Optimal Trajectory Tracking Of Nonlinear Dynamical Systems

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Optimal Trajectory Tracking of Nonlinear Dynamical Systems

Jakob Löber
Optimal Trajectory Tracking of Nonlinear Dynamical Systems Book PDF

Author : Jakob Löber
Publisher : Springer
Page : 243 pages
File Size : 51,5 Mb
Release : 2016-12-20
Category : Science
ISBN : 9783319465746

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Optimal Trajectory Tracking of Nonlinear Dynamical Systems by Jakob Löber Pdf

By establishing an alternative foundation of control theory, this thesis represents a significant advance in the theory of control systems, of interest to a broad range of scientists and engineers. While common control strategies for dynamical systems center on the system state as the object to be controlled, the approach developed here focuses on the state trajectory. The concept of precisely realizable trajectories identifies those trajectories that can be accurately achieved by applying appropriate control signals. The resulting simple expressions for the control signal lend themselves to immediate application in science and technology. The approach permits the generalization of many well-known results from the control theory of linear systems, e.g. the Kalman rank condition to nonlinear systems. The relationship between controllability, optimal control and trajectory tracking are clarified. Furthermore, the existence of linear structures underlying nonlinear optimal control is revealed, enabling the derivation of exact analytical solutions to an entire class of nonlinear optimal trajectory tracking problems. The clear and self-contained presentation focuses on a general and mathematically rigorous analysis of controlled dynamical systems. The concepts developed are visualized with the help of particular dynamical systems motivated by physics and chemistry.

Discrete-Time Inverse Optimal Control for Nonlinear Systems

Edgar N. Sanchez,Fernando Ornelas-Tellez
Discrete Time Inverse Optimal Control for Nonlinear Systems Book PDF

Author : Edgar N. Sanchez,Fernando Ornelas-Tellez
Publisher : CRC Press
Page : 268 pages
File Size : 42,5 Mb
Release : 2017-12-19
Category : Technology & Engineering
ISBN : 9781466580886

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Discrete-Time Inverse Optimal Control for Nonlinear Systems by Edgar N. Sanchez,Fernando Ornelas-Tellez Pdf

Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear systems. This avoids the need to solve the associated Hamilton-Jacobi-Bellman equation and minimizes a cost functional, resulting in a more efficient controller. Design More Efficient Controllers for Stabilization and Trajectory Tracking of Discrete-Time Nonlinear Systems The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). The synthesized discrete-time optimal controller can be directly implemented in real-time systems. The book also proposes the use of recurrent neural networks to model discrete-time nonlinear systems. Combined with the inverse optimal control approach, such models constitute a powerful tool to deal with uncertainties such as unmodeled dynamics and disturbances. Learn from Simulations and an In-Depth Case Study The authors include a variety of simulations to illustrate the effectiveness of the synthesized controllers for stabilization and trajectory tracking of discrete-time nonlinear systems. An in-depth case study applies the control schemes to glycemic control in patients with type 1 diabetes mellitus, to calculate the adequate insulin delivery rate required to prevent hyperglycemia and hypoglycemia levels. The discrete-time optimal and robust control techniques proposed can be used in a range of industrial applications, from aerospace and energy to biomedical and electromechanical systems. Highlighting optimal and efficient control algorithms, this is a valuable resource for researchers, engineers, and students working in nonlinear system control.

Advanced Optimal Control and Applications Involving Critic Intelligence

Ding Wang,Mingming Ha,Mingming Zhao
Advanced Optimal Control and Applications Involving Critic Intelligence Book PDF

Author : Ding Wang,Mingming Ha,Mingming Zhao
Publisher : Springer Nature
Page : 283 pages
File Size : 48,9 Mb
Release : 2023-01-21
Category : Technology & Engineering
ISBN : 9789811972911

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Advanced Optimal Control and Applications Involving Critic Intelligence by Ding Wang,Mingming Ha,Mingming Zhao Pdf

This book intends to report new optimal control results with critic intelligence for complex discrete-time systems, which covers the novel control theory, advanced control methods, and typical applications for wastewater treatment systems. Therein, combining with artificial intelligence techniques, such as neural networks and reinforcement learning, the novel intelligent critic control theory as well as a series of advanced optimal regulation and trajectory tracking strategies are established for discrete-time nonlinear systems, followed by application verifications to complex wastewater treatment processes. Consequently, developing such kind of critic intelligence approaches is of great significance for nonlinear optimization and wastewater recycling. The book is likely to be of interest to researchers and practitioners as well as graduate students in automation, computer science, and process industry who wish to learn core principles, methods, algorithms, and applications in the field of intelligent optimal control. It is beneficial to promote the development of intelligent optimal control approaches and the construction of high-level intelligent systems.

Optimal Event-Triggered Control Using Adaptive Dynamic Programming

Sarangapani Jagannathan,Vignesh Narayanan,Avimanyu Sahoo
Optimal Event Triggered Control Using Adaptive Dynamic Programming Book PDF

Author : Sarangapani Jagannathan,Vignesh Narayanan,Avimanyu Sahoo
Publisher : CRC Press
Page : 348 pages
File Size : 40,8 Mb
Release : 2024-06-21
Category : Technology & Engineering
ISBN : 9781040049167

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Optimal Event-Triggered Control Using Adaptive Dynamic Programming by Sarangapani Jagannathan,Vignesh Narayanan,Avimanyu Sahoo Pdf

Optimal Event-triggered Control using Adaptive Dynamic Programming discusses event triggered controller design which includes optimal control and event sampling design for linear and nonlinear dynamic systems including networked control systems (NCS) when the system dynamics are both known and uncertain. The NCS are a first step to realize cyber-physical systems (CPS) or industry 4.0 vision. The authors apply several powerful modern control techniques to the design of event-triggered controllers and derive event-trigger condition and demonstrate closed-loop stability. Detailed derivations, rigorous stability proofs, computer simulation examples, and downloadable MATLAB® codes are included for each case. The book begins by providing background on linear and nonlinear systems, NCS, networked imperfections, distributed systems, adaptive dynamic programming and optimal control, stability theory, and optimal adaptive event-triggered controller design in continuous-time and discrete-time for linear, nonlinear and distributed systems. It lays the foundation for reinforcement learning-based optimal adaptive controller use for infinite horizons. The text then: Introduces event triggered control of linear and nonlinear systems, describing the design of adaptive controllers for them Presents neural network-based optimal adaptive control and game theoretic formulation of linear and nonlinear systems enclosed by a communication network Addresses the stochastic optimal control of linear and nonlinear NCS by using neuro dynamic programming Explores optimal adaptive design for nonlinear two-player zero-sum games under communication constraints to solve optimal policy and event trigger condition Treats an event-sampled distributed linear and nonlinear systems to minimize transmission of state and control signals within the feedback loop via the communication network Covers several examples along the way and provides applications of event triggered control of robot manipulators, UAV and distributed joint optimal network scheduling and control design for wireless NCS/CPS in order to realize industry 4.0 vision An ideal textbook for senior undergraduate students, graduate students, university researchers, and practicing engineers, Optimal Event Triggered Control Design using Adaptive Dynamic Programming instills a solid understanding of neural network-based optimal controllers under event-sampling and how to build them so as to attain CPS or Industry 4.0 vision.

Advances in Applied Nonlinear Dynamics, Vibration and Control -2021

Xingjian Jing,Hu Ding,Jiqiang Wang
Advances in Applied Nonlinear Dynamics Vibration and Control 2021 Book PDF

Author : Xingjian Jing,Hu Ding,Jiqiang Wang
Publisher : Springer Nature
Page : 1210 pages
File Size : 50,7 Mb
Release : 2021-09-23
Category : Technology & Engineering
ISBN : 9789811659126

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Advances in Applied Nonlinear Dynamics, Vibration and Control -2021 by Xingjian Jing,Hu Ding,Jiqiang Wang Pdf

This book is to provide readers with up-to-date advances in applied and interdisciplinary engineering science and technologies related to nonlinear dynamics, vibration, control, robotics, and their engineering applications, developed in the most recent years. All the contributed chapters come from active scholars in the area, which cover advanced theory & methods, innovative technologies, benchmark experimental validations and engineering practices. Readers would benefit from this state-of-the-art collection of applied nonlinear dynamics, in-depth vibration engineering theory, cutting-edge control methods and technologies, and definitely find stimulating ideas for their on-going R&D work. This book is intended for graduate students, research staff and scholars in academics, and also provides useful hand-up guidance for professional and engineers in practical engineering missions.

Proceedings of 2021 Chinese Intelligent Systems Conference

Yingmin Jia,Weicun Zhang,Yongling Fu,Zhiyuan Yu,Song Zheng
Proceedings of 2021 Chinese Intelligent Systems Conference Book PDF

Author : Yingmin Jia,Weicun Zhang,Yongling Fu,Zhiyuan Yu,Song Zheng
Publisher : Springer Nature
Page : 866 pages
File Size : 41,8 Mb
Release : 2021-10-06
Category : Technology & Engineering
ISBN : 9789811663208

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Proceedings of 2021 Chinese Intelligent Systems Conference by Yingmin Jia,Weicun Zhang,Yongling Fu,Zhiyuan Yu,Song Zheng Pdf

This book presents the proceedings of the 17th Chinese Intelligent Systems Conference, held in Fuzhou, China, on Oct 16-17, 2021. It focuses on new theoretical results and techniques in the field of intelligent systems and control. This is achieved by providing in-depth study on a number of major topics such as Multi-Agent Systems, Complex Networks, Intelligent Robots, Complex System Theory and Swarm Behavior, Event-Triggered Control and Data-Driven Control, Robust and Adaptive Control, Big Data and Brain Science, Process Control, Intelligent Sensor and Detection Technology, Deep learning and Learning Control Guidance, Navigation and Control of Flight Vehicles and so on. The book is particularly suited for readers who are interested in learning intelligent system and control and artificial intelligence. The book can benefit researchers, engineers, and graduate students.

Adaptive Critic Control with Robust Stabilization for Uncertain Nonlinear Systems

Ding Wang,Chaoxu Mu
Adaptive Critic Control with Robust Stabilization for Uncertain Nonlinear Systems Book PDF

Author : Ding Wang,Chaoxu Mu
Publisher : Springer
Page : 307 pages
File Size : 55,6 Mb
Release : 2018-08-10
Category : Technology & Engineering
ISBN : 9789811312533

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Adaptive Critic Control with Robust Stabilization for Uncertain Nonlinear Systems by Ding Wang,Chaoxu Mu Pdf

This book reports on the latest advances in adaptive critic control with robust stabilization for uncertain nonlinear systems. Covering the core theory, novel methods, and a number of typical industrial applications related to the robust adaptive critic control field, it develops a comprehensive framework of robust adaptive strategies, including theoretical analysis, algorithm design, simulation verification, and experimental results. As such, it is of interest to university researchers, graduate students, and engineers in the fields of automation, computer science, and electrical engineering wishing to learn about the fundamental principles, methods, algorithms, and applications in the field of robust adaptive critic control. In addition, it promotes the development of robust adaptive critic control approaches, and the construction of higher-level intelligent systems.

Differential Neural Networks for Robust Nonlinear Control

Alexander S. Poznyak,Edgar N. Sanchez,Wen Yu
Differential Neural Networks for Robust Nonlinear Control Book PDF

Author : Alexander S. Poznyak,Edgar N. Sanchez,Wen Yu
Publisher : World Scientific
Page : 455 pages
File Size : 54,7 Mb
Release : 2001
Category : Computers
ISBN : 9789810246242

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Differential Neural Networks for Robust Nonlinear Control by Alexander S. Poznyak,Edgar N. Sanchez,Wen Yu Pdf

This book deals with continuous time dynamic neural networks theory applied to the solution of basic problems in robust control theory, including identification, state space estimation (based on neuro-observers) and trajectory tracking. The plants to be identified and controlled are assumed to be a priori unknown but belonging to a given class containing internal unmodelled dynamics and external perturbations as well. The error stability analysis and the corresponding error bounds for different problems are presented. The effectiveness of the suggested approach is illustrated by its application to various controlled physical systems (robotic, chaotic, chemical, etc.).

Trajectory tracking, path following, and learning in model predictive control

Fabian Russell Pfitz
Trajectory tracking path following and learning in model predictive control Book PDF

Author : Fabian Russell Pfitz
Publisher : Logos Verlag Berlin GmbH
Page : 160 pages
File Size : 48,6 Mb
Release : 2023-08-21
Category : Electronic
ISBN : 9783832557058

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Trajectory tracking, path following, and learning in model predictive control by Fabian Russell Pfitz Pdf

In this thesis, we present novel model predictive control (MPC) formulations based on a convex open-loop optimal control problem to tackle the problem setup of trajectory tracking and path following as well as the control of systems with unknown system dynamic. In particular, we consider the framework of relaxed barrier function based MPC (rbMPC). We extend the existing stability theory to the trajectory tracking and the path following problem. We establish important system theoretic properties like closed-loop stability and exact constraint satisfaction under suitable assumptions. Moreover, we evaluate the developed MPC algorithms in the area of automated driving in simulations as well as in a real-world driving scenario. Further, we consider the control of completely unknown systems based on online optimization. We divide the overall problem into the design of an estimation algorithm and a control algorithm. The control algorithm is a model-independent receding horizon control algorithm in which important system theoretic properties like convergence to the origin are guaranteed without the knowledge of the true system parameters. The estimation and control algorithm are combined together and convergence to the origin of the closed-loop system for fully unknown linear time-invariant discrete-time systems is shown.

Simulation Techniques for Applied Dynamics

Martin Arnold,Werner Schiehlen
Simulation Techniques for Applied Dynamics Book PDF

Author : Martin Arnold,Werner Schiehlen
Publisher : Springer Science & Business Media
Page : 382 pages
File Size : 45,8 Mb
Release : 2009-06-15
Category : Technology & Engineering
ISBN : 9783211895481

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Simulation Techniques for Applied Dynamics by Martin Arnold,Werner Schiehlen Pdf

The coupling of models from different physical domains and the efficient and reliable simulation of multidisciplinary problems in engineering applications are important topics for various fields of engineering, in simulation technology and in the development and analysis of numerical solvers. The volume presents advanced modelling and simulation techniques for the dynamical analysis of coupled engineering systems consisting of mechanical, electrical, hydraulic and biological components as well as control devices often based on computer hardware and software. The book starts with some basics in multibody dynamics and in port-based modelling and focuses on the modelling and simulation of heterogeneous systems with special emphasis on robust and efficient numerical solution techniques and on a variety of applied problems including case studies of co-simulation in industrial applications, methods and problems of model based controller design and real-time application.

Foundations and Applications of Intelligent Systems

Fuchun Sun,Tianrui Li,Hongbo Li
Foundations and Applications of Intelligent Systems Book PDF

Author : Fuchun Sun,Tianrui Li,Hongbo Li
Publisher : Springer Science & Business Media
Page : 784 pages
File Size : 41,9 Mb
Release : 2013-11-22
Category : Technology & Engineering
ISBN : 9783642378294

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Foundations and Applications of Intelligent Systems by Fuchun Sun,Tianrui Li,Hongbo Li Pdf

These proceedings present technical papers selected from the 2012 International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2012), held on December 15-17 in Beijing. The aim of this conference is to bring together experts from different fields of expertise to discuss the state-of-the-art in Intelligent Systems and Knowledge Engineering, and to present new findings and perspectives on future developments. The proceedings introduce current scientific and technical advances in the fields of artificial intelligence, machine learning, pattern recognition, data mining, knowledge engineering, information retrieval, information theory, knowledge-based systems, knowledge representation and reasoning, multi-agent systems, and natural-language processing, etc. Furthermore they include papers on new intelligent computing paradigms, which combine new computing methodologies, e.g., cloud computing, service computing and pervasive computing with traditional intelligent methods. By presenting new methodologies and practices, the proceedings will benefit both researchers and practitioners who want to utilize intelligent methods in their specific fields. Dr. Fuchun Sun is a professor at the Department of Computer Science & Technology, Tsinghua University, China. Dr. Tianrui Li is a professor at the School of Information Science & Technology, Southwest Jiaotong University, Chengdu, China. Dr. Hongbo Li also works at the Department of Computer Science & Technology, Tsinghua University, China.

Reinforcement Learning for Optimal Feedback Control

Rushikesh Kamalapurkar,Patrick Walters,Joel Rosenfeld,Warren Dixon
Reinforcement Learning for Optimal Feedback Control Book PDF

Author : Rushikesh Kamalapurkar,Patrick Walters,Joel Rosenfeld,Warren Dixon
Publisher : Springer
Page : 293 pages
File Size : 41,6 Mb
Release : 2018-05-10
Category : Technology & Engineering
ISBN : 9783319783840

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Reinforcement Learning for Optimal Feedback Control by Rushikesh Kamalapurkar,Patrick Walters,Joel Rosenfeld,Warren Dixon Pdf

Reinforcement Learning for Optimal Feedback Control develops model-based and data-driven reinforcement learning methods for solving optimal control problems in nonlinear deterministic dynamical systems. In order to achieve learning under uncertainty, data-driven methods for identifying system models in real-time are also developed. The book illustrates the advantages gained from the use of a model and the use of previous experience in the form of recorded data through simulations and experiments. The book’s focus on deterministic systems allows for an in-depth Lyapunov-based analysis of the performance of the methods described during the learning phase and during execution. To yield an approximate optimal controller, the authors focus on theories and methods that fall under the umbrella of actor–critic methods for machine learning. They concentrate on establishing stability during the learning phase and the execution phase, and adaptive model-based and data-driven reinforcement learning, to assist readers in the learning process, which typically relies on instantaneous input-output measurements. This monograph provides academic researchers with backgrounds in diverse disciplines from aerospace engineering to computer science, who are interested in optimal reinforcement learning functional analysis and functional approximation theory, with a good introduction to the use of model-based methods. The thorough treatment of an advanced treatment to control will also interest practitioners working in the chemical-process and power-supply industry.

Nonlinear Dynamics and Control

Walter Lacarbonara,Balakumar Balachandran,Jun Ma,J. A. Tenreiro Machado,Gabor Stepan
Nonlinear Dynamics and Control Book PDF

Author : Walter Lacarbonara,Balakumar Balachandran,Jun Ma,J. A. Tenreiro Machado,Gabor Stepan
Publisher : Springer Nature
Page : 346 pages
File Size : 40,8 Mb
Release : 2020-01-27
Category : Science
ISBN : 9783030347475

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Nonlinear Dynamics and Control by Walter Lacarbonara,Balakumar Balachandran,Jun Ma,J. A. Tenreiro Machado,Gabor Stepan Pdf

This second of three volumes from the inaugural NODYCON, held at the University of Rome, in February of 2019, presents papers devoted to Nonlinear Dynamics and Control. The collection features both well-established streams of research as well as novel areas and emerging fields of investigation. Topics in Volume II include influence of nonlinearities on vibration control systems; passive, semi-active, active control of structures and systems; synchronization; robotics and human-machine interaction; network dynamics control (multi-agent systems, leader-follower dynamics, swarm dynamics, biological networks dynamics); and fractional-order control.

Neural Information Processing

Akira Hirose,Seiichi Ozawa,Kenji Doya,Kazushi Ikeda,Minho Lee,Derong Liu
Neural Information Processing Book PDF

Author : Akira Hirose,Seiichi Ozawa,Kenji Doya,Kazushi Ikeda,Minho Lee,Derong Liu
Publisher : Springer
Page : 663 pages
File Size : 49,5 Mb
Release : 2016-09-30
Category : Computers
ISBN : 9783319466811

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Neural Information Processing by Akira Hirose,Seiichi Ozawa,Kenji Doya,Kazushi Ikeda,Minho Lee,Derong Liu Pdf

The four volume set LNCS 9947, LNCS 9948, LNCS 9949, and LNCS 9950 constitues the proceedings of the 23rd International Conference on Neural Information Processing, ICONIP 2016, held in Kyoto, Japan, in October 2016. The 296 full papers presented were carefully reviewed and selected from 431 submissions. The 4 volumes are organized in topical sections on deep and reinforcement learning; big data analysis; neural data analysis; robotics and control; bio-inspired/energy efficient information processing; whole brain architecture; neurodynamics; bioinformatics; biomedical engineering; data mining and cybersecurity workshop; machine learning; neuromorphic hardware; sensory perception; pattern recognition; social networks; brain-machine interface; computer vision; time series analysis; data-driven approach for extracting latent features; topological and graph based clustering methods; computational intelligence; data mining; deep neural networks; computational and cognitive neurosciences; theory and algorithms.

Advanced Vehicle Control

Johannes Edelmann,Manfred Plöchl,Peter E. Pfeffer
Advanced Vehicle Control Book PDF

Author : Johannes Edelmann,Manfred Plöchl,Peter E. Pfeffer
Publisher : CRC Press
Page : 726 pages
File Size : 48,6 Mb
Release : 2016-12-19
Category : Technology & Engineering
ISBN : 9781351966719

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Advanced Vehicle Control by Johannes Edelmann,Manfred Plöchl,Peter E. Pfeffer Pdf

The AVEC symposium is a leading international conference in the fields of vehicle dynamics and advanced vehicle control, bringing together scientists and engineers from academia and automotive industry. The first symposium was held in 1992 in Yokohama, Japan. Since then, biennial AVEC symposia have been established internationally and have considerably contributed to the progress of technology in automotive research and development. In 2016 the 13th International Symposium on Advanced Vehicle Control (AVEC’16) was held in Munich, Germany, from 13th to 16th of September 2016. The symposium was hosted by the Munich University of Applied Sciences. AVEC’16 puts a special focus on automatic driving, autonomous driving functions and driver assist systems, integrated control of interacting control systems, controlled suspension systems, active wheel torque distribution, and vehicle state and parameter estimation. 132 papers were presented at the symposium and are published in these proceedings as full paper contributions. The papers review the latest research developments and practical applications in highly relevant areas of vehicle control, and may serve as a reference for researchers and engineers.