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Necessary conditions for robust stability of a class of nonlinear systems Goncalves, Jorge ; in Automatica (1998), 34(6), 705-714 Input-output stability results for feedback systems are developed. Robust stability conditions are presented for nonlinear systems with nonlinear uncertainty defined by some function (with argument equal ... [more ▼] Input-output stability results for feedback systems are developed. Robust stability conditions are presented for nonlinear systems with nonlinear uncertainty defined by some function (with argument equal to the norm of the input) that bounds its output norm. A sufficient small gain theorem for a class of these systems is known. Here, necessary conditions are presented for the vector space (L- infinity ll . ll infinity). These results capture the conservatism of the small gain theorem as it is applied to systems that do not have linear gain. The theory is also developed for the case of L2 signal norms, indicating some difficulties which make this case less natural than L-infinity. [less ▲] Detailed reference viewed: 72 (1 UL)Network Identifiability from Intrinsic Noise Goncalves, Jorge ; ; in IEEE Transactions on Automatic Control (in press) Detailed reference viewed: 398 (28 UL)Network observability information maximization through ad-hoc route enumeration approaches Rinaldi, Marco ; ; Viti, Francesco Scientific Conference (2016, June) Detailed reference viewed: 55 (2 UL)Network Reconstruction from Intrinsic Noise ; ; Goncalves, Jorge in The proceedings of the American Control Conference (2014) This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest ... [more ▼] This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest variables only from observations of these variables. We consider linear, time-invariant systems of minimal order and with one noise source per measured state. If the transfer matrix from the inputs to manifest states is known to be minimum phase, this problem is shown to have a unique solution irrespective of the network topology. This is equivalent to there being only one spectral factor (up to a choice of signs of the inputs) of the output spectral density that satisfies these assumptions. Hence for this significant class of systems, the network reconstruction problem is well posed. [less ▲] Detailed reference viewed: 62 (1 UL)Network Reconstruction from Intrinsic Noise: Non-Minimum-Phase Systems ; ; Goncalves, Jorge in The proceedings of the The 19th World Congress of The International Federation of Automatic Control (2014) This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest ... [more ▼] This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest variables only from observations of these variables. We consider linear, time-invariant systems of minimal order and with one noise source per manifest state. It is known that if the transfer matrix from the inputs to manifest states is minimum phase, then this problem has a unique solution, irrespective of the network topology. Here we consider the general case where the transfer matrix may be non-minimum phase and show that solutions are characterized by an Algebraic Riccati Equation (ARE). Each solution to the ARE corresponds to at most one spectral factor of the output spectral density that satisfies the assumptions made. Hence in general the problem may not have a unique solution, but all solutions can be computed by solving an ARE and their number may be finite. [less ▲] Detailed reference viewed: 94 (1 UL)Network reconstruction using knock-out and over-expression data ; ; Goncalves, Jorge in The proceedings of the 2013 European Control Conference (ECC) (2013) This paper outlines necessary and sufficient conditions for network reconstruction of linear, time-invariant systems using data from either knock-out or over-expression experiments. These structural ... [more ▼] This paper outlines necessary and sufficient conditions for network reconstruction of linear, time-invariant systems using data from either knock-out or over-expression experiments. These structural system perturbations, which are common in biological experiments, can be formulated as unknown system inputs, allowing the network topology and dynamics to be found. We assume that only partial state measurements are available and propose an algorithm that can reconstruct the network at the level of the measured states using either time-series or steady-state data. A simulated example illustrates how the algorithm successfully reconstructs a network from data. [less ▲] Detailed reference viewed: 94 (0 UL)Network structure preserving model reduction with weak a priori structural information ; Goncalves, Jorge ; et al in The proceedings of the Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (2009) This paper extends a state projection method for structure preserving model reduction to situations where only a weaker notion of system structure is available. This weaker notion of structure ... [more ▼] This paper extends a state projection method for structure preserving model reduction to situations where only a weaker notion of system structure is available. This weaker notion of structure, identifying the causal relationship between manifest variables of the system, is especially relevant is settings such as systems biology, where a clear partition of state variables into distinct subsystems may be unknown, or not even exist. The resulting technique, like similar approaches, does not provide theoretical performance guarantees, so an extensive computational study is conducted, and it is observed to work fairly well in practice. Moreover, conditions characterizing structurally minimal realizations and sufficient conditions characterizing edge loss resulting from the reduction process, are presented. [less ▲] Detailed reference viewed: 77 (0 UL)Network Structure Preserving Model Reduction: Results of a Simulation Study ; Goncalves, Jorge ; et al in The proceedings of the Third International Conference on Foundations of Systems Biology in Engineering (FOSBE 2009) (2009) Reconstructed models of biochemical networks often reflect the high level of complexity inherent in the biological system being modeled. The difficulties of predicting gene expression and analyzing the ... [more ▼] Reconstructed models of biochemical networks often reflect the high level of complexity inherent in the biological system being modeled. The difficulties of predicting gene expression and analyzing the effects of individual perturbations at a system-wide resolution are exacerbated by model complexity. This paper extends a state projection method for structure preserving model reduction to a particular model class of reconstructed networks known as dynamical structure functions. In contrast to traditional approaches where a priori knowledge of partitions on unmeasured species is required, dynamical structure functions require a weaker notion of system structure, specifying only the causal relationship between measured chemical species of the system. The resulting technique, like similar approaches, does not provide theoretical performance guarantees, so an extensive computational study is conducted, and it is observed to work fairly well in practice. Moreover, sufficient conditions, characterizing edge loss resulting from the reduction process, are presented. [less ▲] Detailed reference viewed: 46 (2 UL)A network-wide assessment of local signal control policies’ performance in practical implementations Cantelmo, Guido ; Viti, Francesco ; Rinaldi, Marco in Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on (2016, November) Detailed reference viewed: 104 (9 UL)Neuro-Inspired Reward-Based Tracking Control for Robotic Manipulators with Unknown Dynamics Klecker, Sophie ; Hichri, Bassem ; Plapper, Peter in Proceedings of the 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE) (2017, December) Tracking control for robotic manipulators is required for numerous automation tasks in manufacturing engineering. For this purpose, model-free PD-controllers are largely implemented by default in ... [more ▼] Tracking control for robotic manipulators is required for numerous automation tasks in manufacturing engineering. For this purpose, model-free PD-controllers are largely implemented by default in commercially available robot arms and provide satisfactory performance for simple path following applications. Ever more complex automation tasks however ask for novel intelligent and adaptive tracking control strategies. In surface finishing processes, discontinuous freeform paths as well as changing constraints between the robotic end-effector and its surrounding environment affect the tracking control by undermining the stable system performance. The lacking knowledge of industrial robot dynamic parameters presents an additional challenge for the tracking control algorithms. In this paper the control problem of robotic manipulators with unknown dynamics and varying constraints is addressed. A robust sliding mode controller is combined with an RBF (Radial Basis Function) Neural Network-estimator and an intelligent, biomimetic BELBIC (Brain Emotional Learning-Based Intelligent Control) term to approximate the nonlinear robot dynamics function and achieve a robust and adaptive tracking performance. [less ▲] Detailed reference viewed: 122 (16 UL)A New Mathematical Model for the Heat Shock Response ; Mizera, Andrzej ; et al in Condon, Anne; Harel, David; Kok, Joost N. (Eds.) et al Algorithmic Bioprocesses (2009) Detailed reference viewed: 96 (0 UL)New services, new travelers, old models? Directions to pioneer public transport models in the era of big data ; ; Viti, Francesco in Journal of Intelligent Transportation Systems (2016) Detailed reference viewed: 114 (8 UL)Nitsche’s method for two and three dimensional NURBS patch coupling ; ; et al in Computational Mechanics (2014), 53(6), 1163-1182 We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear ... [more ▼] We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear elastostatics in two and and three-dimensions. The method can deal with surface-surface or volume-volume coupling, and we show how it can be used to handle heterogeneities such as inclusions. We also present preliminary results on modal analysis. This simple coupling method has the potential to increase the applicability of NURBS-based isogeometric analysis for practical applications. [less ▲] Detailed reference viewed: 763 (16 UL)Nitsche’s method for two and three dimensional NURBS patch coupling ; ; et al in Computational Mechanics (in press) We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear ... [more ▼] We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear elastostatics in two and and three-dimensions. The method can deal with surface-surface or volume-volume coupling, and we show how it can be used to handle heterogeneities such as inclusions. We also present preliminary results on modal analysis. This simple coupling method has the potential to increase the applicability of NURBS-based isogeometric analysis for practical applications. [less ▲] Detailed reference viewed: 995 (66 UL)Nitsche’s method method for mixed dimensional analysis: conforming and non-conforming continuum-beam and continuum-plate coupling ; ; et al in Computer Methods in Applied Mechanics & Engineering (2014) A Nitche’s method is presented to couple different mechanical models. They include coupling of a solid and a beam and of a solid and a plate. Both conforming and non-conforming formulations are presented ... [more ▼] A Nitche’s method is presented to couple different mechanical models. They include coupling of a solid and a beam and of a solid and a plate. Both conforming and non-conforming formulations are presented. In a non-conforming formulation, the structure domain is overlapped by a refined solid model which is needed to either get more accuracy or to capture highly nonlinear events. Applications can be found in multi-dimensional analyses in which parts of a structure are modeled with solid elements and others are modeled using a coarser model with beam and/or plate elements. Discretisations are performed using both standard Lagrange elements and high order NURBS (Non Uniform Rational Bsplines) based isogeometric elements. We present various examples to demonstrate the performance of the method. [less ▲] Detailed reference viewed: 278 (17 UL)A node-based smoothed extended finite element method (NS-XFEM) for fracture analysis ; ; et al in Computer Modeling in Engineering & Sciences (2011), 73(4), 331-355 This paper aims to incorporate the node-based smoothed finite element method (NS-FEM) into the extended finite element method (XFEM) to form a novel numerical method (NS-XFEM) for analyzing fracture ... [more ▼] This paper aims to incorporate the node-based smoothed finite element method (NS-FEM) into the extended finite element method (XFEM) to form a novel numerical method (NS-XFEM) for analyzing fracture problems of 2D elasticity. NS-FEM uses the strain smoothing technique over the smoothing domains associated with nodes to compute the system stiffness matrix, which leads to the line integrations using directly the shape function values along the boundaries of the smoothing domains. As a result, we avoid integration of the stress singularity at the crack tip. It is not necessary to divide elements cut by cracks when we replace interior integration by boundary integration, simplifying integration of the discontinuous approximation. The key advantage of the NS-XFEM is that it provides more accurate solutions compared to the XFEM-T3 element. We will show for two numerical examples that the NS-XFEM significantly improves the results in the energy norm and the stress intensity factors. For the examples studied, we obtain super-convergent results. [less ▲] Detailed reference viewed: 39 (1 UL)A node-based smoothed finite element method with stabilized discrete shear gap technique for analysis of Reissner-Mindlin plates ; ; et al in Computational Mechanics (2010), 46(5), 679-701 In this paper, a node-based smoothed finite element method (NS-FEM) using 3-node triangular elements is formulated for static, free vibration and buckling analyses of Reissner-Mindlin plates. The discrete ... [more ▼] In this paper, a node-based smoothed finite element method (NS-FEM) using 3-node triangular elements is formulated for static, free vibration and buckling analyses of Reissner-Mindlin plates. The discrete weak form of the NS-FEM is obtained based on the strain smoothing technique over smoothing domains associated with the nodes of the elements. The discrete shear gap (DSG) method together with a stabilization technique is incorporated into the NS-FEM to eliminate transverse shear locking and to maintain stability of the present formulation.Aso-called node-based smoothed stabilized discrete shear gap method (NS-DSG) is then proposed. Several numerical examples are used to illustrate the accuracy and effectiveness of the present method. [less ▲] Detailed reference viewed: 113 (0 UL)Non-localised contact between beams with circular and elliptical cross-sections Magliulo, Marco ; Lengiewicz, Jakub ; Zilian, Andreas et al in Computational Mechanics (2020), 65 The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections ... [more ▼] The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections. The technique consists of parametrizing the surfaces of the two beams in contact, fixing a point on the centroid line of one of the beams and searching for a constrained minimum distance between the surfaces (two variants are investigated). The resulting unilateral (frictionless) contact condition is then enforced with the Penalty method, which introduces compliance to the, otherwise rigid, beams' cross-sections. Two contact integration schemes are considered: the conventional slave-master approach (which is biased as the contact virtual work is only integrated over the slave surface) and the so-called two-half-pass approach (which is unbiased as the contact virtual work is integrated over the two contacting surfaces). Details of the finite element formulation which is suitably implemented using Automatic Di fferentiation techniques are presented. A set of numerical experiments shows the overall performance of the framework and allows a quantitative comparison of the investigated variants. [less ▲] Detailed reference viewed: 122 (44 UL)Nonlinear Model Predictive Control for Ecological Driver Assistance Systems in Electric Vehicles Sajadi Alamdari, Seyed Amin ; Voos, Holger ; in Robotics and Autonomous Systems (2018) Detailed reference viewed: 118 (12 UL)Nonlinear Observation and Control of a Lightweight Robotic Manipulator Actuated by Shape Memory Alloy (SMA) Wires Quintanar Guzman, Serket Doctoral thesis (2019) In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as ... [more ▼] In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as infrastructure, agriculture, transport, among others. This phenomenon has generated an increasing interest in the field of aerial manipulation. The implementation of aerial manipulators in the UAV industry could generate a significant increase in possible applications. However, the restriction on the available payload is one of the main setbacks of this approach. The impossibility to equip UAVs with heavy dexterous industrial robotic arms has driven the interest in the development of lightweight manipulators suitable for these applications. In the pursuit of providing an alternative lightweight solution for the aerial manipulators, this thesis proposes a lightweight robotic arm actuated by Shape Memory Alloy (SMA) wires. Although SMA wires represent a great alternative to conventional actuators for lightweight applications, they also imply highly nonlinear dynamics, which makes them difficult to control. Seeking to present a solution for the challenging task of controlling SMA wires, this work investigates the implications and advantages of the implementation of state feedback control techniques. The final aim of this study is the experimental implementation of a state feedback control for position regulation of the proposed lightweight robotic arm. Firstly, a mathematical model based on a constitutive model of the SMA wire is developed and experimentally validated. This model describes the dynamics of the proposed lightweight robotic arm from a mechatronics perspective. The proposed robotic arm is tested with three output feedback controllers for angular position control, namely a PID, a Sliding Mode and an Adaptive Controller. The controllers are tested in a MATLAB simulation and finally implemented and experimentally tested in various different scenarios. Following, in order to perform the experimental implementation of a state feedback control technique, a state and unknown input observer is developed. First, a non-switching observable model with unknown input of the proposed robotic arm is derived from the model previously presented. This model takes the martensite fraction rate of the original model as an unknown input, making it possible to eliminate the switching terms in the model. Then, a state and unknown input observer is proposed. This observer is based on the Extended Kalman Filter (EKF) for state estimation and sliding mode approach for unknown input estimation. Sufficient conditions for stability and convergence are established. The observer is tested in a MATLAB simulation and experimentally validated in various different scenarios. Finally, a state feedback control technique is tested in simulation and experimentally implemented for angular position control of the proposed lightweight robotic arm. Specifically, continuous and discrete-time State-Dependent Riccati Equation (SDRE) control laws are derived and implemented. To conclude, a quantitative and qualitative comparative analysis between an output feedback control approach and the implemented state feedback control is carried out under multiple scenarios, including position regulation, position tracking and tracking with changing payloads. [less ▲] Detailed reference viewed: 114 (9 UL) |
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