Nonlinear Control for Multiple-Input and Multiple-Output Nonlinear Systems with PB Models Based on I/O Linearization

We propose a dynamic feedback linearization of a car-like robot as a non-holonomic system with a piecewise bilinear (PB) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. We also apply a method for a tracking control based on PB models to the car-like robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.

Fixed-time resource allocation algorithm for high-order MIMO nonlinear multi-agent systems

Teaching Aids for Laboratory Experiments with AR.Drone2 Quadrotor

An advanced reconfigurable controller enhanced by a multiple model architecture is proposed as a tool to achieve fault tolerance in complex nonlinear systems. The most complete adaptive critic design, globalized dual heuristic programming (GDHP), constitutes a highly flexible nonlinear adaptive controller responsible for the generation of new control solutions for novel plant dynamics introduced by unknown faults. The main contribution of the presented work focuses on a novel fault tolerant control supervisor. Working on a higher hierarchical level, the proposed supervisor makes use of two quality indices to perform fault detection, identification and isolation based on the knowledge stored in a dynamic model bank (DMB). In the event of abrupt known faults, such knowledge is then used to greatly reduce the reconfiguration time of the GDHP controller. The synergy of the proposed supervisor and GDHP goes beyond, as solutions designed by the controller to previously unknown faults are autonomously added to the model bank. The fine interrelations between the algorithm's subsystems and its advanced capabilities are illustrated through extensive numerical simulations of a single-input single-output (SISO) linear system and of a multiple-input multiple-output (MIMO) nonlinear system, both subject to a series of fault scenarios involving expected and unexpected, abrupt and incipient faults. Note to Practitioners-The raising complexity of physical plants and control missions inevitably leads to increasing occurrence, diversity and severity of faults. Take automated production process as an example, the extent of time a plant is capable of maintaining acceptable performance levels is now considered to be the single factor with the highest impact on profitability. For a growing number of plants, it has become impractical to list all possible fault scenarios in order to take the necessary steps to assure continuous healthy operation. Therefore, it is now essential to have a control algorithm dedicated to the provision of tailored control solutions capable of maintaining stability and as much performance as possible during the occurrence of faults. This is the goal of fault tolerant control. In the presented paper, the most complete adaptive critic design, globalized dual heuristic programming (GDHP), is responsible for the generation of new control solutions for novel plant dynamics introduced by faults unknown at design time. A highly flexible nonlinear adaptive controller, GDHP is capable of dealing with both abrupt and incipient (gradually changing dynamics) faults. Working on a higher hierarchical level, a novel fault supervisor is introduced which makes use of two quality indices to perform fault detection, identification and isolation based on the knowledge stored in a dynamic model bank (DMB). In the event of abrupt known faults, such knowledge is then used to greatly reduce the convergence time of the GDHP controller. The synergy of the proposed supervisor and GDHP goes further, as solutions designed by the controller to previously unknown faults are autonomously added to the model bank in fact allowing the supervisor to learn new fault scenarios and their solutions as they occur. The fine interrelations between the algorithm's subsystems and its advanced capabilities are illustrated through extensive numerical simulations.

ABSTRACTIn addressing the adaptive neural backstepping control for multiple-input and multiple-output nonlinear systems in pure-feedback form with time-delay and input quantisation, we construct a high-gain state observer and an output-feedback adaptive control scheme using backstepping method, with neural networks to estimate the uncertain nonlinear functions. Then, we propose an output feedback neural controller that ensures all the state trajectories in the time-delay quantised nonlinear systems are ultimately bounded, with the control signal being quantised by either a hysteretic quantiser or a logarithmic quantiser. An illustrative example is presented to show the applicability of the new control method developed.

This chapter is attempted to provide a survey of the advanced concepts and related issues involved in Multiple Input Multiple Output (MIMO) systems. MIMO system technology has been considered as a really significant foundation on which to build the next and future generations of wireless networks. The chapter addresses advanced MIMO techniques such as polarization diversity and antenna selection. We gradually provide an overview of the MIMO features from basic to more advanced topics. The first sections of this chapter start by introducing the key aspects of theMIMO theory. TheMIMO systemmodel is first presented in a genericway. Then, we proceed to describe diversity schemes used in MIMO systems. MIMO technology could exploit several diversity techniques beyond the spatial diversity. These techniques essentially cover frequency diversity, time diversity and polarization diversity. We further provide the reader with a geometrically based models for MIMO systems. The virtue of this channel modeling is to adopt realisticmethods for modeling the spatio-temporal channel statistics from a physical wave-propagation viewpoint. Two classes for MIMO channel modeling will be described. These models involve the Geometry-based Stochastic ChannelModels (GSCM) and the Stochastic channel models. Besides the listedMIMO channel models already described, we derive and discuss capacity formulas for transmission over MIMO systems. The achieved MIMO capacities highlight the potential of spatial diversity for improving the spectral efficiency of MIMO channels. When Channel State Information (CSI) is available at both ends of the transmission link, the MIMO system capacity is optimally derived by using adaptive power allocation based on water-filling technique. The chapter continues by examining the combining techniques for multiple antenna systems. Combining techniques are motivated for MIMO systems since they enable the signal to noise ratio (SNR) maximization at the combiner output. The fundamental combing techniques are the Maximal Ratio Combining (MRC), the Selection Combining (SC) and the Equal Gain Combining(EGC). Once the combining techniques are analyzed, the reader is introduced to the beamforming processing as an optimal strategy for combining. The use of multiple antennas significantly improves the channel spectral efficiency. Nevertheless, this induces higher system complexity of the communication system and the communication system performance is effected due to correlation between antennas that need to be deployed at the same terminal. As such, the antenna selection algorithm for MIMO systems is presented. To elaborate on this point, we introduce Space time coding techniques for MIMO systems and we evaluate by simulation the performance of the communication system. Next, we emphasis on multi polarization techniques for MIMO systems. As a background, we presume that the reader has a thorough understanding of antenna theory. We recall the basic antenna theory and concepts that are used throughout the rest of the chapter. We rigorously introduce the 3D channel model over the Non-Line of Sight (NLOS) propagation channel for MIMO system with polarized antennas. We treat the depolarization phenomena and we study its effect on MIMO system capacity. The last section of the chapter provides a scenario for collaborative sensor nodes performing distributed MIMO system model which is devoted to sensor node localization in Wireless Sensor Networks. The localization algorithm is based on beamforming processing and was tested by simulation. Our chapter provides the reader by simulation examples for almost all the topics that have been treated for MIMO system development and key issues affecting achieved performance.

This work proposes a method to construct a state-shared model for multiple-input multiple-output (MIMO) systems. A state-shared model is defined as a linear time invariant state-space structure that is driven by measurement signals-the plant outputs and the manipulated variables, but shared by different multiple input/output models. The genesis of the state-shared model is based on a particular reduced non-minimal realization. Any such realization necessarily fulfills the requirement that the output of the state-shared model is an asymptotically correct estimate of the output of the plant, if the process model is selected appropriately. The approach is demonstrated on a nonlinear MIMO system — a physiological model of calcium fluxes that controls muscle contraction and relaxation in human cardiac myocytes.

In conventional ways of fast responding and high performing model predictive control using Field Programmable Gate Arrays (FPGA), the approaches developed are applicable only to Single Input Single Output System (SISO). Many real time systems are Multiple Input Multiple Output (MIMO) systems and loop interaction is a major concern and has to be reduced in control of MIMO systems. Also, direct digital control with ability to solve the Quadratic Programming (QP) problem online, which can be applied to complex systems with fast response time and/or embedded applications and with limited computational resource for supervisory control approach, is required in many complex industrial MIMO systems. A novel direct digital control of Model predictive controller with FPGA for a MIMO system which considers and reduces loop interaction and which can also be implemented with very less investment is proposed here. The system was modeled from first principles and then simulated in Labview environment for MIMO system. Implementation of the system and response was verified for a stirred tank system. The proposed system has good performance in terms of reduction in loop interaction which is a major concern in implementation of controller for MIMO systems. Also, direct digital control of MIMO system instead of supervisory control was accomplished.

Consider a multiple input multiple output (MIMO) system with pulse amplitude modulation (PAM), where each transmit antenna is allowed to choose a different transmission delay. (We refer to this system as a MIMO system with asynchronous PAM.) Such MIMO systems have been studied before for increasing diversity and avoiding unintentional beamforming. We quantify the capacity/outage capacity improvement due to asynchronism and the corresponding spectral leakage (if any) for MIMO point-to-point and MIMO broadcast channels. We show that under commonly used transmitter spectral mask constraints, the channel has unbounded degrees of freedom. Synchronous PAM exploits only a finite number of these degrees of freedom, and asynchronism helps to improve capacity. For most cases of interest, two distinct shifts attain most of the capacity improvement. These gains are robust to interference from adjacent carriers. Analysis of the spectrum of the asynchronous PAM suggests that optimal water-filling based schemes are useful for improving capacity only in directional links due to possible spectral leakage, while uniform power allocation leads to capacity improvement without any extra spectral leakage.

In order to better handle the coupling effects when controlling multiple-input multiple-output (MIMO) systems, taking the decentralized control structure as the basis, this paper proposes a sparse control strategy and a decoupling control strategy. Type-1 and type-2 Takagi-Sugeno (T-S) fuzzy models are used to describe the MIMO system, and the relative normalized gain array-based criterion is employed to measure the coupling effects. The main contributions include: 1) compared to the previous studies, a manner with less computational cost to build fuzzy models for the MIMO systems is provided, and a more accurate method to construct the so-called effective T-S fuzzy model (ETSM) to express the coupling effects is developed; 2) for the sparse control strategy, four indexes are defined in order to extend a decentralized control structure to a sparse one. Afterward, an ETSM-based method is presented that a sparse control system can be realized by designing multiple independent single-input single-output (SISO) control loops; and 3) for the decoupling control strategy, a novel and simple ETSM-based decoupling compensator is developed that can effectively compensate for both steady and dynamic coupling effects. As a result, the MIMO controller design can be transformed to multiple noninteracting SISO controller designs. Both of the sparse and decoupling strategies allow to use linear SISO control algorithms to regulate a closely coupled nonlinear MIMO system without knowing its exact mathematical functions. Two examples are used to show the effectiveness of the proposed strategies.

Higher order nonlinear systems with prevailing delay have been very challenging in significance with stability and process performance. This paper investigates the performance of a type-2 Mamdani intelligent controller implemented a delay dominant system which is modelled using black box approach identified to be a second order nonlinear model for a dual spherical tank liquid level system (DSTLLS) under LabVIEW environment. The adaptive approach of the intelligent Mamdani-based fuzzy controller proves itself to be very competent compared with the earlier experimented methods that already exist. The performance indices like integrated absolute error (IAE) and integrated squared error (ISE) are also calculated for different varying set point changes of DSTLLS. The response and error reduction efficiency of this method of adaptive type-2 intelligent fuzzy (ATIF) controller has been experimented for different flow configurations of this DSTLLS, like multiple input single output (MISO), multiple input multiple output (MIMO) and single input single output (SISO).

This paper advances a neural-network-based approximate dynamic programming control mechanism that can be applied to complex control problems such as helicopter flight control design. Based on direct neural dynamic programming (DNDP), an approximate dynamic programming methodology, the control system is tailored to learn to maneuver a helicopter. The paper consists of a comprehensive treatise of this DNDP-based tracking control framework and extensive simulation studies for an Apache helicopter. A trim network is developed and seamlessly integrated into the neural dynamic programming (NDP) controller as part of a baseline structure for controlling complex nonlinear systems such as a helicopter. Design robustness is addressed by performing simulations under various disturbance conditions. All designs are tested using FLYRT, a sophisticated industrial scale nonlinear validated model of the Apache helicopter. This is probably the first time that an approximate dynamic programming methodology has been systematically applied to, and evaluated on, a complex, continuous state, multiple-input multiple-output nonlinear system with uncertainty. Though illustrated for helicopters, the DNDP control system framework should be applicable to general purpose tracking control.

The research of closed form expressions for the pdf of the lth ordered eigenvalue of a Wishart matrix has received a great attention in the past years owing to its applications in the performance analysis of multiple input multiple output (MIMO) systems in fading environments. Although several closed form expressions for this pdf were obtained in the past years, to the authors' knowledge, no one was very friendly for further analysis. We propose a methodology to obtain the pdf for the lth largest eigenvalue whose expression is given as a sum of terms xβe-xδ. This expression is easily usable to obtain closed form results for the performance of many MIMO systems, such as, for instance, MIMO beamforming, and MIMO with Singular Value Decomposition (SVD). The methodology is valid for both uncorrelated and correlated central Wishart, allowing the investigation of MIMO systems with uncorrelated and correlated Rayleigh fading. © 2008 IEEE.

Model reference robust control (MRRC) is derived for MIMO systems that have a right Hermite normal form which is SPR and diagonal, and then for systems whose right Hermite normal form is diagonal but not SPR. It is shown that MRRC of multiple input multiple output (MIMO) systems is an extension of model reference control (MRC) of MIMO systems and MRRC of SISO systems. Unwanted coupling exists in many physical MIMO systems. The recursive backstepping procedure used in non-SPR SISO systems cannot be directly applied to diagonal MIMO non-SPR systems without the introduction of the augmented matrix or a precompensator. It is shown that MRRC decouples MIMO systems using only input and output measurements rather than state feedback.

Wireless Sensor Network (WSN) is used in various applications. Sensors acquire samples of physical data and send them to a central node in different topologies to process the data and makes decisions. A main performance factor for WSN is the battery life that depends on energy consumption on the sensor. To reduce the energy consumption, an energy efficient transmission technique is required. Multiple Input Multiple Output (MIMO) systems showed good utilization of channel characteristics. This leads to enhance the transmission and hence reduce energy consumed by the sensor. In MIMO systems multiple signals are combined at the transmitter and transmitted using multiple antennas. This provides each receiver the whole combined signal and hence, array processing techniques helps in getting better performance. To further enhance the transmission of data, a Low Density Parity Check (LDPC) Coded MIMO wireless sensor network is proposed. The system implements space diversity through Multiple Antennas and temporal diversity through LDPC code and uses a clustering procedure to optimize the forming of the MIMO system. Results showed that, if the number of sensors is greater than the number of receiving antennas, time or frequency multiplexing is possible to keep good performance for the devised system. And by controlling the encoder we can create a temporal and spatial code among the transmitted signals enhancing the BER results in longer battery life at sensor nodes.