scholarly journals Receding HorizonH∞Control for Input-Delayed Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Han Woong Yoo ◽  
Soohee Han ◽  
Young Sam Lee

We propose the receding horizonH∞control (RHHC) for input-delayed systems. A new cost function for a finite horizon dynamic game problem is first introduced, which includes two terminal weighting terms parameterized by a positive definite matrix, called a terminal weighing matrix. Secondly, the RHHC is obtained from the solution to the finite dynamic game problem. Thirdly, we propose an LMI condition under which the saddle point value satisfies the nonincreasing monotonicity. Finally, we show the asymptotic stability andH∞boundedness of the closed-loop system controlled by the proposed RHHC. The proposed RHHC has a guaranteedH∞performance bound for nonzero external disturbances and the quadratic cost can be improved by adjusting the prediction horizon length for nonzero initial condition and zero disturbance, which is not the case for existing memoryless state-feedback controllers. It is shown through a numerical example that the proposed RHHC is stabilizing and satisfies the infinite horizonH∞performance bound. Furthermore, the performance in terms of the quadratic cost is shown to be improved by adjusting the prediction horizon length when there exists no external disturbance with nonzero initial condition.

Author(s):  
Alain Jean-Marie ◽  
Mabel Tidball ◽  
Víctor Bucarey López

We consider a discrete-time, infinite-horizon dynamic game of groundwater extraction. A Water Agency charges an extraction cost to water users and controls the marginal extraction cost so that it depends not only on the level of groundwater but also on total water extraction (through a parameter [Formula: see text] that represents the degree of strategic interactions between water users) and on rainfall (through parameter [Formula: see text]). The water users are selfish and myopic, and the goal of the agency is to give them incentives so as to improve their total discounted welfare. We look at this problem in several situations. In the first situation, the parameters [Formula: see text] and [Formula: see text] are considered to be fixed over time. The first result shows that when the Water Agency is patient (the discount factor tends to 1), the optimal marginal extraction cost asks for strategic interactions between agents. The contrary holds for a discount factor near 0. In a second situation, we look at the dynamic Stackelberg game where the Agency decides at each time what cost parameter they must announce. We study theoretically and numerically the solution to this problem. Simulations illustrate the possibility that threshold policies are good candidates for optimal policies.


2016 ◽  
Vol 24 (4) ◽  
pp. 739-759 ◽  
Author(s):  
Yaping Xia ◽  
Minghui Yin ◽  
Chenxiao Cai ◽  
Baoyong Zhang ◽  
Yun Zou

This paper is concerned with the measure of degree of controllability (DOC) for linear system with external disturbance. A new measure of DOC, in which the initial condition is regarded as a random vector, is proposed in this paper by solving the fixed-time expected minimum-energy transfer control problem. Since this new measure is dependent on the statistical information of initial condition rather than its estimated value, it is more suitable to apply the proposed measure in the design and optimization of the structural parameters of controlled plants. Furthermore, the simulations on the NREL (National Renewable Energy Laboratory) CART3 wind turbine demonstrate that the relation of the proposed measure to turbine parameters (including rotor inertia and optimum tip speed ratio) coincides with that of the MPPT efficiency to turbine parameters. This indicates that the proposed measure is applicable to guide the design and optimization of the structural parameters of wind turbines. Meanwhile, a mass-spring-damper system is also simulated to validate the proposed measure.


2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Rong Li ◽  
Qingxian Wu ◽  
Qingyun Yang ◽  
Hui Ye

This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint. The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance constrained problem. Then the robust controller is designed by using adaptive backstepping method, and the stability analysis is considered by using Lyapunov-Krasovskii. Furthermore, the proposed method is employed into the unmanned helicopter system with time-delay aerodynamic uncertainty. Finally, the simulation results illustrate that the proposed robust prescribed performance control system achieved a good control performance.


1985 ◽  
Vol 25 (04) ◽  
pp. 521-523 ◽  
Author(s):  
M.F.N. Mohsen

Abstract In the analytical solution of the Buckley-Leverett problem, Welge1 recommends that to locate a front, one should draw a tangent to the fractional saturation curve from the origin. In this paper I establish that this procedure will be correct only for the case of a zero initial condition. For a nonzero initial condition, a mass-conserving front will be located farther down the flow direction. The implications of this finding for error analysis in comparing numerical solutions to the analytical one are discussed. Introduction To establish the accuracy of a numerical solution to the Buckley-Leverett equation, one normally seeks a comparison with the analytical solution. Difficulties arise, however, when a zero initial saturation over the space domain, normally imposed on the analytical solution, is to be expressed numerically while incorporating a nonzero boundary condition. For example, the finite-element method using a "Chapeau" basis function by necessity generates a ramp initial condition. The objective of this paper is to provide a modification to Welge's1 method for an appropriate location of the front on the basis of mass conservation for a condition where some water greater than the residual water saturation is initially present. The analytical solution to the Buckley-Leverett equation is known to yield a multiple-value saturation profile that is resolved by locating a front on the basis of mass conservation. This was suggested by Buckley and Leverett.2 A quick way of locating the front was provided by Welge,1 and is also discussed in Ref. 3. Welge's method locates the front accurately for the particular case when the initial saturation is zero (or a constant residual water saturation) over the entire space domain. In the more general case of a nonzero initial condition (i.e., initial saturation greater than residual saturation), his method needs modification. One such method is presented in this paper. Development of the Modified Technique The Buckley-Leverett equation is given byEquation 1 whereqt=total volumetric flow rate (L3/T),fw=fractional flow of wetting phase,Sw=saturation of wetting phase,t=time (T),x=space coordinate (L),A=cross-sectional area normal to flow (L2), andf=porosity. Introducing ut=qt/Af, the total interstitial flow velocity, Eq. 1 may be written asEquation 2 It was shown by Buckley and Leverett2 that the solution to Eq. 2 may be generated by computing the displacement, ?x, experienced by any saturation, Sw.Equation 3 Owing to the bell-shaped property of dfw/dSw as a function of saturation Sw, the solution of Eq. 3 generates a triple-value function, ?x(Sw,t). The physical incompatibility of the multiplicity of Sw at a given x on the advanced saturation profile of the wetting phase was resolved by Buckley and Leverett2 by locating a front while maintaining conservation of mass. Welge1 rightfully pointed out the computational effort in computing the area every time a solution is required. He established that the mass-conserving front location may be arrived at by drawing (in the fw vs. Sw plane) a tangent from the origin (Sw=Swr, fw=0) to the fw(Sw) curve. The saturation at the point of tangency is the saturation at which the front is to be located. I now show that Welge's method will yield the correct front location only in the special case of zero initial condition - i.e., when Sw(x,0)=Sw for all x. For the more general case of a nonzero (over and above Sw) initial condition, Welge's method will be modified. A nonzero initial condition affects the solution in two respects.


1999 ◽  
Vol 121 (2) ◽  
pp. 326-331 ◽  
Author(s):  
Wen-Hou Ma ◽  
Huei Peng

The continuous-time two-player preview game problems are studied in this paper. A preview game problem is formulated when the input signals generated by one of the two players are delayed (e.g., by actuator dynamics), and are previewed by the other player. In accordance with the control terminology, these two players are referred to as the control player and the disturbance player, respectively. Both control-advantaged and disturbance-advantaged game solutions are presented. When the solution of an infinite horizon problem exists, the response of the closed-loop system can be analyzed in the frequency domain. A vehicle handling problem is used as an example for the analysis. It is shown that the preview action of the advantaged player effectively reduces the authority of the disadvantaged player, and results in significantly improved performance compared with feedback-only game algorithms.


Sign in / Sign up

Export Citation Format

Share Document