Control limitations from distributed sensing: Theory and Extremely Large Telescope application

Sarlette, Alain; Sepulchre, Rodolphe

doi:10.1016/j.automatica.2013.12.014

Cited by 9 publications

(7 citation statements)

References 24 publications

(83 reference statements)

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“…In practice, using absolute velocity in the feedback controller or damping becomes a question of hardware and application tradeoff. We must mention that the string instability issue is not directly linked to the low observability for long-range modes in distributed systems with relative measurements [16]. Indeed, here the target variables are not the absolute displacements x k , for which indeed there would be an observability issue, but rather the relative displacements e k , which are directly measured.…”

Section: Concluding Discussionmentioning

confidence: 95%

Toward a Comprehensive Impossibility Result for String Stability

Farnam

Sarlette

2020

IEEE Trans. Automat. Contr.

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We provide a comprehensive impossibility result towards achieving string stability, i.e. keeping local relative errors in check with local controllers independently of the size of a chain of subsystems. We significantly extend existing results, from the LTI setting to any homogeneous controllers that can be nonlinear, time-varying, and locally communicating. We prove this impossibility for a set of definitions with various norm choices, including the L2-type which is more standard in the literature and a BIBO type criterion. All results hold for a general discrete-time controller which should cover most applications.

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Section: Concluding Discussionmentioning

confidence: 95%

Toward a Comprehensive Impossibility Result for String Stability

Farnam

Sarlette

2020

IEEE Trans. Automat. Contr.

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“…First, subsystems are coupled through relative state variables (i.e., x j (t) − x i (t)). This captures the dynamics of a large class of natural systems and human-made ones, including the interacted liquid systems [1], power networks [29], car-following behaviours in highways [2], viral infection or opinion propagation in social networks [30], consensus based unmanned aerial vehicle formation systems with static feedback [3], MASs via the nearest neighboring rule [4], extremely large telescope systems via distributed relative sensing [5], etc. Second, interactions among subsystems are in the form of multi-input multi-output (MIMO), and the relative state variables can be transmitted through multiple channels (v i ∈ R r , r > 1).…”

Section: Problem Formulationmentioning

confidence: 99%

“…In highway traffics, drivers make decisions whether to accelerate or decelerate depending on the relative distances between themselves and their proceeding vehicles [2]. In addition, many human-made complex networked systems are embedded with relative sensing/controling/measuring to coordinate subsystems to accomplish certain tasks or function normally, such as consensus based unmanned aerial vehicle formation systems with static feedback [3], multi-agent systems (MASs) via the nearest neighboring rule [4], extremely large telescope control systems via distributed relative sensing [5], etc.…”

Section: Introductionmentioning

confidence: 99%

“…Suppose that there is at least one vertex in Ḡ1 ∪ • • • ∪ Ḡp , denoted by i * , which is not input-reachable. Decomposing Ḡ1 ∪ • • • ∪ Ḡp into strongly connected components 5 , suppose the strongly connected component which contains i * has p vertices. This means that, all these p vertices are not reachable 5 A strongly connected component is a subset of vertices of a graph, such that every two vertices of it are mutually reachable.…”

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confidence: 99%

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Structural Controllability of Networked Relative Coupling Systems

Zhang

Xia

Zhai

2019

Preprint

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This paper studies controllability of networked systems in which subsystems are of general high-order linear dynamics and coupled through relative state variables, from a structure perspective. The purpose is to search conditions for subsystem dynamics and subsystem interaction topologies, under which there exists a set of weights for the interaction links such that the associated networked system can be controllable (i.e., structural controllability). Three types of subsystem interaction fashions are considered, which are 1) each subsystem is singleinput-single-output (SISO), 2) each subsystem is multiple-inputmultiple-output (MIMO), and the interaction weights for different channels between two subsystems can be different, and 3) each subsystem is MIMO but the interaction weights between two subsystems are the same. Necessary and/or sufficient conditions for structural controllability are given. These conditions indicate that, under certain conditions on the subsystem dynamics, the whole system is structurally controllable, if and only if the network topology is globally input-reachable. Finally, these results are extended to the case where subsystem dynamics are fixed but the interaction topologies are switching. A promising point of the structure analysis taken in this paper is that, it can handle certain subsystem heterogeneities, which are illustrated by some practical systems, including the liquid-level systems, the power networks and the mechanical systems.

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“…Gawronski [3] proposes two controllers with the switching conditions for the motor‐drive turntable in the large antennas and telescopes. Sarlette and Sepulchre [31] introduced a switched transfer function in the design of the motor‐drive servo turntable controller. In [32, 33], the switched control scheme is introduced for the seeking and tracking processes of servo turntables.…”

Section: Introductionmentioning

confidence: 99%

Identification and control of the motor‐drive servo turntable with the switched friction model

Zhang

Wang²,

Ninghao

2020

IET Electric Power Applications

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In this study, the identification and control scheme of the motor-drive servo turntable are researched to achieve accurate tracking. Firstly, the input-output identification experiments are designed and realised for the global model of motordrive servo turntable. The order of the global controlled auto-regressive model is determined by the Akaike information criterion, and the parameters are estimated by a particle swarm optimisation-cuckoo search algorithm. Secondly, the switched friction model is built combining the LuGre structure and the Stribeck curve. The switching conditions and the parameters of the switched friction model are determined though the input-output and the friction experiments. A constrained multi-objective optimisation problem is constructed for the parameter identification of the switched friction model. It is solved via a fuzzy comprehensive evaluation. Finally, the composite control strategy, in which the proportional-integral-derivative controller and model-based friction observer are combined, is proposed in the azimuth angle system of the motor-drive servo turntable. The trajectory tracking results in simulation and experiment illustrate the effectiveness of the proposed switched model, identification method, and composite control strategy.

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Control limitations from distributed sensing: Theory and Extremely Large Telescope application

Cited by 9 publications

References 24 publications

Toward a Comprehensive Impossibility Result for String Stability

Toward a Comprehensive Impossibility Result for String Stability

Structural Controllability of Networked Relative Coupling Systems

Identification and control of the motor‐drive servo turntable with the switched friction model

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