed, we show, through simulations, that the closed-loop system can have faster load following capability. Different feedback strategies are also considered and their impacts on closed-loop system performance are analyzed.


2013 ◽  
Vol 23 (3) ◽  
pp. 311-331 ◽  
Author(s):  
Ahsene Boubakir ◽  
Salim Labiod ◽  
Fares Boudjema ◽  
Franck Plestan

Abstract The paper presents design and experimental validation of a stable self-tuning PID controller for three degrees of freedom (3-DOF) helicopter. At first, it is proposed a self-tuned proportional-integral-derivative (PID) controller for a class of uncertain second order multiinput multi-output nonlinear dynamic systems to which the 3-DOF helicopter dynamic model belongs. Within this scheme, the PID controller is employed to approximate unknown ideal controller that can achieve control objectives. PID controller gains are the adjustable parameters and they are updated online with a stable adaptation mechanism designed to minimize the error between the unknown ideal controller and the used by PID controller. The stability analysis of the closed-loop system is performed using Lyapunov approach. It is proven that all signals in the closed-loop system are uniformly ultimately bounded. The proposed approach can be regarded as a simple and effective model-free control since the mathematical model of the system is assumed unknown. Experimental results are presented to verify the effectiveness of the proposed controller.


Robotica ◽  
1994 ◽  
Vol 12 (2) ◽  
pp. 137-155 ◽  
Author(s):  
Daniel E. Koditschek

SUMMARYAssembly problems require that a robot with fewer actuated degrees of freedom manipulate an environment containing a greater number of unactuated degrees of freedom. From the perspective of control theory, these problems hold considerable interest because they are characterized by the presence of non-holonomic constraints that preclude the possibility of feedback stabilization. In this sense they necessitate the introduction of a hierarchical controller. This paper explores these issues in the simple instance when all of the pieces to be assembled are constrained to lie on a line. A hierarchical controller is devised for this problem and is shown to be correct: the closed loop system achieves any desired final assembly from all initial configurations that lie in its connected component in configuration space; the generated sequence of motions never causes collisions between two pieces. Further examination of this approach interprets the controller's mediation of conflicting subgoals as promoting an M-player game amongst the pieces to be assembled.


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