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Embedded model control:Reconciling modern control theory and error-based control design

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Control Theory and Technology 2018年第4期16卷 261-283页

作者： Enrico canuto Carlo NOVARA Luigi COLANGELO Politecnico di Torino Italy

The paper addresses the problem of reconciling the modern control paradigm developed by R. Kalman in the sixties of the past century, and the centenary error-based design of the proportional, integrative and derivative （PID） controllers. This is done with the help of the error loop whose stability is proved to be necessary and sufficient for the close-loop plant stability. The error loop is built by cascading the uncertain plant-to-model discrepancies （causal, parametric, initial state, neglected dynamics）, which are driven by the design model output and by arbitrary bounded signals, with the control unit transfer functions. The embedded model control takes advantage of the error loop and its equations to design appropriate algorithms of the modern control theory （state predictor, control law, reference generator）, which guarantee the error loop stability and performance. A simulated multivariate case study shows modeling and control design steps and the coherence of the predicted and simulated performance.

关键词： Modern control theory error-based design embedded model control error loop disturbance rejection

Control of systems with sector-bounded nonlinearities： robust stability and command effort minimization by disturbance rejection

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Control Theory and Technology 2016年第3期14卷 209-223页

作者： Carlo NOVARA Enrico canuto Donato CARLUCCI Politecnico di Torino Italy

The paper shows that a control strategy with disturbance rejection is able to reduce the control effort to a minimum, ensuring at the same time a desired performance level. The disturbance to be rejected is completely unknown, except for a sectorial bound. The control unit is endowed with an extended state observer which includes a disturbance dynamics, whose state tracks the unknown disturbance to be rejected. In summary, the novel contributions of the paper are the following. First, we derive a robust stability condition for the proposed control scheme, holding for all the nonlinearities that are bounded by a known （or estimated） maximum slope. Second, we propose a novel approach for designing the observer and state feedback gains, which guarantee robust closed-loop stability. Third, we show that the designed control system yields, with a minimum control effort, the same control performance as a robust state feedback control, which on the contrary may require a larger command activity. Two simulated case studies are presented to show the effectiveness of the proposed approach.

关键词： Disturbance rejection extended observer robust stability sector-bounded nonlinear systems

Numerical Solution of Partial Differential Equations in Random Domains:An Application to Wind Engineering

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Communications in Computational Physics 2009年第2期5卷 515-531页

作者： Claudio canuto Davide Fransos Dipartimento di Matematica Politecnico di TorinoC.so Duca degli Abruzzi 2410129 TorinoItaly

An application of recent uncertainty quantification techniques to Wind Engineering is *** particular,the study of the effects of small geometric changes in the Sunshine Skyway Bridge deck on its aerodynamic behavior is *** results in the numerical solution of a proper PDE posed in a domain affected by randomness,which is handled through a mapping approach.A non-intrusive Polynomial Chaos expansion allows to transform the stochastic problem into a deterministic one,in which a commercial code is used as a black-box for the solution of a number of Reynolds-Averaged Navier-Stokes *** use of proper Gauss-Patterson nested quadrature formulas with respect to a Truncated Weibull probability density function permits to limit the number of these computationally expensive simulations,though maintaining a sufficient *** Chaos approximations,statistical moments and probability density functions of time-independent quantities of interest for the engineering applications are obtained.

关键词： Uncertainty quantification stochastic partial differential equations random domains mapping approach polynomial chaos wind engineering

An Adaptive hp-DG-FE Method for Elliptic Problems: Convergence and Optimality in the 1D Case

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Communications on Applied Mathematics and Computation 2019年第3期1卷 309-331页

作者： Paola Antonietti Claudio canuto Marco Verani MOX-Dipartimento di Matematica Politecnico di MilanoP.zza Leonardo Da Vinci 3220133 MilanItaly Dipartimento di Scienze Matematiche Politecnico di TorinoCorso Duca degli Abruzzi 2410129 TurinItaly

We propose and analyze an hp-adaptive DG-FEM algorithm, termed hp-ADFEM, and its one-dimensional realization, which is convergent, instance optimal, and h- and p-robust. The procedure consists of iterating two routines:one hinges on Binev's algorithm for the adaptive hp-approximation of a given function, and finds a near-best hp-approximation of the current discrete solution and data to a desired accuracy;the other one improves the discrete solution to a finer but comparable accuracy, by iteratively applying D?rfler marking and h refinement.

关键词： Elliptic problem Discontinuous Galerkin method hp-adaptivity Convergence and optimality

具有不确定参数的温度传感器的动态相对校准(英文)

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中国科学技术大学学报 2012年第5期42卷 345-356页

作者： canuto Enrico Ospina José A Acuna-Bravo Wilber 都灵理工大学自动化与电子信息科学系意大利都灵10129

存在动态偏差情况下的传感器校准,与多个传感器的相对校准类似.实现相对校准对许多控制问题都很重要,比如需要产生精确温度梯度的问题、保持均匀与稳定温度场的问题.本文以温度传感器为例,对静态(稳态)校准与动态校准从理论和实验两个... 详细信息

存在动态偏差情况下的传感器校准,与多个传感器的相对校准类似.实现相对校准对许多控制问题都很重要,比如需要产生精确温度梯度的问题、保持均匀与稳定温度场的问题.本文以温度传感器为例,对静态(稳态)校准与动态校准从理论和实验两个角度进行了对比.动态校准的一个优势是其适用于任何测量数据,但其需要建立一个测量仪器的动态模型.尽管本文只研究了一个由三个传感器构成的简单设备,但其结果也适用于更复杂的情况.这正是因为动态校准的另一个显著优势,即其能在任何设备上进行校准,校准的一个前提是所用的动态模型与传感器具有相同的阶次.本文证明了可辨识性(可校准性)条件,并通过以迭代方式求解一个非线性加权最小二乘问题,实现了校准.对解的收敛性、一致性和渐近效率,不但给予了理论证明,且通过蒙特卡罗模拟实验进行了验证.

关键词：相对校准系统辨识加权最小二乘温度传感器

Making Returns on Knowledge: How Innovation Can Flow from Globalisation

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Making Returns on Knowledge: How Innovation Can Flow from Gl...

Disturbance Rejection in Space Applications:Problems and Solutions 30th

作者： OTAVIANO canuto the World Bank

The April issue of the International Monetary Fund's World Economic Outlook included a chapter on how globalisation has helped technology leaders'knowledge spread faster. Cross-border technological diffusion has not only contributed to rising domestic productivity levels in advanced and emerging economies, but also facilitated a partial reshaping of the innovation landscape. Some recipient countries have become significant new sources of research and development as well as

关键词： WEO How Innovation Can Flow from Globalisation Making Returns on Knowledge

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Disturbance Rejection in Space Applications:Problems and Sol...

行星着陆——推进下降过程的建模与控制(英文)

第三十届中国控制会议

作者： Enrico canuto Andrés Molano-Jimenez Carlos Perez-Montenegro Politecnico di Torino Dipartimento di Automatica e Informatica Corso Duca degli Abruzzi 2410129 TorinoItaly

ISBN: (纸本)9781457706776

＜正＞In the propulsive phase of planetary landing like Mars or Moon when only soft landing is the target,guidance, navigation and control are driven by an Inertial Measurement Unit and a radar altimeter/*** measurements are affected by bias and scale（factor） errors,which are aggravated by the vehicle axis to be tilted with respect to the local vertical for most of the descent trajectory,and by the attitude navigation error cumulated during the ballistic（and aerodynamic） flight after the orbiter *** complementing the Centre-of-Mass dynamics with appropriate disturbance state equations driven by noise vectors,and by estimating noise from the model error,scale errors and bias can be real-time retrieved as disturbance state variables,then eliminated from the tracking errors through disturbance rejection, under convergence conditions and sensor *** same result is proved cannot be achieved under pure feedback control. The result shows a well known fact:bias can only be eliminated by disposing of different sensors.A typical case study is the attitude control of drag-free satellites where fine accelerometers allow to reject wide-band drag torques at the price of the attitude drifting because of the accelerometer *** is cancelled by treating it a disturbance to be estimated by attitude sensors like star *** runs illustrate the results.

关键词： Disturbance rejection Disturbance model Attitude control Planetary landing

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中国科学技术大学学报 2013年第1期43卷 1-14页

作者： canuto Enrico Molano-Jimenez Andres Perez-Montenegro Carlos Malan Stefano Martella Paolo 都灵理工大学自动化与电子信息科学系意大利都灵10129 阿莱尼亚航天公司 Strada Antica di Collegno 253意大利都灵10135

登陆火星或月球时,释放降落伞后进入推进阶段,通过轴向推力倾斜实现水平方向运动,能够与速度矢量(重力)的相反方向一致或与需要的加速度方向保持一致.后一种策略能实现精确着陆,在该策略下,倾斜角(俯仰角和偏转角)与水平加速度成正比.... 详细信息

登陆火星或月球时,释放降落伞后进入推进阶段,通过轴向推力倾斜实现水平方向运动,能够与速度矢量(重力)的相反方向一致或与需要的加速度方向保持一致.后一种策略能实现精确着陆,在该策略下,倾斜角(俯仰角和偏转角)与水平加速度成正比.这种策略并未采用以水平加速度为姿态控制目标的递阶导航与控制方案,而是基于角加速度对位置作用的四阶动力学特性设计了一个独特的控制系统.除去倾斜角的非线性因素(垂直制动规定的轴向推力)后,系统综合动力学方程能够实现(准)输入-状态线性化.论文同时表明:一方面,基于参考轨迹(倾斜角和位置)的控制器设计仅能实现部分输入-状态线性化;另一方面,系统的内部稳定性可以证明.即使存在不可镇定的外部干扰动力学模态时,仍能确保系统稳定性.蒙特卡洛仿真验证了闭环控制策略的有效性.

关键词：行星着陆有动力下降闭环控制姿态控制位置控制

Spatial Statistics and Age Structure of Leaf Cutting Ant Nests

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Open Journal of Statistics 2019年第2期9卷 196-217页

作者： Debora Maria Ferreira canuto Sergio Furtado dos Reis Wesley Augusto Conde Godoy Departamento de Entomologia e Acarologia Escola Superior de Agricultura Luiz de Queiroz Universidade de Sao Paulo Piracicaba Brazil Departamento de Biologia Animal Universidade Estadual de Campinas Campinas Brazil

In this study, we investigated the spatial aggregation of old and incipient nests of Atta sexdens rubropilosa by fitting Poisson and Negative binomial models to nest abundance data. Our aim is to analyse the distribution of ant nests in eucalypt regrowth, Cerrado and native forest fragment. We also investigated the correlation between nest abundance and climatic factors, as well as different nest ages. When comparing nests of different ages we observed an aggregated pattern for both old and incipient nests. On the other hand, analysing the distribution of nests separately, only taking into account the different areas and respective borders, old nests exhibited an aggregated pattern and incipient nests showed a random pattern, except for native forest with ants exhibiting only an aggregated pattern. The levels of aggregation changed in response to different areas and border gradients, with more external borders showing higher aggregation than more internal borders. Temperature was the variable showing the highest correlation with nest abundance and the correlation between nests of different ages was totally depending on the different areas.

关键词： Spatial Statistics Leaf Cutting Ant Nest Aggregation Nest Age Forest Landscapes