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Generalized Framework For Robust Nonlinear Compensation
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Book Synopsis Generalized Framework for Robust Nonlinear Compensation by : Mario Andres Hernandez Lopezomoza
Download or read book Generalized Framework for Robust Nonlinear Compensation written by Mario Andres Hernandez Lopezomoza and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis work is devoted to extending Nonlinear Dynamic Inversion (NDI) for a large scale of nonlinear systems while guaranteeing sufficient stability conditions. NDI has been studied in a wide range of applications, including aeronautics and aerospace. It allows to compute nonlinear control laws able to decouple and linearize a model at any operating point of its state envelope. However, this method is inherently non-robust to modelling errors and input saturations. Moreover, obtaining a quantifiable guarantee of the attained stability domain in a nonlinear control context is not a very straightforward task. Unlike standard NDI approaches, our methodology can be viewed as a generalized nonlinear compensation framework which allows to incorporate uncertainties and input saturations in the design process. Paralleling anti-windup strategies, the controller can be computed through a single multichannel optimization problem or through a simple two-step process. Within this framework, linear fractional transformations of the nonlinear closed-loop can be easily derived for robust stability analysis using standard tools for linear systems. The proposed method is tested for the flight control of a delta wing type reentry vehicle at hypersonic, transonic and subsonic phases of the atmospheric reentry. For this thesis work, a Flight Mechanics simulator including diverse external factors and modelling errors was developed in Simulink.
Book Synopsis Nonlinear Compensation and Heterogeneous Data Modeling for Robust Speech Recognition by : Yong Zhao
Download or read book Nonlinear Compensation and Heterogeneous Data Modeling for Robust Speech Recognition written by Yong Zhao and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of robust speech recognition is to maintain satisfactory recognition accuracy under mismatched operating conditions. This dissertation addresses the robustness issue from two directions. In the first part of the dissertation, we propose the Gauss-Newton method as a unified approach to estimating noise parameters for use in prevalent nonlinear compensation models, such as vector Taylor series (VTS), data-driven parallel model combination (DPMC), and unscented transform (UT), for noise-robust speech recognition. While iterative estimation of noise means in a generalized EM framework has been widely known, we demonstrate that such approaches are variants of the Gauss-Newton method. Furthermore, we propose a novel noise variance estimation algorithm that is consistent with the Gauss-Newton principle. The formulation of the Gauss-Newton method reduces the noise estimation problem to determining the Jacobians of the corrupted speech parameters. For sampling-based compensations, we present two methods, sample Jacobian average (SJA) and cross-covariance (XCOV), to evaluate these Jacobians. The Gauss-Newton method is closely related to another noise estimation approach, which views the model compensation from a generative perspective, giving rise to an EM-based algorithm analogous to the ML estimation for factor analysis (EM-FA). We demonstrate a close connection between these two approaches: they belong to the family of gradient-based methods except with different convergence rates. Note that the convergence property can be crucial to the noise estimation in many applications where model compensation may have to be frequently carried out in changing noisy environments to retain desired performance. Furthermore, several techniques are explored to further improve the nonlinear compensation approaches. To overcome the demand of the clean speech data for training acoustic models, we integrate nonlinear compensation with adaptive training. We also investigate the fast VTS compensation to improve the noise estimation efficiency, and combine the VTS compensation with acoustic echo cancellation (AEC) to mitigate issues due to interfering background speech. The proposed noise estimation algorithm is evaluated for various compensation models on two tasks. The first is to fit a GMM model to artificially corrupted samples, the second is to perform speech recognition on the Aurora 2 database, and the third is on a speech corpus simulating the meeting of multiple competing speakers. The significant performance improvements confirm the efficacy of the Gauss-Newton method to estimating the noise parameters of the nonlinear compensation models. The second research work is devoted to developing more effective models to take full advantage of heterogeneous speech data, which are typically collected from thousands of speakers in various environments via different transducers. The proposed synchronous HMM, in contrast to the conventional HMMs, introduces an additional layer of substates between the HMM state and the Gaussian component variables. The substates have the capability to register long-span non-phonetic attributes, such as gender, speaker identity, and environmental condition, which are integrally called speech scenes in this study. The hierarchical modeling scheme allows an accurate description of probability distribution of speech units in different speech scenes. To address the data sparsity problem in estimating parameters of multiple speech scene sub-models, a decision-based clustering algorithm is presented to determine the set of speech scenes and to tie the substate parameters, allowing us to achieve an excellent balance between modeling accuracy and robustness. In addition, by exploiting the synchronous relationship among the speech scene sub-models, we propose the multiplex Viterbi algorithm to efficiently decode the synchronous HMM within a search space of the same size as for the standard HMM. The multiplex Viterbi can also be generalized to decode an ensemble of isomorphic HMM sets, a problem often arising in the multi-model systems. The experiments on the Aurora 2 task show that the synchronous HMMs produce a significant improvement in recognition performance over the HMM baseline at the expense of a moderate increase in the memory requirement and computational complexity.
Book Synopsis Advanced Takagi‒Sugeno Fuzzy Systems by : Abdellah Benzaouia
Download or read book Advanced Takagi‒Sugeno Fuzzy Systems written by Abdellah Benzaouia and published by Springer. This book was released on 2014-06-07 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph puts the reader in touch with a decade’s worth of new developments in the field of fuzzy control specifically those of the popular Takagi-Sugeno (T-S) type. New techniques for stabilizing control analysis and design based on multiple Lyapunov functions and linear matrix inequalities (LMIs), are proposed. All the results are illustrated with numerical examples and figures and a rich bibliography is provided for further investigation. Control saturations are taken into account within the fuzzy model. The concept of positive invariance is used to obtain sufficient asymptotic stability conditions for the fuzzy system with constrained control inside a subset of the state space. The authors also consider the non-negativity of the states. This is of practical importance in many chemical, physical and biological processes that involve quantities that have intrinsically constant and non-negative sign: concentration of substances, level of liquids, etc. Results for linear systems are then extended to linear systems with delay. It is shown that LMI techniques can usually handle the new constraint of non-negativity of the states when care is taken to use an adequate Lyapunov function. From these foundations, the following further problems are also treated: · asymptotic stabilization of uncertain T-S fuzzy systems with time-varying delay, focusing on delay-dependent stabilization synthesis based on parallel distributed controller (PDC); · asymptotic stabilization of uncertain T-S fuzzy systems with multiple delays, focusing on delay-dependent stabilization synthesis based on PDC with results obtained under linear programming; · design of delay-independent, observer-based, H-infinity control for T–S fuzzy systems with time varying delay; and · asymptotic stabilization of 2-D T–S fuzzy systems. Advanced Takagi–Sugeno Fuzzy Systems provides researchers and graduate students interested in fuzzy control systems with further approaches based LMI and LP.
Book Synopsis Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems by : Huiping Li
Download or read book Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems written by Huiping Li and published by Springer. This book was released on 2016-10-22 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel control algorithms and/or strategies, but also rigorously develops provably correct design conditions. It also provides concise, illustrative examples to demonstrate the implementation procedure, making it invaluable both for academic researchers and engineering practitioners.
Book Synopsis Control of Chaos in Nonlinear Circuits and Systems by : Wing-Kuen Ling
Download or read book Control of Chaos in Nonlinear Circuits and Systems written by Wing-Kuen Ling and published by World Scientific. This book was released on 2009 with total page 281 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, leading researchers present their current work in the challenging area of chaos control in nonlinear circuits and systems, with emphasis on practical methodologies, system design techniques and applications. A combination of overview, tutorial and technical articles, the book describes state-of-the-art research on significant problems in this area. The scope and aim of this book are to bridge the gap between chaos control methods and circuits and systems. It is an ideal starting point for anyone who needs a fundamental understanding of controlling chaos in nonlinear circuits and systems.
Book Synopsis Mathematical Methods for Robust and Nonlinear Control by : Matthew C. Turner
Download or read book Mathematical Methods for Robust and Nonlinear Control written by Matthew C. Turner and published by Springer Science & Business Media. This book was released on 2007-10-23 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: The underlying theory on which much modern robust and nonlinear control is based can be difficult to grasp. This volume is a collection of lecture notes presented by experts in advanced control engineering. The book is designed to provide a better grounding in the theory underlying several important areas of control. It is hoped the book will help the reader to apply otherwise abstruse ideas of nonlinear control in a variety of real systems.
Book Synopsis Generalized Models and Non-classical Approaches in Complex Materials 2 by : Holm Altenbach
Download or read book Generalized Models and Non-classical Approaches in Complex Materials 2 written by Holm Altenbach and published by Springer. This book was released on 2018-06-26 with total page 335 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the 2nd special volume dedicated to the memory of Gérard Maugin. Over 30 leading scientists present their contribution to reflect the vast field of scientific activity of Gérard Maugin. The topics of contributions employing often non-standard methods (generalized model) in this volume show the wide range of subjects that were covered by this exceptional scientific leader. The topics range from micromechanical basics to engineering applications, focusing on new models and applications of well-known models to new problems. They include micro-macro aspects, computational efforts, possibilities to identify the constitutive equations, and old problems with incorrect or non-satisfying solutions based on the classical continua assumptions.
Book Synopsis Fuzzy Controllers by : Teodor Lucian Grigorie
Download or read book Fuzzy Controllers written by Teodor Lucian Grigorie and published by BoD – Books on Demand. This book was released on 2011-02-28 with total page 386 pages. Available in PDF, EPUB and Kindle. Book excerpt: Trying to meet the requirements in the field, present book treats different fuzzy control architectures both in terms of the theoretical design and in terms of comparative validation studies in various applications, numerically simulated or experimentally developed. Through the subject matter and through the inter and multidisciplinary content, this book is addressed mainly to the researchers, doctoral students and students interested in developing new applications of intelligent control, but also to the people who want to become familiar with the control concepts based on fuzzy techniques. Bibliographic resources used to perform the work includes books and articles of present interest in the field, published in prestigious journals and publishing houses, and websites dedicated to various applications of fuzzy control. Its structure and the presented studies include the book in the category of those who make a direct connection between theoretical developments and practical applications, thereby constituting a real support for the specialists in artificial intelligence, modelling and control fields.
Book Synopsis Modeling and Control of Precision Actuators by : Tan Kok Kiong
Download or read book Modeling and Control of Precision Actuators written by Tan Kok Kiong and published by CRC Press. This book was released on 2018-10-08 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Control of Precision Actuators explores new technologies that can ultimately be applied in a myriad of industries. It covers dynamical analysis of precise actuators and strategies of design for various control applications. The book addresses four main schemes: modeling and control of precise actuators; nonlinear control of precise actuators, including sliding mode control and neural network feedback control; fault detection and fault-tolerant control; and advanced air bearing control. It covers application issues in the modeling and control of precise actuators, providing several interesting case studies for more application-oriented readers. Introduces the driving forces behind precise actuators Describes nonlinear dynamics of precise actuators and their mathematical forms, including hysteresis, creep, friction, and force ripples Presents the control strategies for precise actuators based on Preisach model as well as creep dynamics Develops relay feedback techniques for identifying nonlinearities such as friction and force ripples Discusses a MPC approach based on piecewise affine models which emulate the frictional effects in the precise actuator Covers the concepts of air bearing stages with the corresponding control method Provides a set of schemes suitable for fault detection and accommodation control of mechanical systems Emphasizing design theory and control strategies, the book includes simulation and practical examples for each chapter; covers precise actuators such as piezo motors, coil motors, air bearing motors, and linear motors; discusses integration among different technologies; and includes three case studies in real projects. The book concludes by linking design methods and their applications, emphasizing the key issues involved and how to implement the precision motion control tasks in a practical system. It provides a concise and comprehensive source of the state-of-the-art developments and results for modeling and control of precise actuators.
Book Synopsis International Aerospace Abstracts by :
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1999 with total page 974 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of the ... American Control Conference by :
Download or read book Proceedings of the ... American Control Conference written by and published by . This book was released on 1998 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robot Manipulator Control by : Frank L. Lewis
Download or read book Robot Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Book Synopsis Process Control by : Jean-Pierre Corriou
Download or read book Process Control written by Jean-Pierre Corriou and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 763 pages. Available in PDF, EPUB and Kindle. Book excerpt: This reference book can be read at different levels, making it a powerful source of information. It presents most of the aspects of control that can help anyone to have a synthetic view of control theory and possible applications, especially concerning process engineering.
Book Synopsis Robust Multivariable Flight Control by : Richard J. Adams
Download or read book Robust Multivariable Flight Control written by Richard J. Adams and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manual flight control system design for fighter aircraft is one of the most demanding problems in automatic control. Fighter aircraft dynamics generally have highly coupled uncertain and nonlinear dynamics. Multivariable control design techniques offer a solution to this problem. Robust Multivariable Flight Control provides the background, theory and examples for full envelope manual flight control system design. It gives a versatile framework for the application of advanced multivariable control theory to aircraft control problems. Two design case studies are presented for the manual flight control of lateral/directional axes of the VISTA-F-16 test vehicle and an F-18 trust vectoring system. They demonstrate the interplay between theory and the physical features of the systems.
Book Synopsis Analysis and Synthesis of Fault-Tolerant Control Systems by : Magdi S. Mahmoud
Download or read book Analysis and Synthesis of Fault-Tolerant Control Systems written by Magdi S. Mahmoud and published by John Wiley & Sons. This book was released on 2013-10-28 with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, control systems have become more sophisticated in order to meet increased performance and safety requirements for modern technological systems. Engineers are becoming more aware that conventional feedback control design for a complex system may result in unsatisfactory performance, or even instability, in the event of malfunctions in actuators, sensors or other system components. In order to circumvent such weaknesses, new approaches to control system design have emerged which can tolerate component malfunctions while maintaining acceptable stability and performance. These types of control systems are often known as fault-tolerant control systems (FTCS). More precisely, FTCS are control systems which possess the ability to accommodate component failure automatically. Analysis and Synthesis of Fault-Tolerant Control Systems comprehensively covers the analysis and synthesis methods of fault tolerant control systems. It unifies the methods for developing controllers and filters for a wide class of dynamical systems and reports on the recent technical advances in design methodologies. MATLAB® is used throughout the book, to demonstrate methods of analysis and design. Key features: • Provides advanced theoretical methods and typical practical applications • Provides access to a spectrum of control design methods applied to industrial systems • Includes case studies and illustrative examples • Contains end-of-chapter problems Analysis and Synthesis of Fault-Tolerant Control Systems is a comprehensive reference for researchers and practitioners working in this area, and is also a valuable source of information for graduates and senior undergraduates in control, mechanical, aerospace, electrical and mechatronics engineering departments.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1992 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:
