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Manolescu, Crina Iulia. "Lyapunov transformations and control." Thesis, Imperial College London, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266339.
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Marikar, Mohamed Tariq. "Polyhedral Lyapunov functions and stabilization under polyhedral constraints." Thesis, Imperial College London, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266114.
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Leitenmaier, Lena. "Iterative methods and convergence for the time-delay Lyapunov equation." Thesis, KTH, Numerisk analys, NA, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-192633.
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The delay Lyapunov equation is a matrix boundary value problem arising in the characterization of many properties of time-delay systems, for example stability analysis. Its numerical treatment is challenging. For the special case of single-delay systems, a new algorithm based on a delay free formulation has recently been proposed. Using this formulation it is possible to obtain a linear system of equations with an equivalent solution. This linear system can be solved with GMRES or a similar iterative method, thus allowing to efficiently solve large-scale problems. In addition to the preconditioner proposed in the literature, on the basis of solving a T-Sylvester equation, a new preconditioner for this iterative method is derived here. It uses the diagonals of the time-delay system’s n × n state matrices to compute an approximation of the action of the n² × n² matrix associated to the linear system. Computational cost and convergence of this new preconditioner are investigated and proved. Examples for its efficiency under certain conditions are given and it is compared to the preconditioner from the literature. A pseudospectral analysis of the corresponding operators is conducted to get a better understanding of the convergence of both preconditioners. Several ways to obtain pseudospectra based convergence estimates are presented and their descriptiveness for different types of problems is discussed.Lyapunovekvationen för tidsfördröjningssystem är ett matrisrandvärdesproblem och är viktigt för att karakterisera tidsfördröjningssystem, till exempel igenom stabilitetsanalys. Denna ekvation är svår att lösa numeriskt. För specialfallet med bara en fördröjningsterm har en ny algoritm baserad på en fördröjningsfri formulering föreslagits. Använder man denna formulering är det möjligt att få ett linjärt system av ekvationer med en ekvivalent lösning. Detta system kan lösas med en effektiv metod för storskaliga problem som GMRES eller någon liknande iterativ metod. Förutom den förkonditionerare some föreslagits in litteraturen, som är baserad på att lösa en T-Sylvester ekvation, härleds här en ny förkonditionerare. Den använder diagonalerna av tidsfördröjningssystemets n × n statusmatriser för att beräkna en uppskattning av verkningen av n² × n² matrisen associerad med det linjära systemet. Beräkningskostnader och konvergens av denna nya förkonditionerare undersöks och bevisas. Dessutom genomförs en analys som bygger på pseudospectra av båda förkonditionerares tillhöriga operatorerna för att få en bättre förståelse av deras konvergens. Flera sätt för att uppnå pseudospectrabaserad konvergensuppskattningar presenteras. En analys genomförs för att visa hur väl uppskattningarna beskriver konvergensen.
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Lopez, Ramirez Francisco. "Control and estimation in finite-time and in fixed-time via implicit Lyapunov functions." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I063/document.
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Dans ce travail, on montre des nouveaux résultats pour l’analyse et la synthèse des systèmes stables en temps fini et fixe. Ce genre des systèmes convergent exactement à un point d’équilibre dans une quantité du temps qui est fini et, dans le cas de systèmes stables en temps fixe, dans un temps maximal constant qui ne dépend pas des conditions initiales du système.Les chapitres 2 et 3 portent sur des résultats d’analyse ; ce premier present des conditions nécessaires et suffisants pour la stabilité en temps fixe des systèmes autonomes continues tandis que ce dernier combine l’approche de la fonction implicite de Lyapunov avec des résultats de stabilisation ISS pour étudier la robustesse de ce genre de systèmes.Les chapitres 4 et 5 présentent des résultats pratiques liés á la procédure de synthèse des contrôleurs et des observateurs. Le chapitre 4 emploie la méthode de la fonction de Lyapunov implicite afin d’obtenir des observateurs convergents en temps fini et fixe pour les systèmes linéaires MIMO. Le chapitre 5 utilise des propriétés d’homogénéité et des fonctions de Lyapunov implicites pour synthétiser un contrôleur de sortie en temps fixe pour une chaîne d’intégrateurs. Les résultats obtenus ont été validés par des simulations numériques et le chapitre 4 contient des tests de performance sur un pendule rotatifThis work presents new results on analysis and synthesis of finite-time and fixed-time stable systems, a type of dynamical systems where exact convergence to an equilibrium point is guaranteed in a finite amount of time. In the case of fixed-time stable system, this is moreover achieved with an upper bound on the settling-time that does not depend on the system’s initial condition.Chapters 2 and 3 focus on theoretical contributions; the former presents necessary and sufficient conditions for fixed-time stability of continuous autonomous systems whereas the latter introduces a framework that gathers ISS Lyapunov functions, finite-time and fixed-time stability analysis and the implicit Lyapunov function approach in order to study and determine the robustness of this type of systems.Chapters 4 and 5 deal with more practical aspects, more precisely, the synthesis of finite-time and fixed-time controllers and observers. In Chapter 4, finite-time and fixed-time convergent observers are designed for linear MIMO systems using the implicit approach. In Chapter 5, homogeneity properties and the implicit approach are used to design a fixed-time output controller for the chain of integrators. The results obtained were verified by numerical simulations and Chapter 4 includes performance tests on a rotary pendulum
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Schroll, Arno. "Der maximale Lyapunov Exponent." Doctoral thesis, Humboldt-Universität zu Berlin, 2020. http://dx.doi.org/10.18452/21994.
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Bewegungsstabilität wird durch die Fähigkeit des neuromuskulären Systems adäquat auf Störungen der Bewegung antworten zu können erreicht. Einschränkungen der Stabilität werden z. B. mit Sturzrisiko in Verbindung gebracht, was schwere Konsequenzen für die Lebensqualität und Kosten im Gesundheitssystem hat. Nach wie vor wird debattiert, wie eine geeignete Bewertung von Stabilität vorgenommen werden kann. Diese Arbeit behandelt den maximalen Lyapunov Exponenten. Er drückt aus, wie sensitiv das System auf kleine Störungen eines Zustands reagiert. Eine Zeitreihe wird zunächst mittels zeitversetzter Kopien in einen mehrdimensionalen Raum eingebettet. In dieser rekonstruierten Dynamik berechnet man dann die Steigung der mittleren logarithmischen Divergenz initial naher Punkte. Die methodischen Konsequenzen für die Anwendung dieser Systemtheorie auf Bewegungen sind jedoch bislang unzureichend beleuchtet. Der experimentelle Teil zeigt klare Indizien, dass es bei Bewegungen weniger um die Analyse eines komplexen Systemdeterminismus geht, sondern um verschieden hohe dynamische Rauschlevel. Je höher das Rauschlevel, desto instabiler das System. Anwendung von Rauschreduktion führt zu kleineren Effektstärken. Das hat Folgen: Die Funktionswerte der Average Mutual Information, die bisher nur zur Bestimmung des Zeitversatzes genutzt wurden, können bereits Unterschiede in der Stabilität zeigen. Die Abschätzung der Dimension für die Einbettung (unabhängig vom verwendeten Algorithmus), ist stark von der Länge der Zeitreihe abhängig und wird bisher eher überschätzt. Die größten Effekte sind in Dimension drei zu beobachten und ein sehr früher Bereich zur Auswertung der Divergenzkurve ist zu empfehlen. Damit wird eine effiziente und standardisierte Analyse vorgeschlagen, die zudem besser imstande ist, Unterschiede verschiedener Bedingungen oder Gruppen aufzuzeigen.Reductions of movement stability due to impairments of the motor system to respond adequately to perturbations are associated with e. g. the risk of fall. This has consequences for quality of life and costs in health care. However, there is still an debate on how to measure stability. This thesis examines the maximum Lyapunov exponent, which became popular in sports science the last two decades. The exponent quantifies how sensitive a system is reacting to small perturbations. A measured data series and its time delayed copies are embedded in a moredimensional space and the exponent is calculated with respect to this reconstructed dynamic as average slope of the logarithmic divergence curve of initially nearby points. Hence, it provides a measure on how fast two at times near trajectories of cyclic movements depart. The literature yet shows a lack of knowledge about the consequences of applying this system theory to sports science tasks. The experimental part shows strong evidence that, in the evaluation of movements, the exponent is less about a complex determinism than simply the level of dynamic noise present in time series. The higher the level of noise, the lower the stability of the system. Applying noise reduction therefore leads to reduced effect sizes. This has consequences: the values of average mutual information, which are until now only used for calculating the delay for the embedding, can already show differences in stability. Furthermore, it could be shown that the estimation of the embedding dimension d (independently of algorithm), is dependent on the length of the data series and values of d are currently overestimated. The greatest effect sizes were observed in dimension three and it can be recommended to use the very first beginning of the divergence curve for the linear fit. These findings pioneer a more efficient and standardized approach of stability analysis and can improve the ability of showing differences between conditions or groups.
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Tanaka, Martin L. "Biodynamic Analysis of Human Torso Stability using Finite Time Lyapunov Exponents." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26580.
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Low back pain is a common medical problem around the world afflicting 80% of the population some time in their life. Low back injury can result from a loss of torso stability causing excessive strain in soft tissue. This investigation seeks to apply existing methods to new applications and to develop new methods to assess torso stability. First, the time series averaged finite time Lyapunov exponent is calculated from data obtained during seated stability experiments. The Lyapunov exponent is found to increase with increasing task difficulty. Second, a new metric for evaluating torso stability is introduced, the threshold of stability. This parameter is defined as the maximum task difficulty in which dynamic stability can be maintained for the test duration. The threshold of stability effectively differentiates torso stability at two levels of visual feedback. Third, the state space distribution of the finite time Lyapunov exponent (FTLE) field is evaluated for deterministic and stochastic systems. Two new methods are developed to generate the FTLE field from time series data. Using these methods, Lagrangian coherent structures (LCS) are found for an inverted pendulum, the Acrobot, and planar wobble chair models. The LCS are ridges in the FTLE field that separate two inherently different types of motion when applied to rigid-body dynamic systems. As a result, LCS can be used to identify the boundaries of the basin of stability. Finally, these new methods are used to find the basin of stability from time series data collected from torso stability experiments. The LCS and basins of stability provide a richer understanding into the system dynamics when compared to existing methods.
By gaining a better understanding of torso stability, it is hoped this knowledge can be used to prevent low back injury and pain in the future. These new methods may also be useful in evaluating other biodynamic systems such as standing postural sway, knee stability, or hip stability as well as time series applications outside the area of biomechanics.Ph. D.
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Chao, Chien-Hsiang. "Robust stabilization of linear time-invariant uncertain systems via Lyapunov theory." Diss., Virginia Polytechnic Institute and State University, 1988. http://hdl.handle.net/10919/53928.
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This dissertation is concerned with the problem of synthesizing a robust stabilizing feedback controller for linear time-invariant systems with constant uncertainties that are not required to satisfy matching conditions. Only the bounds on the uncertainties are required and no statistical property of the uncertainties is assumed.
The systems under consideration are described by linear state equations with uncertainties. I.e. x(t) = A̅(γ)x(t) +B̅(γ)u(t), where A̅(γ) is an n x n matrix and B̅(γ) is an n x m matrix. Lyapunov theory is exploited to establish the conditions for stabilizability of the closed loop system. We consider a Lyapunov function with an uncertain symmetric positive definite matrix P. The uncertain matrix P satisfies the Lyapunov equation ATP + PA + Q = 0, where the matrix A is in companion form and the matrix Q is symmetric and positive definite. In the solution of the Lyapunov equation, m rows of the matrix P are fixed in our approach of designing a robust controller. We derive necessary and sufficient conditions on these fixed m rows of the matrix P such that for given positive definite and symmetric Q the solution of the Lyapunov equation yields a positive definite matrix P and a companion matrix A that is Hurwitz. A discontinuous robust stabilizing controller is given.
Linear controller design is also investigated in this research. Under the same assumptions for the existence of a stabilizing discontinuous controller, we show that a linear robust stabilizing controller always exists.
The dissertation includes three examples to illustrate the design procedures for robust controllers. Example 2 shows that the design procedure may be applied to time-varying nonlinear systems.Ph. D.
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Montagnier-Michau, Pierre Jean Andre. "Dynamics and control of time-periodic mechanical systems via floquet-lyapunov theory." Thesis, McGill University, 2002. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=38242.
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Many practical problems in engineering can be modelled as linear dynamical systems with periodically varying coefficients. This thesis proposes a new design method for the control of these linear time-periodic systems.First, Floquet-Lyapunov theory is used to derive the Floquet factors of the state-transition matrix of a given system. We introduce a novel approach to obtain every real representation. It is demonstrated that the periodicity of the periodic factor can be determined a priori using a constant matrix, which we call the Yakubovich matrix, based upon the signs of the eigenvalues of the monodromy matrix. We then introduce a novel method for the numerical computation of the Floquet factors, relying upon a boundary-value problem formulation and the Yakubovich matrix.
In the second part, we use the invertibility of the controllability Gramian and a specific form for the feedback gain matrix to build a novel control law for the closed-loop system. The new controller can be full-state or observer-based and allows the control engineer to assign all the invariants of the system, i.e. the full monodromy matrix. Deriving the feedback matrix requires first solving a matrix integral equation for the periodic Floquet factor of the new state-transition matrix of the closed-loop system. This is achieved via a spectral method, which can then be further refined by a boundary-value problem formulation. Computational efficiency of the scheme may be further improved by performing the controller synthesis on the transformed system obtained from the reducibility theorem.
Finally, the effectiveness of the method is illustrated with an application to a quick-return mechanism using a software toolbox developed for MATLAB(TM).
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Zhang, Xiping. "Parameter-Dependent Lyapunov Functions and Stability Analysis of Linear Parameter-Dependent Dynamical Systems." Diss., Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/5270.
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The purpose of this thesis is to develop new stability conditions for several linear dynamic systems, including linear parameter-varying (LPV), time-delay systems (LPVTD), slow LPV
systems, and parameter-dependent linear time invariant (LTI) systems. These stability conditions are less conservative and/or computationally easier to apply than existing ones.
This dissertation is composed of four parts. In the first part of this thesis, the complete stability domain for LTI parameter-dependent (LTIPD) systems is synthesized by extending existing results in the literature. This domain is calculated through a guardian map which involves the determinant of the Kronecker sum of a matrix with itself. The stability domain is
synthesized for both single- and multi-parameter dependent LTI systems. The single-parameter case is easily computable, whereas the multi-parameter case is more involved. The determinant of the
bialternate sum of a matrix with itself is also exploited to reduce the computational complexity.
In the second part of the thesis, a class of parameter-dependent Lyapunov functions is proposed, which can be used to assess the stability properties of single-parameter LTIPD systems in a non-conservative manner. It is shown
that stability of LTIPD systems is equivalent to the existence of a Lyapunov function of a polynomial type (in terms of the parameter) of known, bounded degree satisfying two matrix inequalities. The bound of polynomial degree of the Lyapunov functions is then reduced by taking advantage of the fact that the Lyapunov matrices are symmetric. If the matrix multiplying the parameter is not full rank, the polynomial order
can be reduced even further. It is also shown that checking the feasibility of these matrix
inequalities over a compact set can be cast as a convex optimization problem. Such Lyapunov functions and stability conditions for affine single-parameter LTIPD systems are then generalized to single-parameter polynomially-dependent LTIPD systems and affine multi-parameter LTIPD systems.
The third part of the thesis provides one of the first attempts to derive computationally tractable criteria for analyzing the stability of LPV time-delayed systems. It presents both
delay-independent and delay-dependent stability conditions, which are derived using appropriately selected Lyapunov-Krasovskii functionals. According to the system parameter dependence, these functionals can be selected to obtain increasingly non-conservative results. Gridding techniques may be used to cast these tests as Linear Matrix Inequalities (LMI's). In cases when
the system matrices depend affinely or quadratically on the parameter, gridding may be avoided. These LMI's can be solved efficiently using available software. A numerical example of a
time-delayed system motivated by a metal removal process is used to demonstrate the theoretical results.
In the last part of the thesis, topics for future
investigation are proposed. Among the most interesting avenues for research in this context, it is proposed to extend the existing stability analysis results to controller synthesis, which will be based on the same Lyapunov functions used
to derive the nonconservative stability conditions. While designing the dynamic ontroller for linear and parameter-dependent systems, it is desired to take the advantage of the rank deficiency of the system matrix multiplying the parameter such that the controller is of lower dimension, or rank deficient without sacrificing the performance of closed-loop systems.
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Orstavik, Odd-Halvdan Sakse. "Analysis of chaotic multi-variate time-series from spatio-temporal dynamical systems." Thesis, University College London (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.314071.
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Ahmad, Nur Syazreen. "Convex methods for discrete-time constrained control." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/convex-methods-for-discretetime-constrained-control(ae161164-767c-41ec-8c03-75779ccc0699).html.
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Feedback is used to control systems whose open-loop behaviour is uncertain. Over the last twenty years a mature theory of robust control has been developed for linear multivariable systems in continuous time. But most practical control systems have constraints such as saturation limits on the actuators, which render the closed-loop nonlinear. Most of the modern controllers are also implemented digitally using computers.The study of this research is divided in two directions: the stability analysis of discrete-time Lur’e systems and the synthesis of static discrete-time anti-windup schemes. With respect to stability analysis, the main contributions of this thesis are the derivations of new LMI-based stability criteria for the discrete-time Lur’e systems with monotonic, slope-restricted nonlinearities via the Lyapunov method. The criteria provide convex stability conditions via LMIs, which can be efficiently computed via convex optimization methods. They are also extended to the general case that includes the non-diagonal MIMO nonlinearities. The importance of extending them to the general case is that it can eventually be applied to the stability analysis of several optimization-based controllers such as an input-constrainedmodel predictive control (MPC), which is inherently discrete. With respect to synthesis, the contribution is the convex formulation of a static discrete-time anti-windup scheme via one of the Jury-Lee criteria (a discrete-time counterpart of Popov criterion), which was previously conjectured to be unachievable. The result is also in the form of LMI, and is extended to several existing static anti-windup schemes with open-loop stable plants.
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Best, Eric A. "Stability assessment of nonlinear systems using the lyapunov exponent." Ohio University / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175019061.
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嚴利興 and Li-hing Yim. "Some stability results for time-delay control problems." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2000. http://hub.hku.hk/bib/B31225482.
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Yim, Li-hing. "Some stability results for time-delay control problems." Hong Kong : University of Hong Kong, 2000. http://sunzi.lib.hku.hk/hkuto/record.jsp?B22926094.
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Gupta, Sarthak. "Real-time Integration of Energy Storage." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78749.
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Increasing dynamics in power systems on account of renewable integration, electric vehicle penetration and rising demands have resulted in the exploration of energy storage for potential solutions. Recent technology- and industry-driven developments have led to a drastic decrease in costs of these storages, further advocating their usage. This thesis compiles the author's research on optimal integration of energy storage. Unpredictability is modelled using random variables favouring the need of stochastic optimization algorithms such as Lyapunov optimization and stochastic approximation. Moreover, consumer interactions in a competitive environment implore the need of topics from game theory. The concept of Nash equilibrium is introduced and methods to identify such equilibrium points are laid down. Utilizing these notions, two research contributions are made. Firstly, a strategy for controlling heterogeneous energy storage units operating at different timescales is put forth. They strategy is consequently employed optimally for arbitrage in an electricity market consisting of day-ahead and real-time pricing. Secondly, energy storages owned by consumers connected to different nodes of a power distribution grid are coordinated in a competitive market. A generalized Nash equilibrium problem is formulated for their participation in arbitrage and energy balancing, which is then solved using a novel emph{weighted} Lyapunov approach. In both cases, we design real-time algorithms with provable suboptimality guarantees in terms of the original centralized and equilibrium problems. The algorithms are tested on realistic scenarios comprising of actual data from electricity markets corroborating the analytical findings.Master of Science
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Luu, Hoang Duc, Joseph Páez Chávez, Doan Thai Son, and Stefan Siegmund. "Finite-time Lyapunov exponents and metabolic control coefficients for threshold detection of stimulus–response curves." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-215920.
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In biochemical networks transient dynamics plays a fundamental role, since the activation of signalling pathways is determined by thresholds encountered during the transition from an initial state (e.g. an initial concentration of a certain protein) to a steady-state. These thresholds can be defined in terms of the inflection points of the stimulus-response curves associated to the activation processes in the biochemical network. In the present work, we present a rigorous discussion as to the suitability of finite-time Lyapunov exponents and metabolic control coefficients for the detection of inflection points of stimulus-response curves with sigmoidal shape.
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Schittenkopf, Christian, Georg Dorffner, and Engelbert J. Dockner. "On non-linear, stochastic dynamics in economic and financial time series." SFB Adaptive Information Systems and Modelling in Economics and Management Science, WU Vienna University of Economics and Business, 1999. http://epub.wu.ac.at/1586/1/document.pdf.
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The search for deterministic chaos in economic and financial time series has attracted much interest over the past decade. However, clear evidence of chaotic structures is usually prevented by large random components in the time series. In the first part of this paper we show that even if a sophisticated algorithm estimating and testing the positivity of the largest Lyapunov exponent is applied to time series generated by a stochastic dynamical system or a return series of a stock index, the results are difficult to interpret. We conclude that the notion of sensitive dependence on initial conditions as it has been developed for deterministic dynamics, can hardly be transfered into a stochastic context. Therefore, in the second part of the paper our starting point for measuring dependencies for stochastic dynamics is a distributional characterization of the dynamics, e.g. by heteroskedastic models for economic and financial time series. We adopt a sensitivity measure proposed in the literature which is an information-theoretic measure of the distance between probability density functions. This sensitivity measure is well defined for stochastic dynamics, and it can be calculated analytically for the classes of stochastic dynamics with conditional normal distributions of constant and state-dependent variance. In particular, heteroskedastic return series models such as ARCH and GARCH models are investigated. (author's abstract)Series: Report Series SFB "Adaptive Information Systems and Modelling in Economics and Management Science"
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Li, Yunyan. "Global finite-time observers for a class of nonlinear systems." Thesis, University of Pretoria, 2013. http://hdl.handle.net/2263/40825.
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The contributions of this thesis lie in the area of global finite-time observer design for a class of
nonlinear systems with bounded rational and mixed rational powers imposed on the incremental rate
of the nonlinear terms whose solutions exist and are unique for all positive time. In the thesis, two
different kinds of nonlinear global finite-time observers are designed by employing of finite-time
theory and homogeneity properties with different methods. The global finite-time stability of both
proposed observers is derived on the basis of Lyapunov theory.
For a class of nonlinear systems with rational and mixed rational powers imposed on the nonlinearities,
the first global finite-time observers are designed, where the global finite-time stability of the
observation systems is achieved from two parts by combining asymptotic stability and local finitetime
stability. The proposed observers can only be designed for the class of nonlinear systems with
dimensions greater than 3. The observers have a dynamic high gain and two homogenous terms, one
homogeneous of degree greater than 1 and the other of degree less than 1. In order to prove the global
finite-time stability of the proposed results, two homogeneous Lyapunov functions are provided, corresponding
with the two homogeneous items. One is homogeneous of degree greater than 1, which
makes the observation error systems converging into a spherical area around the origin, and the other
is of degree less than 1, which ensures local finite-time stability.
The second global finite-time observers are also proposed based on the high-gain technique, which
does not place any limitation on the dimension of the nonlinear systems. Compared with the first
global finite-time observers, the newly designed observers have only one homogeneous term and a
new gain update law where two new terms are introduced to dominate some terms in the nonlinearities
and ensure global finite-time stability as well. The global finite-time stability is obtained directly
based on a sufficient condition of finite-time stability and only one Lyapunov function is employed in
the proof.
The validity of the two kinds of global finite-time observers that have been designed is illustrated through some simulation results. Both of them can make the observation error systems converge to
the origin in finite-time. The parameters, initial conditions as well as the high gain do have some
impact on the convergence time, where the high gain plays a stronger role. The bigger the high gain
is, the shorter the time it needs to converge. In order to show the performance of the two kinds of
observers more clearly, two examples are provided and some comparisons are made between them.
Through these, it can be seen that under the same parameters and initial conditions, although the
amplitude of the observation error curve is slightly greater, the global finite-time observers with a
new gain update law can make the observation error systems converge much more quickly than the
global finite-time observers with two homogeneous terms. In the simulation results, one can see that,
as a common drawback of high gain observers, they are noise-sensitive. Finding methods to improve
their robustness and adaptiveness will be quite interesting, useful and challenging.Thesis (PhD)--University of Pretoria, 2013.
gm2014
Electrical, Electronic and Computer Engineering
unrestricted
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Lu, Yueyun. "Switching Stabilization of Continuous-Time Switched Systems." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1479201964449478.
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Kojima, Chiaki. "Studies on Lyapunov stability and algebraic Riccati equation for linear discrete-time systems based on behavioral approach." 京都大学 (Kyoto University), 2007. http://hdl.handle.net/2433/135968.
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Raben, Samuel Gillooly. "Determination of Three Dimensional Time Varying Flow Structures." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/51818.
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Time varying flow structures are involved in a large percentage of fluid flows although there is still much unknown regarding their behavior. With the development of high spatiotemporal resolution measurement systems it is becoming more feasible to measure these complex flow structures, which in turn will lead to a better understanding of their impact. One method that has been developed for studying these flow structures is finite time Lyapunov exponents (FTLEs). These exponents can reveal regions in the fluid, referred to as Lagragnian coherent structures (LCSs), where fluid elements diverge or attract. Better knowledge of how these time varying structures behave can greatly impact a wide range of applications, from aircraft design and performance, to an improved understanding of mixing and transport in the human body.
This work provides the development of new methodologies for measuring and studying three-dimensional time varying structures. Provided herein is a method to improve replacement of erroneous measurements in particle image velocimetry data, which leads to increased accuracy in the data. Also, a method for directly measuring the finite time Lyapunov exponents from particle images is developed, as well as an experimental demonstration in a three-dimensional flow field. This method takes advantage of the information inherently contained in these images to improve accuracy and reduce computational requirements. Lastly, this work provides an in depth look at the flow field for developing wall jets across a wide range of Reynolds numbers investigating the mechanisms that contribute to their development.Ph. D.
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Leising, Sophie. "Nonlinear controller synthesis for complex chemical and biochemical reaction systems." Link to electronic thesis, 2005. http://www.wpi.edu/Pubs/ETD/Available/etd-050205-152657/.
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Thesis (M.S.) -- Worcester Polytechnic Institute.Keywords: model predictive control; discrete-time model; continuous-time model; nonlinear systems; Lyapunov design. Includes bibliographical references (p. 99-102).
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Liang, Weichao. "Feedback exponential stabilization of open quantum systems undergoing continuous-time measurements." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLS391.
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Dans cette thèse, nous nous intéressons à la stabilisation par rétroaction des systèmes quantiques ouverts soumis à des mesures imparfaites en temps continu. Tout d'abord, nous introduisons la théorie du filtrage quantique pour décrire l'évolution temporelle de l'opérateur de densité conditionnelle représentant un état quantique en interaction avec un environnement. Ceci est décrit par une équation différentielle stochastique à valeurs matricielles. Deuxièmement, nous étudions le comportement asymptotique des trajectoires quantiques associées à des systèmes de spin à N niveaux pour des états initiaux donnés, pour les cas avec et sans loi de rétroaction. Dans le cas sans loi de rétroaction, nous montrons la propriété de réduction de l'état quantique à vitesse exponentielle. Ensuite, nous fournissons des conditions suffisantes sur la loi de contrôle assurant une convergence presque sûre vers un état pur prédéterminé correspondant à un vecteur propre de l'opérateur de mesure. Troisièmement, nous étudions le comportement asymptotique des trajectoires de systèmes ouverts à plusieurs qubits pour des états initiaux donnés. Dans le cas sans loi de rétroaction, nous montrons la réduction exponentielle de l'état quantique pour les systèmes N-qubit avec deux canaux quantiques. Dans le cas particulier des systèmes à deux qubits, nous donnons des conditions suffisantes sur la loi de contrôle assurant la convergence asymptotique vers un état cible de Bell avec un canal quantique, et la convergence exponentielle presque sûre vers un état cible de Bell avec deux canaux quantiques. Ensuite, nous étudions le comportement asymptotique des trajectoires des systèmes quantiques ouverts de spin-1/2 avec les états initiaux inconnus soumis à des mesures imparfaites en temps continu, et nous fournissons des conditions suffisantes au contrôleur pour garantir la convergence de l'état estimé vers l'état quantique réel lorsque le temps tend vers l'infini. En conclusion, nous discutons de manière heuristique du problème de stabilisation exponentielle des systèmes de spin à N niveaux avec les états initiaux inconnus et nous proposons des lois de rétroaction candidates afin de stabiliser le système de manière exponentielleIn this thesis, we focus on the feedback stabilization of open quantum systems undergoing imperfect continuous-time measurements. First, we introduce the quantum filtering theory to obtain the time evolution of the conditional density operator representing a quantum state in interaction with an environment. This is described by a matrix-valued stochastic differential equation. Second, we study the asymptotic behavior of quantum trajectories associated with N-level quantum spin systems for given initial states, for the cases with and without feedback law. For the case without feedback, we show the exponential quantum state reduction. Then, we provide sufficient conditions on the feedback control law ensuring almost sure exponential convergence to a predetermined pure state corresponding to an eigenvector of the measurement operator. Third, we study the asymptotic behavior of trajectories of open multi-qubit systems for given initial states. For the case without feedback, we show the exponential quantum state reduction for N-qubit systems with two quantum channels. Then, we focus on the two-qubit systems, and provide sufficient conditions on the feedback control law ensuring asymptotic convergence to a target Bell state with one quantum channel, and almost sure exponential convergence to a target Bell state with two quantum channels. Next, we investigate the asymptotic behavior of trajectories of open quantum spin-1/2 systems with unknown initial states undergoing imperfect continuous-time measurements, and provide sufficient conditions on the controller to guarantee the convergence of the estimated state towards the actual quantum state when time goes to infinity. Finally, we discuss heuristically the exponential stabilization problem for N-level quantum spin systems with unknown initial states and propose candidate feedback laws to stabilize exponentially the system
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Banks, Jess M. "Chaos and Learning in Discrete-Time Neural Networks." Oberlin College Honors Theses / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=oberlin1445945609.
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Fiorentino, Laura A. "Using Lagrangian Coherent Structures to Study Coastal Water Quality." Scholarly Repository, 2011. http://scholarlyrepository.miami.edu/oa_theses/267.
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In order to understand water quality in the coastal ocean and its effects on human health, the necessity arises to locate the sources of contaminants and track their transport throughout the ocean. Dynamical systems methods are applied to the study of transport of enterococci as an indicator of microbial concentration in the vicinity of Hobie Beach, an urban, subtropical beach in Miami, FL that is used for recreation and bathing on a daily basis. Previous studies on water quality have shown that Hobie Beach has high microbial levels despite having no known point source. To investigate the cause of these high microbial levels, a combination of measured surface drifter trajectories and numerically simulated flows in the vicinity of Hobie Beach is used. The numerically simulated flows are used to identify Lagrangian Coherent Structures (LCSs), which provide a template for transport in the study area. Surface drifter trajectories are shown to be consistent with the simulated flows and the LCS structure. LCSs are then used to explain the persistent water contamination and unusually high concentrations of microbes in the water off of this beach as compared with its neighboring beaches. From the drifter simulations, as well as field experiments, one can see that passive tracers are trapped in the area along the coastline by LCS. The Lagrangian circulation of Hobie Beach, influenced primarily by tide and land geometry causes a high retention rate of water near the shore, and can be used to explain the elevated levels of enterococci in the water.
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Pedjeu, Jean-Claude. "Multi-time Scales Stochastic Dynamic Processes: Modeling, Methods, Algorithms, Analysis, and Applications." Scholar Commons, 2012. http://scholarcommons.usf.edu/etd/4383.
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By introducing a concept of dynamic process operating under multi-time scales in sciences and engineering, a mathematical model is formulated and it leads to a system of multi-time scale stochastic differential equations. The classical Picard-Lindel\"{o}f successive approximations scheme is expended to the model validation problem, namely, existence and uniqueness of solution process. Naturally, this generates to a problem of finding closed form solutions of both linear and nonlinear multi-time scale stochastic differential equations. To illustrate the scope of ideas and presented results, multi-time scale stochastic models for ecological and epidemiological processes in population dynamic are exhibited. Without loss in generality, the modeling and analysis of three time-scale fractional stochastic differential equations is followed by the development of the numerical algorithm for multi-time scale dynamic equations. The development of numerical algorithm is based on the idea if numerical integration in the context of the notion of multi-time scale integration. The multi-time scale approach is applied to explore the study of higher order stochastic differential equations (HOSDE) is presented. This study utilizes the variation of constant parameter technique to develop a method for finding closed form solution processes of classes of HOSDE. Then then probability distribution of the solution processes in the context of the second order equations is investigated.
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Caun, Rodrigo da Ponte. "Controle preditivo para sistemas lineares discretos variantes no tempo usando funções de Lyapunov dependentes de caminho." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261576.
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Orientadores: Pedro Luis Dias Peres, Ricardo Coração de Leão Fontoura de OliveiraDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: A principal contribuição dessa dissertação é propor um método de síntese de controle preditivo por realimentação de estados para sistemas lineares discretos com parâmetros variantes no tempo e pertencentes a um politopo. As condições de síntese são formuladas usando-se funções de Lyapunov dependentes de caminho, isto é, a matriz de Lyapunov depende de maneira multi-afim dos parâmetros em seus instantes sucessivos de tempo até um instante máximo (tamanho do caminho). Essa classe de função generaliza as funções quadráticas e dependentes de maneira afim nos parâmetros. Os testes numéricos s¿ao formulados em termos de problemas de otimização baseados em desigualdades matriciais lineares, parametrizados em função do tamanho do caminho da matriz de Lyapunov, arbitrado a priori. À medida que o tamanho do caminho cresce, índices de desempenho menos conservadores são obtidos ao preço de um maior esforço computacional. Exemplos numéricos são apresentados ilustrando a eficiência do método proposto em termos do índice de desempenho e do esforço computacional demandado quando comparados com outros métodos existentes na literatura.
Abstract: The main contribution of this thesis is to propose a state-feedback model predictive control design method for discrete-time systems with time-varying parameters belonging to a polytope. The synthesis conditions are formulated using path-dependent Lyapunov functions, i.e. the Lyapunov matrix depends multi-affinely on the parameters at successive instants of time until a maximum instant (path size). This class of function generalizes quadratic and affinely parameter dependent functions. The numerical tests are provided in terms of optimization problems based on linear matrix inequalities, parametrized as a function of the path size of the Lyapunov matrix, given a priori. As the path size increases, less conservative performance indices are obtained at the price of a higher computational effort. Numerical examples are presented, illustrating the efficiency of the approach in terms of the performance index and the computational burden demanded when compared to other existing methods in the literature.
Mestrado
Automação
Mestre em Engenharia Elétrica
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Lang, Norman, Jens Saak, and Tatjana Stykel. "Balanced truncation model reduction for linear time-varying systems." Universitätsbibliothek Chemnitz, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-183870.
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A practical procedure based on implicit time integration methods applied to the differential Lyapunov equations arising in the square root balanced truncation method is presented. The application of high order time integrators results in indefinite right-hand sides of the algebraic Lyapunov equations that have to be solved within every time step. Therefore, classical methods exploiting the inherent low-rank structure often observed for practical applications end up in complex data and arithmetic. Avoiding the additional effort treating complex quantities, a symmetric indefinite factorization of both the right-hand side and the solution of the differential Lyapunov equations is applied.
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Silva, Rosiney Desidério da. "Estudo numérico e experimental da dinâmica não-linear de um giroscópio." Universidade Estadual do Oeste do Parana, 2012. http://tede.unioeste.br:8080/tede/handle/tede/1090.
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Previous issue date: 2012-11-26The present work proposes a study of the dynamics of a gyroscope using simulated data of an analytical model by comparing with experimental data. Classical mechanical modeling approaches are used to identify the equilibrium points, stability and verification of the regions where the motion equations of the gyroscope can present regular or chaotic behavior. The Lyapunov exponents are identified through the standard method, Eckmann-Ruelle Method, Wolf method with time series and the 0-1 test. The results achieved illustrate the main advantages and drawbacks of each method and allow to observe qualitatively and quantitatively information about the motion of the gyroscope used.
Este trabalho propõe um estudo da dinâmica de um giroscópio usando dados de simulação de um modelo analítico comparando com dados experimentais. Verifica-se a modelagem usando mecânica clássica, estudo de pontos de equilíbrio, estabilidade e verificação de regiões onde o movimento do giroscópio pode ficar regular ou caótico. Os expoentes de Lyapunov são identificados usando o método padrão, método de Eckmann-Ruelle, método deWolf com séries temporais e o teste 0-1. Os resultados alcançados nesta dissertação permitiram comparar as principais vantagens e desvantagens de cada um dos métodos e extrair informações qualitativas e quantitativas sobre o movimento do giroscópio em estudo.
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Sawaya, Antonio. "Financial time series analysis : Chaos and neurodynamics approach." Thesis, Högskolan Dalarna, Datateknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:du-4810.
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This work aims at combining the Chaos theory postulates and Artificial Neural Networks classification and predictive capability, in the field of financial time series prediction. Chaos theory, provides valuable qualitative and quantitative tools to decide on the predictability of a chaotic system. Quantitative measurements based on Chaos theory, are used, to decide a-priori whether a time series, or a portion of a time series is predictable, while Chaos theory based qualitative tools are used to provide further observations and analysis on the predictability, in cases where measurements provide negative answers. Phase space reconstruction is achieved by time delay embedding resulting in multiple embedded vectors. The cognitive approach suggested, is inspired by the capability of some chartists to predict the direction of an index by looking at the price time series. Thus, in this work, the calculation of the embedding dimension and the separation, in Takens‘ embedding theorem for phase space reconstruction, is not limited to False Nearest Neighbor, Differential Entropy or other specific method, rather, this work is interested in all embedding dimensions and separations that are regarded as different ways of looking at a time series by different chartists, based on their expectations. Prior to the prediction, the embedded vectors of the phase space are classified with Fuzzy-ART, then, for each class a back propagation Neural Network is trained to predict the last element of each vector, whereas all previous elements of a vector are used as features.
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Hyman, Jeffrey De’Haven. "Heterogeneity and Structures in Flows through Explicit Porous Microstructures." Diss., The University of Arizona, 2014. http://hdl.handle.net/10150/316897.
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We investigate how the formation of heterogeneity and structures in flows through explicit porous microstructures depends upon the geometric and topological observables of the porous medium. Using direct numerical simulations of single-phase, isothermal, laminar fluid flow through realistic three-dimensional stochastically generated pore structures, hereafter referred to as pore spaces, the characteristics of the resulting steady state velocity fields are related to physical characteristics of the pore spaces. The results suggest that the spatially variable resistance offered by the geometry and topology of the pore space induces a highly heterogeneous fluid velocity field therein. Focus is placed on three different length scales: macroscopic (cm), mesoscopic (mm), and microscopic (microns). At the macroscopic length scale, volume averaging is used to relate porosity, mean hydraulic radius, and their product to the permeability of the pore space. At the mesoscopic scale, the effect of a medium's porosity on fluid particle trajectory attributes, such as passage time and tortuosity, is studied. At the final length scale, that of the microscopic in-pore fluid dynamics, finite time Lyapunov exponents are used to determine expanding, contracting, and hyperbolic regions in the flow field, which are then related to the local structure of the pore space. The results have implications to contaminant transport, mixing, and how chemical reactions are induced at the pore-scale. A description of the adopted numerical methods to simulate flow and generate the pore space are provided as well.
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Borges, Renato Alves. "Controle e filtragem de sistemas lineares variantes no tempo por meio de funções de Lyapunov dependentes de parametros." [s.n.], 2009. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261054.
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Orientador: Pedro Luis Dias PeresTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: A principal contribuição desta tese é a proposta de condições de sintese de filtros e controladores lineares, tanto robustos quanto dependentes de parametros, para sistemas discretos variantes no tempo.Os controladores, ou filtros, são obtidos solucionando problemas de otimização formulados em termos de desigualdades matriciais bililineares, por meio de um metodo que se baseia na alternancia de problemas convexos descritos por desigualdades matriciais lineares. Para obtenção das condiçoes de sintese foram utilizadas tanto funções de Lyapunov afins nos parâmetros quanto ametros, alem de variáveis multi-afins em diferentes instantes de tempo dos parâmetros, alem de variaveis extras introduzidas pelo lema de Finsler. Nesse contexto, sao tratados problemas de sintese com custo garantido H, assegurando robustez em relação a incertezas não estruturadas. Simulaçoes numéricas ilustram a eficiencia dos metodos propostos em termos de desempenho H quando comparados com outros metodos da literatura
Abstract: The main contribution of this dissertation is to propose conditions for linear filter and controller design, considering both robust and parameter dependent structures, for discrete time-varying systems. The controllers, or filters, are obtained through the solution of optimization problems, formulated in terms of bilinear matrix inequalities, using a method that alternates convex optimization problems described in terms of linear matrix inequalities. Both affine and multi-affine in different instants of time (path dependent)Lyapunov functions were usedto obtain the design conditions, as wellas extra variables introduced bythe Finsler's lemma.Design problems that take into account an H guaranteed cost were investigated, providing robustness with respect to unstructured uncertainties. Numerical simulations show the effciency of the proposed methods in terms of H performance when compared with other strategies from the literature
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Automação
Doutor em Engenharia Elétrica
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Rodrigues, Luis Antonio 1987. "Análise e síntese de sistemas LPV polinomiais homogêneos usando funções de Lyapunov dependentes de sucessivos instantes de tempo." [s.n.], 2012. http://repositorio.unicamp.br/jspui/handle/REPOSIP/262919.
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Orientador: Juan Francisco Camino dos SantosDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: O presente trabalho investiga os problemas de estabilidade assintótica e desempenho H'INFINITO' de sistemas lineares a parâmetros variantes discretos no tempo. São fornecidas condições suficientes para análise de estabilidade, análise de desempenho H'INFINITO' e síntese de controladores estáticos de realimentação de saída robustos e por ganho escalonado. Além disso, é proposto um método de parametrização polinomial homogênea de sistemas LPV afins. Assume-se que a matriz do sistema tem dependência polinomial homogênea de grau arbitrário sobre os parâmetros que variam dentro de um politopo com conhecidos limitantes sobre suas taxas de variação. As propriedades geométricas do domínio politópico são exploradas para se obter um conjunto finito de desigualdades matriciais lineares que levam em consideração os limitantes sobre as taxas de variação dos parâmetros. As condições LMIs são obtidas usando uma função de Lyapunov quadrática nos estados com dependência polinomial homogênea dos parâmetros variantes em instantes sucessivos de tempo. As condições fornecidas são aplicadas no modelo LPV de um sistema vibroacústico. Comparações com resultados numéricos encontrados na literatura mostram os benefícios das técnicas propostas
Abstract: This work investigates stability and H'INFINITE' performance of discrete-time linear parameter varying systems. Sufficient conditions for stability analysis, H'INFINITE' performance analysis and synthesis of both robust and gain-scheduled static output feedback controller are provided. It is assumed that the system matrices have a homogeneous polynomial dependence of arbitrary degree on the time-varying parameters. Thus, a homogeneous-polynomially parametrization method for affine LPV systems is proposed. The parameters are assumed to vary inside a polytope and to have known bounds on their rates of variation. The geometric properties of the polytopic domain are exploited to derive a finite set of LMIs that take into account the bounds on the rates of variation of the scheduling parameters. The LMI conditions are obtained using a quadratic in the state Lyapunov function with a homogeneous polynomial dependence on the scheduling parameters at successive instants of time. The proposed techniques are applied to an LPV model of a vibroacoustic setup. Comparisons with numerical results found in literature show the benefits of the proposed approach
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Mattei, Giovanni. "Robust nonlinear control : from continuous time to sampled-data with aerospace applications." Thesis, Paris 11, 2015. http://www.theses.fr/2015PA112025/document.
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La thèse porte sur le développement des techniques non linéaires robustes de stabilisation et commande des systèmes avec perturbations de model. D’abord, on introduit les concepts de base de stabilité et stabilisabilité robuste dans le contexte des systèmes non linéaires. Ensuite, on présente une méthodologie de stabilisation par retour d’état en présence d’incertitudes qui ne sont pas dans l’image de la commande («unmatched»). L’approche récursive du «backstepping» permet de compenser les perturbations «unmatched» et de construire une fonction de Lyapunov contrôlée robuste, utilisable pour le calcul ultérieur d’un compensateur des incertitudes dans l’image de la commande («matched»). Le contrôleur obtenu est appelé «recursive Lyapunov redesign». Ensuite, on introduit la technique de stabilisation par «Immersion & Invariance» comme outil pour rendre un donné contrôleur non linéaire, robuste par rapport à dynamiques non modelées. La première technique de contrôle non linéaire robuste proposée est appliquée au projet d’un autopilote pour un missile air-air et au développement d’une loi de commande d’attitude pour un satellite avec appendices flexibles. L’efficacité du «recursive Lyapunov redesign» est mis en évidence dans le deux cas d’étude considérés. En parallèle, on propose une méthode systématique de calcul des termes incertains basée sur un modèle déterministe d’incertitude. La partie finale du travail de thèse est relative à la stabilisation des systèmes sous échantillonnage. En particulier, on reformule, dans le contexte digital, la technique d’Immersion et Invariance. En premier lieu, on propose des solutions constructives en temps continu dans le cas d’une classe spéciale des systèmes en forme triangulaire «feedback form», au moyen de «backstepping» et d’arguments de domination non linéaire. L’implantation numérique est basée sur une loi multi-échelles, dont l’existence est garantie pour la classe des systèmes considérée. Le contrôleur digital assure la propriété d’attractivité et des trajectoires bornées. La loi de commande, calculée par approximation finie d’un développement asymptotique, est validée en simulation de deux exemples académiques et deux systèmes physiques, le pendule inversé sur un chariot et le satellite rigideThe dissertation deals with the problems of stabilization and control of nonlinear systems with deterministic model uncertainties. First, in the context of uncertain systems analysis, we introduce and explain the basic concepts of robust stability and stabilizability. Then, we propose a method of stabilization via state-feedback in presence of unmatched uncertainties in the dynamics. The recursive backstepping approach allows to compensate the uncertain terms acting outside the control span and to construct a robust control Lyapunov function, which is exploited in the subsequent design of a compensator for the matched uncertainties. The obtained controller is called recursive Lyapunov redesign. Next, we introduce the stabilization technique through Immersion \& Invariance (I\&I) as a tool to improve the robustness of a given nonlinear controller with respect to unmodeled dynamics. The recursive Lyapunov redesign is then applied to the attitude stabilization of a spacecraft with flexible appendages and to the autopilot design of an asymmetric air-to-air missile. Contextually, we develop a systematic method to rapidly evaluate the aerodynamic perturbation terms exploiting the deterministic model of the uncertainty. The effectiveness of the proposed controller is highlighted through several simulations in the second case-study considered. In the final part of the work, the technique of I\& I is reformulated in the digital setting in the case of a special class of systems in feedback form, for which constructive continuous-time solutions exist, by means of backstepping and nonlinear domination arguments. The sampled-data implementation is based on a multi-rate control solution, whose existence is guaranteed for the class of systems considered. The digital controller guarantees, under sampling, the properties of manifold attractivity and trajectory boundedness. The control law, computed by finite approximation of a series expansion, is finally validated through numerical simulations in two academic examples and in two case-studies, namely the cart-pendulum system and the rigid spacecraft
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Agulhari, Cristiano Marcos 1983. "Estabilidade e controle de sistemas lineares e variantes no tempo com parâmetros incertos = Stabilité et commande des systémes linéaires variants dans le temps aux paramétres incertains." [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261052.
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Orientador: Pedro Luis Dias PeresTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: As principais contribuições desta tese consistem no desenvolvimento de métodos para a síntese de controladores e para a análise de estabilidade de sistemas lineares, variantes ou invariantes no tempo. Com relação aos sistemas invariantes no tempo, o objetivo é a síntese de controladores robustos de ordem reduzida para sistemas a tempo contínuo com parâmetros incertos. O método apresentado para a síntese baseia-se em uma técnica de dois estágios, em que um ganho de realimentação de estados é construído no primeiro estágio e posteriormente utilizado no segundo estágio, que fornece o controlador robusto desejado. Cada etapa consiste na resolução de condições sob a forma de desigualdades matriciais lineares. No caso de sistemas variantes no tempo, em geral, dependendo das informações disponíveis, dois modelos matemáticos podem ser utilizados. Por um lado, para sistemas cujos elementos variantes no tempo são limitados em norma, mas não são completamente conhecidos, é possível utilizar modelos dependentes de parâmetros variantes no tempo, que levam a uma representação politópica. Nesse caso, a técnica de estabilização proposta é baseada no método de dois estágios, para gerar controladores dependentes dos parâmetros. Supõe-se que os parâmetros sejam mensuráveis em tempo real, e os controladores são sintetizados de forma a serem robustos a ruídos nas medições. Por outro lado, se a dinâmica variante no tempo é conhecida, o sistema pode ser tratado diretamente sem que seja utilizado nenhum tipo de parametrização. Duas técnicas de síntese são propostas para esse caso: a construção de ganhos estabilizantes utilizando diretamente a matriz de transição de estados, e uma técnica de síntese projetada a partir de um novo critério para a verificação da estabilidade do sistema. A validade dos métodos propostos é ilustrada por meio de exemplos numéricos, que mostram a qualidade dos resultados que podem ser obtidos
Abstract: The main contributions of this thesis concern the development of methods for the stability analysis and the synthesis of controllers for linear systems, either time varying or time-invariant. Concerning time-invariant systems, the objective is the synthesis of reduced-order robust controllers for continuous-time systems with uncertain parameters. The method presented for the synthesis is based on a two-stage technique, in which a stabilizing state-feedback gain is constructed in the first stage and then applied on the second stage to search for the desired controller. Each stage consists in the resolution of conditions based on linear matrix inequalities. In the case of time-varying systems, depending on the amount of available information, two mathematical models may be used. On one hand, if the time-varying elements of the system are not entirely known, one can model the system as function of time-varying parameters, resulting on a polytopic representation. In this case, the stabilization method proposed is based on the two-stage technique, which yields parameter-dependent controllers. The parameters are supposed to be real-time measurable, and the controllers are robust with respect to noises and uncertainties on the measures. On the other hand, if the time-varying dynamics are known, the system may be directly handled without using any parameterization. Two synthesis techniques are proposed in this case: the construction of stabilizing gains by using the state transition matrix, and a synthesis technique derived from a new stability criterion for time-varying systems. The validity of the proposed methods is illustrated through numerical examples that show the efficiency of the results that can be obtained
Doutorado
Automação
Doutor em Engenharia Elétrica
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Granzotto, Mathieu. "Near-optimal control of discrete-time nonlinear systems with stability guarantees." Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0301.
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L’intelligence artificielle est riche en algorithmes de commande optimale. Il s’agit de générer des entrées de commande pour des systèmes dynamiques afin de minimiser une fonction de coût donnée décrivant l’énergie du système par exemple. Ces méthodes sont applicables à de larges classes de systèmes non-linéaires en temps discret et ont fait leurs preuves dans de nombreuses applications. Leur exploitation en automatique s’avère donc très prometteuse. Une question fondamentale reste néanmoins à élucider pour cela: celle de la stabilité. En effet, ces travaux se concentrent sur l’optimalité et ignorent dans la plupart des cas la stabilité du système commandé, qui est au coeur de l’automatique. L’objectif de ma thèse est d’étudier la stabilité de systèmes non-linéaires commandés par de tels algorithmes. L’enjeu est important car cela permettra de créer un nouveau pont entre l’intelligence artificielle et l’automatique. La stabilité nous informe sur le comportement du système en fonction du temps et garantit sa robustesse en présence de perturbations ou d’incertitudes de modèle. Les algorithmes en intelligence artificielle se concentrent sur l’optimalité de la commande et n’exploitent pas les propriétés de la dynamique du système. La stabilité est non seulement désirable pour les raisons auparavant, mais aussi pour la possibilité de l’exploitée pour améliorer ces algorithmes d’intelligence artificielle. Mes travaux de recherche se concentrent sur les techniques de commande issues de la programmation dynamique (approchée) lorsque le modèle du système est connu. J’identifie pour cela des conditions générales grâce auxquelles il est possible de garantir la stabilité du système en boucle fermée. En contrepartie, une fois la stabilité établie, nous pouvons l’exploiter pour améliorer drastiquement les garanties d’optimalité de la littérature. Mes travaux se sont concentrés autour de deux axes. Le premier concerne l’approche par itération sur les valeurs, qui est l’un des piliers de la programmation dynamique approchée et est au coeur de nombre d’algorithmes d’apprentissage par renforcement. Le deuxième concerne l’approche de planification optimiste, appliqué aux systèmes commutés. J’adapte l’algorithme de planification optimiste pour que, sous hypothèse naturel dans un contexte de stabilisation, obtenir la stabilité en boucle fermé et améliorer drastiquement les garanties d’optimalité de l’algorithmeArtificial intelligence is rich in algorithms for optimal control. These generate commands for dynamical systems in order to minimize a a given cost function describing the energy of the system, for example. These methods are applicable to large classes of non-linear systems in discrete time and have proven themselves in many applications. Their application in control problems is therefore very promising. However, a fundamental question remains to be clarified for this purpose: that of stability. Indeed, these studies focus on optimality and ignore in the In most cases the stability of the controlled system, which is at the heart of control theory. The objective of my thesis is to study the stability of non-linear systems controlled by such algorithms. The stakes are high because it will create a new bridge between artificial intelligence and control theory. Stability informs us about the behaviour of the system as a function of time and guarantees its robustness in the presence of model disturbances or uncertainties. Algorithms in artificial intelligence focus on control optimality and do not exploit the properties of the system dynamics. Stability is not only desirable for the reasons mentioned above, but also for the possibility of using it to improve these intelligence algorithms artificial. My research focuses on control techniques from (approximated) dynamic programming when the system model is known. For this purpose, I identify general conditions by which it is possible to guarantee the stability of the closed-loop system. On the other hand, once stability has been established, we can use it to drastically improve the optimality guarantees of literature. My work has focused on two main areas. The first concerns the approach by iteration on values, which is one of the pillars of dynamic programming is approached and is at the heart of many reinforcement learning algorithms. The second concerns the approach by optimistic planning, applied to switched systems. I adapt the optimistic planning algorithm such that, under natural assumptions in an a stabilisation context, we obtain the stability of closed-loop systems where inputs are generated by this modified algorithm, and to drastically improve the optimality guarantees of the generated inputs
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Nascimento, Melke Augusto do. "Instabilidades cinéticas em sistemas eletroquímicos: uma contribuição teórica." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/75/75134/tde-17042012-165611/.
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Mais que fenômenos exóticos, oscilações de corrente e potencial são bastante comuns em vários sistemas eletroquímicos. Ainda que conhecidos há muito tempo, processos oscilatórios na interface sólido/líquido eletrificada são relativamente pouco investigados sob o ponto de vista teórico. São apresentados nessa Tese dois trabalhos, o primeiro relacionado às instabilidades cinéticas observadas em tais sistemas, por meio de um modelo formado por três equações diferenciais não-lineares ordinárias acopladas, que representam um protótipo mínimo do comportamento complexo observado em reações eletrocatalíticas. Especificamente, este protótipo reproduz as características gerais de osciladores eletroquímicos caracterizados por uma resistência diferencial negativa parcialmente escondida em uma curva de corrente/potencial em forma de N. O modelo foi abordado utilizando as análises convencionais e os diagramas de estabilidade, de Lyapunov e de período. A partir dos diagramas de estabilidade foi possível descrever o comportamento do sistema levando em consideração a condição homoclínica de Shilnikov. Já os diagramas de Lyapunov e período mostraram de forma detalhada o comportamento caótico e periódico do modelo, em que se pode observar a existência de estruturas auto-organizadas nos domínios de periodicidade em um fundo caótico, onde tais estruturas são chamadas de shrimps. A observação de tais estruturas que também são encontradas em outros sistemas reforçando a hipótese da universalidade estrutural para fenômenos de codimensão dois. A segunda parte dessa Tese consiste num estudo do drift observado em séries experimentais aplicando técnicas de análise multivariada a uma série temporal experimental obtida para eletro-oxidação da molécula do metanol em Pt policristalina. O resultado mostrou que podemos descrever a influência do drift no comportamento oscilatório por meio de três variáveis relacionados aos processos superficiais.More than just an exotic phenomenon, oscillations of potential and current are often found in several electrochemical systems. Although oscillatory processes at solid/liquid electrified interfaces have been reported a long time ago, just few theoretical studies have been done so far. This Thesis comprises two parts: the first one analyzes kinetic instabilities observed in electrochemical systems by using a model consisting of three non-linear coupled ordinary differential equations that represent a prototype of the complex behavior observed in electrocatalytic systems. Specifically, this prototype captures the general characteristics of electrochemical oscillators that display a negative differential resistance partially hidden for an N-shaped current/potential curve. The model was studied using conventional analyses and stability diagrams, Lyapunov exponents and the evaluation of the period of oscillations. From the stability diagrams it was possible to describe the behavior of the system taking into consideration the homoclinic Shilnikov condition. The Lyapunov and period analyses showed in a very detailed manner the chaotic and periodic behavior of the model, where it is observed the existence of self-organized structures in the domains of periodicity on a chaotic background. Those structures are known as shrimps. The observation of such structures that are also found in other systems reinforces the idea of structural universality for codimension two phenomena. The second part of the Thesis deals with the analysis of the oscillatory drift by using multivariate analysis techniques to an experimental time series obtained for the electroxidation of methanol on polycrystalline Pt. The results showed that it is possible to describe the influence of the drift during the oscillatory behavior by means of three variables that act on the surface of the electrode.
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Moreira, Heber Rocha. "Realimentação de saida robusta a partir de controladores dependentes de parametros para sistemas lineares incertos discretos no tempo." [s.n.], 2009. http://repositorio.unicamp.br/jspui/handle/REPOSIP/259735.
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Orientadores: Pedro Luis Dias Peres, Ricardo Coração de Leão Fontoura de OliveiraDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Esta dissertação trata de um dos mais importantes problemas em aberto na teoria de controle, o projeto de controladores por realimentação estática de saída. A principal contribuição é propor um método para computar controladores robustos estáticos por realimentação de saída para sistemas lineares incertos discretos no tempo, usando um controlador por realimentação de estados como parâmetro de entrada do método. Além disso, os resultados são estendidos para tratar do projeto de controle H2 robusto por realimentação de saída. As condições de síntese são formuladas em termos de um procedimento convexo de otimização, baseado em um conjunto finito de desigualdades matriciais lineares. Exemplos numéricos são apresentados para ilustrar a eficiência dos metodos propostos quando comparados com outros métodos existentes na literatura.
Abstract: This thesis deals with one of the most important open problems in control theory, the design of static output feedback controllers. The main contribution is to propose a method to compute robust static output feedback controllers for uncertain linear discrete-time systems, using a state feedback controller as an input parameter for the method. Additionally, the results are extended to cope with H2 static output feedback control design. The synthesis conditions are formulated in terms of a convex optimization procedure, based on a finite set of linear matrix inequalities. Numerical examples are presented to illustrate the effectiveness of the proposed approach compared to other methods available in the literature.
Mestrado
Automação
Mestre em Engenharia Elétrica
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Valmorbida, Giorgio. "Estabilidade de sistemas com atraso : analise de incertezas e de saturação empregando desigualdades matriciais lineares." [s.n.], 2006. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261833.
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Orientador: Pedro Luis Dias PeresDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Este trabalho apresenta resultados no contexto de estabilidade de sistemas com atraso. A estabilidade de sistemas incertos com atraso é estudada utilizando o Teorema do Pequeno Ganho Escalonado a partir de um sistema de comparação. Aplicando resultados do Lema de Finsler e empregando matrizes de Lyapunov dependentes de parâmetro nas desigualdades matriciais lineares do Teorema do Pequeno Ganho, são obtidas condições independentes e condições dependentes do atraso para sistemas incertos. Sistemas com atraso que apresentam entrada com saturação em posição são estudados visando obter condições para cômputo de ganhos de realimentação de estados e visando obter uma estimativa para a região de atração do sistema em malha fechada. É considerada uma lei de controle com realimentação do estado atual e do estado atrasado. Funcionais de Lyapunov-Krasovskii são utilizados na obtenção das condições de estabilizabilidade. A maximização das estimativas das regiões de atração é feita a partir da solução de problemas de otimizaçã.o com restrições na forma de desigualdades matriciais lineares
Abstract: This work presents results in the context of time-delay system stability. Uncertain time-delay systems are studied by means of the Scaled Small-Gain Theorem. By applying results from Finsler's Lemma and using parameter-dependent Lyapunov matrices, delay-dependent and delay-independent conditions for uncertain systems are obtained in terms of linear matrix inequalities. Time-delay system presenting amplitude-saturating inputs are analyzed aiming to establish conditions to compute state-feedback gains and to obtain an estimate of the bassin of attraction of the system. A control law composed by a current state-feedback and a delayed state-feedback is considered. Lyapunov-Krasovskii functionals are the starting point to obtain the stabilizability conditions. The maximization the estimates of the bassin of attraction is carried out by solving an optimization problem whose constraints are linear matrix inequalities
Mestrado
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Mestre em Engenharia Elétrica
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Lacerda, Márcio Júnior 1987. "Contribuições ao problema de filtragem H-infinito para sistemas dinâmicos." [s.n.], 2014. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261059.
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Orientadores: Pedro Luis Dias Peres, Ricardo Coração de Leão Fontoura de OliveiraTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: Este trabalho apresenta novas condições na forma de desigualdades matriciais lineares para o projeto de filtros H-infinito de ordem completa em três diferentes contextos: i) sistemas lineares incertos discretos com um atraso variante no tempo afetando os estados; ii) sistemas lineares com parâmetros variantes no tempo, contínuos e discretos, sujeitos a incertezas nas medições dos parâmetros; iii) sistemas não lineares quadráticos contínuos e discretos no tempo. Para cada contexto, o objetivo é projetar filtros: i) com termos atrasados nos estados; ii) dependentes dos parâmetros incertos medidos; iii) com termos quadráticos. Em cada um dos casos, o ponto de partida é a existência de uma função de Lyapunov que assegure estabilidade e um limitante para a norma H-infinito do sistema aumentado, ou seja, o sistema original conectado com o filtro de ordem completa. As condições de projeto são obtidas impondo-se uma determinada estrutura para as variáveis de folga, resultando em desigualdades matriciais com parâmetros escalares. A eficácia das condições apresentadas é ilustrada por meio de comparações numéricas utilizando exemplos da literatura
Abstract: This work presents new conditions in the form of linear matrix inequalities for full order H-infinity filter design in three different contexts: i) uncertain linear discrete-time systems with a time-varying delay affecting the states ii) linear parameter-varying systems, continuous and discrete-time, subject to inexactly measured parameters; iii) continuous and discrete-time nonlinear quadratic systems. For each context, the aim is to design filters: i) with state-delayed terms; ii) dependent upon the inexactly measured parameters; iii) with quadratic terms. In each case, the starting point is the existence of a Lyapunov function that assures stability and a bound to the H-infinity norm of the augmented system, that is, the original system conected with the full order filter. The design conditions are obtained by imposing a given structure to the slack variables, resulting in matrix inequalities with scalar parameters. The effectiveness of the proposed conditions is illustrated by means of numerical comparisons and benchmark examples from the literature
Doutorado
Automação
Doutor em Engenharia Elétrica
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Acuña, Rogelio Grau. "On qualitative properties of generalized ODEs." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/55/55135/tde-26102016-090644/.
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In this work, our goal is to prove results on prolongation of solutions, uniform boundedness of solutions, uniform stability as well uniform asymptotic stability (in the classical sense of Lyapunov) for measure differential equations and for dynamic equations on time scales. In order to get our results, we employ the theory of generalized ODEs, since these equations encompass measure differential equations and dynamic equations on time scales. Therefore, to get our results, we start by proving the expected result for abstract generalized ODEs. Then, using the correspondence between the solutions of these equations and the solutions of measure differential equations (see [38]), we extend all the results to these the latter. After that, using the correspondence between the solutions of measure differential equations and the solutions of dynamic equations on time scales (see [21]), we extend all the results to these last equations. Finally, we investigate autonomous generalized ODEs and show that these equations do not enlarge the class of classical autonomous ODEs, even when we consider a more general class of functions as right-hand sides. All the new results presented in this work are contained in papers [16, 17, 18, 19].Neste trabalho, nosso objetivo e provar resultados sobre prolongamento de soluções, limitação uniforme de soluções, estabilidade uniforme e estabilidade uniforme assintótica (no sentido clássico de Lyapunov) para equações diferenciais em medida e para equações dinâmicas em escalas temporais. A fim de obter os nossos resultados, empregamos a teoria de EDOs generalizadas, uma vez que estas equações abrangem equações diferenciais em medida e equações dinâmicas em escalas temporais. Portanto, para obter nossos resultados, vamos começar por provar, os resultados que queremos para EDOs generalizadas abstratas. Em seguida, usando a correspondência entre as soluções de EDOs generalizadas e soluções de equações diferenciais em medida (ver [38]), estenderemos os resultados para estas ultimas equações. Depois disso, usando a correspondência entre as soluções de equações diferenciais em medida e as soluções de equações dinâmicas em escalas temporais (ver [21]), estenderemos todos os resultados para estas ultimas equações. Finalmente, investigamos EDOs generalizadas autônomas e mostramos que estas equações não aumentam a classe de EDOs autônomas clássicas, mesmo quando consideramos uma classe mais geral de funções nos lados direitos das equações. Os novos resultados encontrados estão contidos em [16, 17, 18, 19].
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Lopes, Elsa Rosa Arantes. "Análise não linear de séries temporais e aplicações à Psicologia." Master's thesis, Universidade de Évora, 2009. http://hdl.handle.net/10174/20031.
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Nesta dissertação estudámos as séries temporais que representam a complexa dinâmica do comportamento. Demos especial atenção às técnicas de dinâmica não linear. As técnicas fornecem-nos uma quantidade de índices quantitativos que servem para descrever as propriedades dinâmicas do sistema. Estes índices têm sido intensivamente usados nos últimos anos em aplicações práticas em Psicologia. Estudámos alguns conceitos básicos de dinâmica não linear, as características dos sistemas caóticos e algumas grandezas que caracterizam os sistemas dinâmicos, que incluem a dimensão fractal, que indica a complexidade de informação contida na série temporal, os expoentes de Lyapunov, que indicam a taxa com que pontos arbitrariamente próximos no espaço de fases da representação do espaço dinâmico, divergem ao longo do tempo, ou a entropia aproximada, que mede o grau de imprevisibilidade de uma série temporal. Esta informação pode então ser usada para compreender, e possivelmente prever, o comportamento. ABSTRACT: ln this thesis we studied the time series that represent the complex dynamic behavior. We focused on techniques of nonlinear dynamics. The techniques provide us a number of quantitative indices used to describe the dynamic properties of the system. These indices have been extensively used in recent years in practical applications in psychology. We studied some basic concepts of nonlinear dynamics, the characteristics of chaotic systems and some quantities that characterize the dynamic systems, including fractal dimension, indicating the complexity of information in the series, the Lyapunov exponents, which indicate the rate at that arbitrarily dose points in phase space representation of a dynamic, vary over time, or the approximate entropy, which measures the degree of unpredictability of a series. This information can then be used to understand and possibly predict the behavior.
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Regoli, Manuel. "Analysis of Flux Observers for Brushless Machines." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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In this thesis the observation of magnetic fluxes of brushless machines is investigated. Given the time varying nature of the equations that describe the brushless machines electrical behaviour, the stability of time varying systems is studied adopting Lyapunov theory. Three observers are proposed for the estimation of the fluxes: the Luenberger Observer, the Kalman Filter and the Extended Kalman Filter. These algorithms are implemented in Simulink. The solutions found are tested and verified using a full Model in the Loop available at the LEMAD (Laboratory for Electric Machine and Drives) of the University of Bologna.
The observers are tested also with uncertainties in the resistance and inductances parameters, which is a common scenario in practice. A stability band for a diagonal observer gain, in discrete time, has been successfully found. In both the simulations with the known parameters and with variation of the statoric resistance, the estimated fluxes converge to the actual fluxes, but the RMS value of the error is better for the Extended Kalman Filter. For the simulations with the variations of the inductances, the estimation of the fluxes have worsened with more similar RMS error value among the three. In conclusion it was found that the Extended Kalman Filter has a better behaviour all around but it does not perform significantly better in the more realistic case. For this reason the proposed simpler Luenberger observer, designed using Lyapunov theory, can be a valid alternative.
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Taousser, Fatima Zohra. "Analyse de stabilité des systèmes à commutations sur un domaine de temps non-uniforme." Thesis, Valenciennes, 2015. http://www.theses.fr/2015VALE0038/document.
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Cette thèse s’intéresse à l’étude de la stabilité des systèmes à commutation qui évoluent sur un domaine de temps non uniforme en introduisant la théorie des échelles de temps. On s’intéresse essentiellement aux systèmes dynamiques linéaires à commutation définis sur une échelle de temps particulière T = P{tσk ,tk+1} = ∪∞k=0[tσk , tk+1]. Le système étudié commute entre un sous-système dynamique continu sur les intervalles ∪∞k=0[tσk , tk+1[ et un sous-système dynamique discret aux instants ∪∞k=0{tk+1} (à temps discret) avec un pas discret qui varie dans le temps. Dans une première partie, des conditions suffisantes sont données pour garantir la stabilité exponentielle de cette classe de systèmes à commutation. Ensuite, des conditions nécessaires et suffisantes de stabilité sont données en déterminant une région de stabilité exponentielle. Dans une deuxième partie, la stabilité de cette classe des systèmes à commutation avec des perturbations nonlinéaires a été traitée en utilisant des majorations de la solution, puis en introduisant l’approche de la fonction de Lyapunov commune. La troisième partie est consacrée au problème du consensus en présence d’interruptions de transmission d’informations où le système multi-agent en boucle fermée peut être représenté comme un système à commutation par une combinaison de modèles de systèmes linéaires à temps continu et de systèmes linéaires à temps discretThis thesis deals with the stability analysis of switched systems that evolve on non uniform time domain by introducing the time scale theory. We are interested mainly in dynamical linear switched systems defined on particular time scale T = P{tσk ,tk+1} = ∪∞k=0[tσk, tk+1]. The studied system switches between a continuous-time dynamical subsystem on the intervals ∪∞k=0[tσk, tk+1[ and a discrete-time dynamical subsystem on instants ∪∞k=0{tk+1} (a discrete time) with a time-varying discrete step. In a first part, sufficient conditions are given to guarantee the exponential stability of this class of switched systems. Then necessary and sufficient conditions for stability are given by determining a region of exponential stability. In the second part, the stability of this class of switched systems with nonlinear uncertainties, is treated using majoration of the solution, and after that by introducing the approach of a common Lyapunov function. The third part is devoted to the consensus problem under intermittent information transmissions where the closed-loop multi-agent system can be represented as a switched system using a combination of linear continuous-time and linear discrete-time systems
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Navarro, López Eva Maria. "Dissipativity and passivity-related properties in nonlinear discrete-time systems." Doctoral thesis, Universitat Politècnica de Catalunya, 2002. http://hdl.handle.net/10803/5938.
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El propósito de la presente tesis es el estudio de la disipatividad en sistemas no lineales discretos. Dicho trabajo de investigación presenta nuevas contribuciones en la teoría de control no lineal discreto basado en disipatividad y en el estudio de las propiedades de sistemas disipativos no lineales. Los resultados conseguidos se dividen en tres objetivos principales:1. La caracterización de sistemas disipativos múltiple entrada múltiple salida (MIMO) no lineales discretos de estructura general, lo que también se conoce como condiciones de Kalman-Yakubovich-Popov (KYP). Las condiciones de KYP ya existentes se extienden a una clase de sistemas disipativos discretos no lineales MIMO que son no afines en el control. La clase de sistemas disipativos estudiada se denomina disipatividad QSS. También se proporcionan condiciones necesarias y suficientes para la caracterización de sistemas conservativos QSS discretos no afines en el control.
2. El problema de disipatividad por realimentación en sistemas no lineales discretos. Se proponen dos formas de abordar dicho problema:
2.1. El problema de la disipatividad por realimentación a través de la relación fundamental de la disipatividad. Se da solución al problema de la disipatividad por realimentación para sistemas única entrada única salida (UEUS) discretos no lineales no afines en el control, mediante cuatro metodologías basadas en la igualdad fundamental de la disipatividad. Se proponen condiciones suficientes bajo las cuales la disipatividad por realimentación es posible.
2.2. El problema de pasivización mediante las propiedades del grado relativo y la dinámica cero del sistema no pasivo original. El problema de transformarción de un sistema no pasivo a uno que lo es se resuelve mediante realimentación de estado para una clase de sistemas MIMO no lineales discretos afines en el control, usando las propiedades del grado relativo y la dinámica cero del sistema no pasivo original. Se puede considerar como una extensión al caso pasivo de los resultados ya existentes, referentes al problema de transformar un sistema que no es conservativo a uno que lo es mediante realimentación de estado.
3. El problema de estabilización basado en disipatividad en sistemas no lineales discretos. El método de Moldeo de Energía e Inyección de Amortiguamiento (MEIA) se extiende a sistemas generales no lineales discretos UEUS, además de analizar algunas de las propiedades de estabilidad de una clase de sistemas disipativos y de sistemas que se pueden transformar a disipativos por realimentación. También, se establecen condiciones suficientes bajo las cuales dichos sistemas son estabilizables.
Otros objetivos secundarios han sido alcanzados, como son: el estudio del grado relativo y la dinámica cero de sistemas pasivos no lineales discretos, algunas conclusiones acerca de la conservación de la pasividad bajo la interconexión por retroalimentación negativa y la interconexión paralela, algunas notas acerca de la conservación y pérdida de la disipatividad y pasividad con el muestreo, además, las propiedades en el dominio de la frecuencia de los sistemas disipativos se usan y se relacionan con algunos de los criterios de estabilidad basados en la respuesta en frecuencia más importantes. También, los métodos de control basados en disipatividad diseñados se aplican al problema de regulación de un modelo discreto con interpretación física: un convertidor buck, para el que se mejora la respuesta en lazo abierto.
El hecho de haber tratado sistemas discretos generales nos ha permitido dar una serie de resultados para sistemas no lineales continuos no afines en el control. Dos problemas se han propuesto, principalmente: el estudio de la disipatividad por realimentación para sistemas no lineales no afines UEUS y el uso de los resultados de disipatividad por realimentación, con el fin de extender al caso no lineal no afín UEUS el método de estabilización de MEIA.
This dissertation is devoted to dissipativity-related concepts in the nonlinear discrete-time setting, and presents several new contributions which are not covered by the existing nonlinear discrete-time dissipativity-based control theory and the study of the properties of nonlinear discrete-time dissipative systems.
The study of dissipativity given in this dissertation is concentrated in the state-space or internal description representation of systems. The results achieved are classified into three main goals or problems to solve, such as:
1. The characterization of dissipative multiple-input multiple-output (MIMO) nonlinear discrete-time systems of general form, what is regarded as Kalman-Yakubovich-Popov (KYP) conditions. The KYP conditions existing in the literature are extended to a class of nonlinear MIMO dissipative discrete-time systems which are non-affine in the control input. The class of dissipativity characterized is regarded as QSS-dissipativity. Necessary and sufficient conditions for the characterization of QSS-lossless discrete-time systems which are non-affine in the control input are also given.
2. The feedback dissipativity problem in the nonlinear discrete-time setting. Two approaches are proposed to deal with this topic:
2.1. The feedback dissipativity problem through the fundamental dissipativity inequality. The feedback dissipativity problem is solved for single-input single-output (SISO) nonlinear discrete-time non-affine-in-the-control-input systems by means of four methodologies based on the fundamental dissipativity equality. Sufficient conditions under which feedback dissipativity is possible are proposed.
2.2. The feedback passivity problem through the properties of the relative degree and zero dynamics of the non-passive system. The problem of rendering a system passive via state feedback is solved for a class of MIMO nonlinear discrete-time systems which are affine in the control input using the properties of the relative degree and the zero dynamics of the non-passive system. It is an extension to the passivity case of the results reported in the literature for the losslessness feedback problem.
3. The dissipativity-based stabilization problem in nonlinear discrete-time systems. The dissipativity-based controller design methodology of the Energy Shaping and Damping Injection (ESDI) is extended to general nonlinear SISO discrete-time systems, in addition to, the analysis of some stability properties of a class of dissipative and feedback dissipative SISO nonlinear discrete-time systems. Furthermore, sufficient conditions under which a class of feedback dissipative systems is stabilizable are proposed.
Other secondary goals in the dissipativity properties exploration in discrete-time systems are achieved, mainly: the study of the relative degree and zero dynamics of passive nonlinear discrete-time systems, some conclusions about passivity preservation under feedback and parallel interconnections, some notes on the non-preservation and preservation of dissipativity, and its special case of passivity, under sampling, in addition, dissipativity frequency-domain properties have been used and related to some of the most important frequency-based feedback stability criteria. Furthermore, the feedback dissipativity and dissipativity-based control results are applied to solve the regulation problem in a discrete-time model with physical interpretation: the DC-to-DC buck converter, whose open-loop response is improved by means of the use of some of the stabilization methods proposed.
The fact of treating general discrete-time systems has allowed us to extend some dissipativity-related definitions to the case of continuous-time nonlinear non-affine-in-the-input systems. Two main problems are presented, namely: the study of the feedback dissipativity problem for nonlinear non-affine SISO systems based upon the fundamental dissipativity equality, and the use of the feedback dissipativity results in order to extend the ESDI controller design method to the case of non-affine SISO nonlinear systems.
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Kurudamannil, Jubal J. "Improved Robust Stability Bounds for Sampled Data Systems with Time Delayed Feedback Control." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1419012522.
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Leite, Valter Junior de Souza. "Estudos sobre estabilidade robusta de sistemas lineares por meio de funções dependentes de parametros." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260564.
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Orientador: Pedro Luis Dias PeresTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Este trabalho trata da aplica¸c¿ao de funcionais de Lyapunov e Lyapunov-Krasovskii dependentes de parâmetro a alguns problemas selecionados da área de controle robusto, a saber: D-estabilidade robusta de polítipo de matrizes, D-estabilidade robusta de politopos de polinômios matriciais, estabilidade robusta de sistemas neutrais com atrasos variantes no tempo e controle robusto H8 de sistemas discretos no tempo com atraso nos estados. É utilizada a representação politópica para as incertezas dos sistemas estudados. São obtidas formulações convexas, na forma de desigualdades matriciais lineares, suficientes para a solução dos problemas selecionados. Essas condições podem ser resolvidas numericamente de maneira eficiente por meio de algoritmos especializados baseados em pontos interiores. Os resultados obtidos são menos conservadores que os encontrados na literatura, baseados em geral na estabilidade quadrática, isto é, as matrizes dos funcionais são fixas e independentes da incerteza
Abstract: This work deals with the application of parameter dependent Lyapunov and Lyapunov-Krasovskii functionals to some selected problems of robust control: robust D-stability of polytopes of matrices, robust D-stability of polytopes of polynomial matrices, robust stability of uncertain neutral systems with timevarying delays and robust H8 control of uncertain discrete time delay systems. The polytopic representation is used to describe the uncertainties. Convex formulations are obtained, in terms of inear matrix inequalities, that are sufficient for the solution of the selected problems. Those conditions can be solved in a efficient way through specialized interior point algorithms. The obtained results are less conservative than those from the literature, in general based on quadratic stability, i.e., the matrices in the functionals are fixed and do not depend on the uncertainty
Doutorado
Automação
Doutor em Engenharia Elétrica
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Boukal, Yassine. "Observation et commande des systèmes dynamiques d’ordre non entier." Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0154/document.
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Ce travail de thèse concerne la synthèse des observateurs et des lois de commande des systèmes d’ordre fractionnaire. Le document présenté est constitué de 4 chapitres : Le premier chapitre du manuscrit de thèse contient une introduction, traitant les notions mathématiques de base et de stabilités des systèmes d’ordre fractionnaire ainsi qu’une présentation des différentes définitions. Les conditions de stabilités de ces systèmes et quelques exemples de systèmes modélisés par des équations différentielles fractionnaires sont présentés. Dans le deuxième chapitre, nous nous sommes intéressés à la conception de plusieurs types d’observateurs dits d’ordre réduit, d’ordre plein et des observateurs fonctionnels pour les systèmes d’ordre fractionnaire avec et sans retards. Dans le cas où il n’y a pas de retards dans la dynamique du système, des observateurs d’ordres plein et réduit ont été synthétisé afin d’assurer l’estimation des pseudo-états. Dans un deuxième temps, un observateur fonctionnel a été synthétisé dans le cas où le retard est présent dans la dynamique du système. Dans le chapitre 3, nous avons travaillé sur la synthèse d’observateur pour les systèmes d’ordre fractionnaire incertains. Nos contributions sont classées en trois grandes lignes : premièrement, quand le système considéré est affecté par des entrées inconnues, un observateur fonctionnel a été proposé. En deuxième partie, des observateurs H∞ pour les systèmes d’ordre fractionnaire avec et sans retards ont été synthétisés afin d’assurer la stabilité de l’erreur d’observation. Il s’agit en fait de garantir une borne du gain L2 entre l’erreur d’observation et les perturbations non mesurables affectant la dynamique du système : ce gain L2 est aussi appelé norme H∞. Ce chapitre présente aussi la synthèse d’un observateur robuste vis-à-vis des incertitudes de modélisation pour cette classe de systèmes. Les conditions suffisantes de convergence des erreurs d’estimations des pseudo-états obtenues sont établies sous la forme d’un ensemble d’inégalités matricielles LMIs. Le dernier chapitre du manuscrit est consacré à la commande basée sur les différents observateurs obtenus. Nous nous sommes intéressés à la commande basée sur un observateur pour les systèmes d’ordre fractionnaire. Cette commande est basée sur les observateurs proposés dans les chapitres précédents. Des conditions de stabilité et des procédures de synthèse sont présentéesThis work focuses on the synthesis of observers and the controller laws for fractional order systems. The presented document consists of 4 chapters: The first chapter of the theses manuscript contains an introduction dealing with the basic mathematical notions and the stability analysis of fractional systems as well as a presentation of the different definitions. The stability conditions of these systems and some examples of systems modeled by fractional differential equations are presented. In the second chapter, we were interested in the design of several types of observers of reduced order, full order, and functional observers for fractional systems with and without delays. In the case where there are no delays in the dynamics of the system, observers of full and reduced orders have been synthesized in order to ensure the estimation of the pseudo-states. In a second step, a functional observer was synthesized in the case where the delay is present in the dynamics of the system. In Chapter 3, we worked on observer synthesis for uncertain fractional order systems. Our contributions are classified into three main lines: first, when the system under consideration is affected by unknown inputs, a functional observer has been proposed. In the second part, H∞ observers for fractional order systems with and without delays have been synthesized to ensure the stability of the estimation error. It is a question of guaranteeing a bound of the L2 gain between the observation error and the non-measurable perturbations affecting the dynamics of the system: this gain L2 is also called H∞ norm. In last part of this chapter, the synthesis of a robust observer with respect to modeling uncertainties for this class of systems is presented. The sufficient conditions of convergence of the estimation errors of the pseudo-states obtained are established in the form of a set of matrix inequalities LMIs. The last chapter of the manuscript is devoted to the command based on the different observers obtained. We were interested in observer-based control for fractional order systems. This command is based on the observers proposed in the previous chapters. Stability conditions and synthesis procedures are presented
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Silva, Rafael Marques da. "Efeito stickiness em sistemas conservativos: uma abordagem estatística." Universidade do Estado de Santa Catarina, 2015. http://tede.udesc.br/handle/handle/1991.
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The main subject developed in this dissertation is the characterization of the dynamics of high-dimensional conservative systems using different statistical approaches. Looking at the conservative system phase-space, we can find chaotic and regular regions that are characterized by a random distribution of points and periodic structures formed by closed orbits, respectively. The nonlinearity parameter has a fundamental hole to the occurrence of chaotic trajectories that can get stuck for a finite time on the vicinity of regular regions. This phenomenon is known as stickiness effect and can be identified using different tools as the spectrum of finite time Lyapunov exponents or the recurrence time statistics (RTS), e.g. Throughout this dissertation, we propose to characterize this effect using such approaches and also apply a new methodology which uses the time series of the spectrum of finite time Lyapunov exponents to separate the dynamics in different regimes of motion. For this purpose, we study two conservative systems that are derived from standard map, a symplectic map extensively used to investigate the transition from regular to chaotic dynamic. The first system consists in a chain of coupled standard maps that originates a 2N-dimensional system, where N is the number of coupled maps. Using this system, from the definition of regimes of motion, we obtained the cumulative distribution of the consecutive time that the trajectory spends in a particular regime, which reproduces with a good precision the results obtained when using the RTS. The second system studied was the Modified Standard Map, which is obtained adding an action variable to the standard map. The coupling with an extra dimension allows the penetration of the regular structures by the trajectories, what was forbidden for the two-dimensional case. The application of the method of separation of regimes in this system enables a more detailed analysis of the stickiness effect, showing that only the trajectories located near the regular structures have Local Lyapunov exponents about zero. Thus, the development of this research contributes to a better understanding of the stickiness effect in high-dimensional conservative systems.
O tema principal desenvolvido nesta dissertação de Mestrado está relacionado com o estudo da dinâmica de sistemas conservativos, utilizando diferentes abordagens estatísticas. Ao analisarmos o espaço de fases de um sistema dinâmico pertencente a esta classe, podemos encontrar regiões caóticas e regulares que são caracterizadas pela distribuição aleatória de pontos e por estruturas periódicas formadas por órbitas fechadas, respectivamente. O parâmetro de não-linearidade tem um papel fundamental na existência de trajetórias caóticas que podem ser aprisionadas por um tempo finito nas proximidades das regiões regulares. Este fenômeno é conhecido como efeito stickiness, e pode ser identificado através da utilização de diferentes abordagens como, por exemplo, o espectro de Lyapunov calculado a tempo finito ou a estatística dos tempos de recorrência de Poincaré (ETR). No decorrer desta dissertação, propomos caracterizar o efeito stickiness utilizando tais abordagens, além de aplicar uma nova metodologia que consiste em analisar séries temporais do espectro de expoentes de Lyapunov afim de definir diferentes regimes de movimento. Para isso, estudamos dois sistemas conservativos multidimensionais derivados do mapa padrão, um mapa simplético muito utilizado para a investigação da transição da dinâmica regular para caótica. O primeiro deles consiste em uma rede de mapas padrão acoplados que dá origem a um sistema de 2N-dimensões, sendo N o número de mapas acoplados. Utilizando este sistema, a partir da definição de regimes de movimento, foi possível determinar a distribuição cumulativa do tempo consecutivo que a trajetória permanece em um determinado regime, sendo que os resultados obtidos por meio da análise desta quantidade podem reproduzir de forma satisfatória aqueles obtidos quando utilizamos a ETR. O segundo sistema estudado foi o Mapa Padrão Modificado (MPM), resultante do acoplamento entre uma variável ação extra e o mapa padrão tradicional. O acoplamento com uma dimensão extra permite que trajetórias penetrem nas regiões de regularidade, o que antes era proibido para o caso bidimensional. A aplicação da técnica de separação de regimes neste sistema permite uma análise mais detalhada do efeito stickiness, mostrando que apenas trajetórias que se encontram em torno das estruturas de regularidade possuem expoentes de Lyapunov Locais com valores próximos a zero. Desta forma, o desenvolvimento desta pesquisa contribui para o melhor entendimento do efeito stickiness em sistemas conservativos de alta dimensionalidade.
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Alvarez, Jarquin Nohemi. "Consensus variant dans le temps : application à la formation de véhicles." Thesis, Paris 11, 2015. http://www.theses.fr/2015PA112092/document.
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Les multiples applications liées aux systèmes multi-agents en réseau, tels que les satellites en formation, les oscillateurs couplés, les véhicules aériens sans pilote, entre autres, ont été, sans aucun doute, une motivation majeure dans le développement de cette thèse, qui est consacrée à l’étude du consensus de systèmes dynamiques et à la commande en formation de robots mobiles non holonomes. Dans le contexte du consensus, nous étudions la topologie en anneau avec de liens de communication variant dans le temps. Notamment, la communication peut être perdue pendant de longs intervalles de temps. Nous donnons de conditions suffisantes pour le consensus qui restent simples à vérifier, par exemple, en utilisant le théorème du petite gain. En suite, nous abordons le problème de consensus en supposant que la topologie de communication est variable. Nous établissons que le consensus est atteint à condition qu’il existe toujours un chemin de communication du type « spanning-tree » pendant un temps de séjour minimal. L'analyse s'appuie sur la théorie de stabilité des systèmes variant dans le temps et les systèmes à commutation. Dans le contexte de la commande en formation de véhicules autonomes nous adressons le problème de commande en suivi de trajectoire sur ligne droite en suivant une approche type maître-esclave. Nous montrons que le suivi global peut être obtenu à partir d’un contrôleur qui possède la propriété d’excitation persistante. En gros, le mécanisme de stabilisation dépend de l’excitation du système par une quantité qui est proportionnelle à l’erreur de suivi. Ensuite, la méthode est utilisée pour résoudre le problème de suivi de formation de plusieurs véhicules interconnectés sur la base d’une topologie « spanning-tree ». Nous donnons des conditions de stabilité concernant les modèles cinématique et dynamique, en utilisant la seconde méthode de LyapunovThe multiple applications related to networked multi-agent systems such as satellite formation flying, coupled oscillators, air traffic control, unmanned air vehicles, cooperative transport, among others, has been undoubtedly a watershed for the development of this thesis. The study of cooperative control of multi-agent systems is of great interest for his extensive field work and applications. This thesis is devoted to the study of consensus seeking of multi-agents systems and trajectory tracking of nonholonomic mobile robots.In the context of consensus seeking, first we study a ring topology of dynamic agents with time-dependent communication links which may disconnect for long intervals of time. Simple checkable conditions are obtained by using small-gain theorem to guarantee the achievement of consensus. Then, we deal with a network of dynamic agents with time-dependent communication links interconnected over a time-varying topology. We establish that consensus is reached provided that there always exists a « spanning-tree » for a minimal dwell-time by using stability theory of time-varying and switched systems. In the context of trajectory tracking, we investigate a simple leader-follower tracking controller for autonomous vehicles following straight lines. We show that global tracking may be achieved by a controller which has a property of persistency of excitation tailored for nonlinear systems. Roughly speaking the stabilisation mechanism relies on exciting the system by an amount that is proportional to the tracking error. Moreover, the method is used to solve the problem of formation tracking of multiple vehicles interconnected on the basis of a « spanning-tree » topology. We derive stability conditions for the kinematic and dynamic model by using a Lyapunov approach