Time Optimal Control of Piecewise Affine Systems

Vašak, Mario

prikaz prve stranice dokumenta Time Optimal Control of Piecewise Affine Systems

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doctoral thesis

Time Optimal Control of Piecewise Affine Systems

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2007. urn:nbn:hr:168:849391

Vašak, Mario

University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Cite this document

APA 6th Edition

Vašak, M. (2007). Time Optimal Control of Piecewise Affine Systems (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:849391

MLA 8th Edition

Vašak, Mario. "Time Optimal Control of Piecewise Affine Systems." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2007. https://urn.nsk.hr/urn:nbn:hr:168:849391

Chicago 17th Edition

Harvard

Vašak, M. (2007). 'Time Optimal Control of Piecewise Affine Systems', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 29 September 2023, https://urn.nsk.hr/urn:nbn:hr:168:849391

Vancouver

Vašak M. Time Optimal Control of Piecewise Affine Systems [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2007 [cited 2023 September 29] Available at: https://urn.nsk.hr/urn:nbn:hr:168:849391

IEEE

M. Vašak, "Time Optimal Control of Piecewise Affine Systems", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2007. Available at: https://urn.nsk.hr/urn:nbn:hr:168:849391

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:849391

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Metadata

Title	Time Optimal Control of Piecewise Affine Systems
Title (croatian)	Vremenski optimalno upravljanje po dijelovima afinim sustavima
Author	Mario Vašak
Mentor	Nedjeljko Perić (mentor)
Committee member	Ivan Petrović (član povjerenstva)
Committee member	Nedjeljko Perić (član povjerenstva)
Committee member	Želimir Kurtanjek (član povjerenstva)
Committee member	Darko Žubrinić (član povjerenstva)
Committee member	Mato Baotić (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing (Department of Control and Computer Engineering) Zagreb
Defense date and country	2007-07-13, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Electrical Engineering Automation and Robotics
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Computing Process Computing
Universal decimal classification (UDC)	51 - Mathematics 004 - Computer science and technology. Computing. Data processing
Abstract	This dissertation investigates the constrained time optimal control of nonlinear processes modeled in a discrete-time piecewise affine form. The control system states are in minimum time steered into the computed invariant set in which it is guaranteed that they can be kept for an arbitrarily long time. The control system design is based on computations with polytopic predecessor sets. We introduce procedures for efficient computation of the maximum controlled invariant set and of the time-optimal control law which reduces the number of switches between model dynamics. For the case of the polytope-bounded model uncertainty we introduce a new algorithm for the computation of robust predecessor sets and consequently robust invariant sets. The corresponding computation time is for complex models reduced by several orders of magnitude. We investigate the clustering-based identification procedure for piecewise affine process models. The original procedure is modified in order to enhance the approximative properties of the identified model. The developed identification and control methodology is validated on two challenging industrial control problems: the electronic throttle servosystem and the torque control of switched reluctance motors. Experimental results obtained on the electronic throttle servosystem show fast and accurate transients which is very important for the car driveability and for reducing the fuel consumption and the polluting gas emissions. The use of switched reluctance motors is significantly limited in the variable-speed applications due to the high level of induced motor torque ripples. We show how the torque control law design based on polytopic invariant sets can be applied to limit the torque ripples to their physical minimum.
Abstract (croatian)	Ova disertacija obrađuje vremenski optimalno upravljanje uz prisutna ograničenja, s naglaskom na nelinearne procese modelirane vremenski diskretnim po dijelovima afinim modelima. Varijable stanja sustava upravljanja dovode se u minimalnom vremenu u proračunan invarijantni skup za kojeg se jamči da se stanje u njemu može održavati proizvoljno dugo. Sinteza sustava upravljanja temelji se na proračunima s politopskim skupovima dohvatljivosti. Razvijeni su postupci za učinkoviti proračun maksimalnog upravljački invarijantnog skupa i vremenski optimalnog upravljačkog zakona koji smanjuje broj prekapčanja između dinamika modela. Za slučaj politopski ograničene neodređenosti modela uvodi se novi algoritam za proračun robusnih skupova dohvatljivosti i, posljedično, robusnih invarijantnih skupova. Njime se smanjuje pripadno vrijeme proračuna za nekoliko redova veličine, osobito za složenije modele. Disertacija obrađuje i postupak identifikacije po dijelovima afinih modela procesa postupkom koji je zasnovan na uskupljavanju. Izvorni postupak je dorađen kako bi se poboljšala aproksimativna svojstva identificiranog modela. Provjera valjanosti istražene metodologije identifikacije i upravljanja provedena je na dva zahtjevna industrijska problema upravljanja: slijednom sustavu elektroničke zaklopke automobilskog motora s unutarnjim izgaranjem i sustavu upravljanja momentom reluktantnog motora. Eksperimentalni rezultati na slijednom sustavu s elektroničkom zaklopkom pokazuju brze i točne prijelazne pojave što je od presudne važnosti za upravljivost vozila te za smanjenje potrošnje goriva i emisije štetnih plinova. Upotreba reluktantnih motora ima značajna ograničenja u primjenama elektromotornih pogona promjenjive brzine vrtnje zbog velikih pulzacija razvijenog momenta. Simulacijama se pokazuje da sustav upravljanja momentom reluktantnog motora temeljen na invarijantnim skupovima može ograničiti pulzacije razvijenog momenta na njihov fizikalni minimum.
Keywords
Keywords (croatian)
Language	english
URN:NBN	urn:nbn:hr:168:849391
Study programme	Title: Electrical Engineering and Computing Study programme type: university Study level: postgraduate Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Type of resource	Text
File origin	Born digital
Access conditions	Closed access
Terms of use
Repository	FER Repository
Created on	2020-04-02 06:32:54