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Sökning: LAR1:umu > Konferensbidrag > Lunds universitet > Robertsson Anders

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  • Freidovich, Leonid, et al. (författare)
  • Friction compensation based on LuGre model
  • 2006
  • Konferensbidrag (refereegranskat)abstract
    • We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for LuGre friction-model-based compensation. In order to follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given Lyapunov function is illustrated in the paper with an example of a DC-motor. The main contribution is some new insights into numerical real time implementation of friction compensators for various LuGre type models. The other contribution, built upon the main one, is experimental verification of the suggested observer design procedure.
  • Kihl, Maria, et al. (författare)
  • The Challenge of Cloud Control
  • 2013
  • Ingår i: 8th International Workshop on Feedback Computing. - USENIX Association.
  • Konferensbidrag (refereegranskat)abstract
    • Today’s cloud data center infrastructures are not even near being able to cope with the enormous and rapidly varying capacity demands that will be reality in a near future. So far, very little is understood about how to transform today’s data centers (being large, power-hungry facilities, and operated through heroic efforts by numerous administrators) into a self-managed, dynamic, and dependable infrastructure, constantly delivering expected QoS with reasonable operation costs and acceptable carbon footprint for large-scale services with sometimes dramatic variations in capacity demands. In this paper, we discuss some of the major challenges for resource-optimized cloud data center. We propose a new research area called Cloud Control, which is a control theoretic approach to a range of cloud management problems, aiming to transform today´s static and energy consuming cloud data centers into self-managed, dynamic, and dependable infrastructures, constantly delivering expected quality of service with acceptable operation costs and carbon footprint for large-scale services with varying capacity demands.
  • Shiriaev, Anton S., et al. (författare)
  • Criteria for Global Stability of Coupled Systems with Application to Robust Output Feedback Design for Active Surge Control
  • 2009
  • Konferensbidrag (refereegranskat)abstract
    • The well-known and commonly accepted finite dimensional model qualitatively describing surge instabilities in centrifugal (and axial) compressors is considered. The problem of global output feedback stabilization for it is solved. The solution relies on two new criteria for global stability proposed for a class of nonlinear systems exploiting quadratic constraints for infinite sector nonlinearities. Two families of robust output feedback controllers are proposed. Controllers from the first family ensure global exponential stabilization. The ones from the second family provide integral action but only ensure local exponential and global asymptotic stability. Performance is verified by simulations.
  • Shiriaev, Anton, et al. (författare)
  • Separation Principle for a Class of Nonlinear Feedback Systems Augmented with Observers
  • 2008
  • Konferensbidrag (refereegranskat)abstract
    • The paper suggests conditions for presence of quadratic Lyapunov functions for nonlinear observer based feedback systems with an input nonlinearity in the feedback path. Provided that the system using state feedback satisfies the circle criterion (i.e., when all states can be measured), we show that stability of the extended system with output feedback control from a (full state) Luenberger-type observer may be concluded using the circle criterion. As another result, we state a separation principle for a class of feedback systems with an input nonlinearity.When only local stability results can be stated, our method provides an estimate of the region of attraction.
  • Shiriaev, Anton, et al. (författare)
  • Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments
  • 2006
  • Konferensbidrag (refereegranskat)abstract
    • We consider a special benchmark mechanical system with two degrees of freedom and underactuation degree one. Furuta Pendulum consists of an arm, rotating in the horizontal plane, and a pendulum, attached to the end of the arm freely and moving in the vertical plane. Our goal is to create and partially shape stable oscillations of the pendulum. The approach is based on the idea of stabilization of a particular virtual holonomic constraint, imposed on the configuration coordinates. We describe here a step-by-step design procedure in details. Our approach is illustrated through successful experimental tests.
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