Lidé
doc. Kristian HengsterMovric, Ph.D.
Všechny publikace
Decentralized active damping control for aeroelastic morphing wing
 Autoři: Ing. Filip Svoboda, Ph.D., doc. Kristian HengsterMovric, Ph.D., doc. Ing. Martin Hromčík, Ph.D., Šika, Z.
 Publikace: Aerospace science and technology. 2023, 139 ISSN 12709638.
 Rok: 2023
 DOI: 10.1016/j.ast.2023.108415
 Odkaz: https://doi.org/10.1016/j.ast.2023.108415
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper introduces a novel decentralized control design procedure for an aeroelastic morphing wing. The control goal is active damping of this flexible system. The model is developed as a multiagent system with inherent interconnections between the agents. The control system then takes advantage of the model structure and interconnections rather than relying on the entire system's model. This brings benefits, especially with a growing number of agents where the control design dimension remains low. Therefore, the proposed control design is especially suitable for morphing wings with a large number of actuation points. The result is presented in the Linear Matrix Inequalities (LMIs) form. A numerical example shows the application of the proposed algorithm.
Decentralized Design of Distributed Observers for LTI Systems
 Autoři: Zhang, X., doc. Kristian HengsterMovric, Ph.D.,
 Publikace: IEEE Transactions on Automatic Control. 2023, 68(10), 63236329. ISSN 00189286.
 Rok: 2023
 DOI: 10.1109/TAC.2022.3232441
 Odkaz: https://doi.org/10.1109/TAC.2022.3232441
 Pracoviště: Katedra řídicí techniky

Anotace:
This note proposes a novel decentralized/decomposed design of distributed observers for general continuoustime linear time invariant systems. Each observer can only observe a portion of the system. By transforming the system to a real Jordan canonical form, an observability decomposition is performed based on PopovBelevitchHautus test. Each observer reconstructs observable states from its local measurements. The unobservable states are reconstructed relying on a communication network, by virtue of synchronizing region design in pinning control theory. The required graph connectivity is milder than strongly connected graphs. The proposed design is decentralized in the sense that its computational complexity is decomposed via solving lowerdimensionality algebraic Riccati equations. The computational complexity is thus independent of the total number of agents in the graph, exhibiting a high level of scalability on large networks. Another key feature of the proposed design is that the convergence rate of estimation errors can be tuned to be arbitrarily fast. Numerical simulations demonstrate the design procedure and the corresponding performance.
Decentralized control for large scale systems with inherently coupled subsystems
 Autoři: Ing. Filip Svoboda, Ph.D., doc. Kristian HengsterMovric, Ph.D., doc. Ing. Martin Hromčík, Ph.D.,
 Publikace: Journal of Vibration and Control. 2022, 28(2324), 39313938. ISSN 10775463.
 Rok: 2022
 DOI: 10.1177/10775463211034953
 Odkaz: https://doi.org/10.1177/10775463211034953
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper brings a novel scalable control design methodology for LargeScale Systems. Such systems are considered as multiagent systems with inherent interactions between neighboring agents. The presented design methodology uses singleagent dynamics and their interaction topology, rather than relying on the model of the entire system. The dimension of the design problem therefore remains the same with growing number of agents. This allows a feasible control design even for large systems. Moreover, the proposed design is based on simple Linear Matrix Inequalities, efficiently solvable using standard computational tools. Numerical results validate the proposed approach.
Distributed Estimation on Sensor Networks With Measurement Uncertainties
 Autoři: Knotek, Š., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: IEEE Transaction on Control Systems Technology. 2021, 29(5), 19972011. ISSN 10636536.
 Rok: 2021
 DOI: 10.1109/TCST.2020.3026815
 Odkaz: https://doi.org/10.1109/TCST.2020.3026815
 Pracoviště: Katedra řídicí techniky

Anotace:
This article brings distributed estimation for largescale systems. The plant is considered affected by process disturbance, and measurements are corrupted by measurement noise. The proposed approach fuses measurements of differing reliability so that all nodes reach consensus on the plant's state estimate. This architecture is flexible to the addition of new nodes and, to a certain extent, robust to node or communication link failures. In spite of limited observability by each of the nodes, data fusion over the network allows each node to obtain the full estimate of the plant's state. Structured Lyapunov functions are used to prove the convergence of the estimator. Estimation error covariances are analyzed in detail. The proposed distributed observer design is validated by numerical simulations.
Distributed adaptive consensus protocol with decaying gains
 Autoři: Knotek, Š., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: International Journal of Robust and Nonlinear Control. 2020, 30(15), 61666188. ISSN 10498923.
 Rok: 2020
 DOI: 10.1002/rnc.5056
 Odkaz: https://doi.org/10.1002/rnc.5056
 Pracoviště: Katedra řídicí techniky

Anotace:
This article brings a distributed adaptive protocol for consensus and synchronization in multiagent systems on directed communication networks. Agents are modeled as general linear timeinvariant systems. The proposed protocol introduces a novel adaptation scheme allowing control coupling gains to decay to their reference values. This approach improves upon existing adaptive consensus protocols which may result in overly large or even unbounded coupling gains. The protocol design in this article does not rely on any centralized information; hence it is distributed. Nevertheless, the price to pay for this is the need to estimate those reference values. Convergence of the overall network dynamics is guaranteed for correctly estimated references; otherwise, the trajectory of the system is only uniformly ultimately bounded. Two estimation algorithms are proposed: one based on the intervalhalving method and the other based on a distributed estimation of Laplacian eigenvalues. Numerical simulations validate the proposed approach.
Differential graphical games for Hinfinity control of linear heterogeneous multiagent systems
 Autoři: Yaghmaie, F., doc. Kristian HengsterMovric, Ph.D., Lewis, Frank L., Su, R.
 Publikace: International Journal of Robust and Nonlinear Control. 2019, 29(10), 29953013. ISSN 10498923.
 Rok: 2019
 DOI: 10.1002/rnc.4538
 Odkaz: https://doi.org/10.1002/rnc.4538
 Pracoviště: Katedra řídicí techniky

Anotace:
Differential graphical games have been introduced in the literature to solve state synchronization problem for linear homogeneous agents. When the agents are heterogeneous, the previous notion of graphical games cannot be used anymore and a new definition is required. In this paper, we define a novel concept of differential graphical games for linear heterogeneous agents subject to external unmodeled disturbances, which contain the previously introduced graphical game for homogeneous agents as a special case. Using our new formulation, we can solve both the output regulation and Hinfinity output regulation problems. Our graphical game framework yields coupled HamiltonJacobiBellman equations, which are, in general, impossible to solve analytically. Therefore, we propose a new actorcritic algorithm to solve these coupled equations numerically in real time. Moreover, we find an explicit upper bound for the overall L2gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example.
Distributed Observer and Controller Design for Spatially Interconnected Systems
 Autoři: Zhang, X., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc., Desmet, W., Faria, C.
 Publikace: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. 2019, 27(1), 113. ISSN 10636536.
 Rok: 2019
 DOI: 10.1109/TCST.2017.2769019
 Odkaz: https://doi.org/10.1109/TCST.2017.2769019
 Pracoviště: Katedra řídicí techniky

Anotace:
This work tackles the networked distributed observer and controller design problem for spatially interconnected systems. The state observers are designed in a distributed manner based on pinning control precepts. Compared to existing designs, on the one hand, this novel approach adds fault tolerance with respect to communication link failures in the networked system; on the other hand, our approach brings flexibility of integrating additional sensors into the network. A sufficient condition guaranteeing the stability of the closedloop system is derived. Numerical simulation is given to verify the proposed design.
Vibration reduction for structures: distributed schemes over directed graphs
 Autoři: Zhang, X., Pipeleers, G., doc. Kristian HengsterMovric, Ph.D., Faria, C.
 Publikace: Journal of Vibration and Control. 2019, 25(14), 20252042. ISSN 10775463.
 Rok: 2019
 DOI: 10.1177/1077546319844856
 Odkaz: https://doi.org/10.1177/1077546319844856
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper aims to bridge the gap between control engineering and vibration engineering. We developed three distributed schemes over directed communication graph topology, specifically for vibration reduction of flexible structures. Under the distributed schemes, vibrations are attenuated through agents consisting of distributed observers and controllers. Compared to traditional methods, the developed approaches can reduce the communication overhead and the computational complexity when a large number of actuators and sensors are deployed. Moreover, two of the developed schemes enjoy the flexibility in reconfiguration of communication graph topology and integration of redundant agents. Furthermore, numerical simulations are presented to demonstrate the effectiveness of the developed schemes in vibration reduction of flexible structures.
Distributed State Feedback Control for Aeroelastic Morphing Wing Flutter Supression
 Autoři: Ing. Filip Svoboda, Ph.D., doc. Ing. Martin Hromčík, Ph.D., doc. Kristian HengsterMovric, Ph.D.,
 Publikace: The 26th Mediterranean Conference on Control and Automation. Piscataway, NJ: IEEE, 2018. p. 575580. ISSN 2325369X. ISBN 9781538678909.
 Rok: 2018
 DOI: 10.1109/MED.2018.8442815
 Odkaz: https://doi.org/10.1109/MED.2018.8442815
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper offers a novel approach at flutter suppression problem on morphing wing and relates to current research of morphing aircraft. The active flutter suppression task is formulated as a state synchronization in a network of identical Linear TimeInvariant (LTI) systems. These systems consist of wing segments which can be actuated separately. Finite Element Method (FEM) approach and unsteady aerodynamics represented by Theodorsen function are used for flexible morphing wing modeling. An example of distributed LinearQuadratic Regulator (LQR) state synchronization is shown in this paper. Comparison in timedomain, frequencydomain, and flutter speeds has been done for the system with distributed LQR and the original system.
H∞output regulation of linear heterogeneous multiagent systems over switching graphs
 Autoři: Yaghmaie, F.A., doc. Kristian HengsterMovric, Ph.D., Lewis, F.L., Su, R., prof. Ing. Michael Šebek, DrSc.,
 Publikace: International Journal of Robust and Nonlinear Control. 2018, 28(13), 38523870. ISSN 10498923.
 Rok: 2018
 DOI: 10.1002/rnc.4108
 Odkaz: https://doi.org/10.1002/rnc.4108
 Pracoviště: Katedra řídicí techniky

Anotace:
In this paper, we analyze H∞‐output regulation of linear heterogeneous multiagent systems. The agents are subject to modeled and unmodeled disturbances and communicate over a switching graph. We derive a sufficient condition that guarantees H∞ output regulation for the mentioned setup. This sufficient condition places requirements on both the single‐agent systems and the switching graph. The requirement on the single‐agent systems is an H∞‐criterion that should be satisfied by a proper design of the controller. Meanwhile, the switching graph needs to be maximally connected. Moreover, we derive an upper bound for the overall ‐gain of the output synchronization error with respect to the unmodeled disturbances over a fixed communication graph. We illustrate our technical developments by a simulation example.
Consensusbased distributed sensor fusion over a network
 Autoři: Zhang, X., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc., Desmet, W., Faria, C.
 Publikace: 2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS. Piscataway, NJ: IEEE, 2017. p. 674679. ISBN 9781509021826.
 Rok: 2017
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper studies the distributed filtering of noisy measurements of one scalar quantity. The considered network is composed of two sets of nodes: sensing nodes which perform the measuring task and nonsensing nodes which mediate between the sensing nodes. Inspired by Bayesian sensor fusion, three consensusbased algorithms are proposed. In the algorithms, graph edge weights in effect are determined based on variances of measurements of all the sensors. Evolution dynamics of the expected values and covariances of the state estimates throughout the network is analyzed. Numerical simulations are given to examine the fusion performance of the proposed scheme. The results are fairly consistent with the analytical solution regarding the statistical properties of the steadystate state estimates in the network.
Distributed adaptive consensus protocol with Laplacian eigenvalues estimation
 Autoři: Knotek, Š., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: Proceedings of the 2017 21st International Conference on Process Control. IEEE (Institute of Electrical and Electronics Engineers), 2017. p. 269273. ISBN 9781538640111.
 Rok: 2017
 DOI: 10.1109/PC.2017.7976225
 Odkaz: https://doi.org/10.1109/PC.2017.7976225
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper addresses distributed consensus problem for multiagent systems with general linear timeinvariant dynamics and undirected connected communication graphs. A distributed adaptive consensus protocol is found to solve problems of existing adaptive consensus protocols related to different, generally large and possibly unbounded coupling gains. This protocol guarantees ultimate boundedness under all conditions, however for an asymptotic stability, a proper estimation of reference values for coupling gains is required. Here, we propose an algorithm for the estimation of the coupling gain reference. The algorithm is based on a distributed estimation of the Laplacian eigenvalues. In comparison to the previously proposed algorithm based on the interval halving method, this algorithm offers robustness to change of the network topology. In addition, it decouples the estimation from the consensus protocol, hence it does not influence stability properties of the adaptive consensus protocol.
Generalized output synchronization of heterogeneous linear multiagent systems
 Autoři: doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: Proceedings of the 2017 21st International Conference on Process Control. IEEE (Institute of Electrical and Electronics Engineers), 2017. p. 16. ISBN 9781538640111.
 Rok: 2017
 DOI: 10.1109/PC.2017.7976179
 Odkaz: https://doi.org/10.1109/PC.2017.7976179
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper investigates output synchronization of heterogeneous linear timeinvariant systems. Agents distributively communicate measured outputs and synchronize on regulated outputs. Necessary structure of singleagents' drift dynamics is used. Relations between singleagent dynamics, measured outputs and regulated outputs are investigated. Cooperative stability conditions reduce to requirements depending separately on singleagents' structure and interconnecting graph topology, allowing for a distributed control design. Sufficient condition is given based on coordinate transformations which reveal the effects of distributed control on singleagents. It is shown that identical subsystem state synchronization and robustness to interconnections guarantee regulated output synchronization.
Green's functionbased controloriented modeling of electric field for dielectrophoresis
 Autoři: Ing. Martin Gurtner, Ph.D., doc. Kristian HengsterMovric, Ph.D., doc. Ing. Zdeněk Hurák, Ph.D.,
 Publikace: Journal of Applied Physics. 2017, 122(5), ISSN 00218979.
 Rok: 2017
 DOI: 10.1063/1.4997725
 Odkaz: https://doi.org/10.1063/1.4997725
 Pracoviště: Katedra řídicí techniky

Anotace:
In this paper, we propose a novel approach to obtain a reliable and simple mathematical model of dielectrophoretic force for modelbased feedback micromanipulation. Any such model is expected to sufficiently accurately relate the voltages (electric potentials) applied to the electrodes to the resulting forces exerted on microparticles at given locations in the workspace. This model also has to be computationally simple enough to be used in real time as required by modelbased feedback control. Most existing models involve solving two or threedimensional mixed boundary value problems. As such, they are usually analytically intractable and have to be solved numerically instead. A numerical solution is, however, infeasible in real time, hence such models are not suitable for feedback control. We present a novel approximation of the boundary value data for which a closedform analytical solution is feasible; we solve a mixed boundary value problem numerically offline only once, and based on this solution, we approximate the mixed boundary conditions by Dirichlet boundary conditions. This way, we get an approximated boundary value problem allowing the application of the analytical framework of Green's functions. The thus obtained closedform analytical solution is amenable to realtime use and closely matches the numerical solution of the original exact problem.
Distributed Adaptive Consensus Protocol with Decaying Gains on Directed Graphs
 Autoři: Knotek, Š., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: IFACPapersOnLine proceedings series. Kidlington Oxford OX GB: Elsevier, 2016. p. 355360. 22. vol. 49. ISSN 24058963.
 Rok: 2016
 DOI: 10.1016/j.ifacol.2016.10.423
 Odkaz: https://doi.org/10.1016/j.ifacol.2016.10.423
 Pracoviště: Katedra řídicí techniky

Anotace:
In this paper we present a distributed adaptive consensus protocol, that solves the cooperative regulator problem for multiagent systems with general linear timeinvariant dynamics and directed, strongly connected communication graphs. The protocol addresses the problems of recent distributed adaptive consensus protocols with large or unbounded coupling gains. These problems are solved by introducing a novel coupling gain dynamics that allows the coupling gains to synchronize and decay to some estimated value. Unlike the static consensus protocols, which require the knowledge of the smallest real part of the nonzero Laplacian eigenvalues to design the coupling gain, the proposed adaptive consensus protocol does not require any centralized information. It can be therefore implemented on agents in a fully distributed fashion.
Distributed observer and controller design for stateoutput decomposed systems
 Autoři: Zhang, X., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: Proceedings of the IEEE Conference on Control Applications. Piscataway: IEEE Conference Publications, 2016. p. 450455. ISBN 9781509007554.
 Rok: 2016
 DOI: 10.1109/CCA.2016.7587871
 Odkaz: https://doi.org/10.1109/CCA.2016.7587871
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper tackles the networked distributed observer and controller design problem. The observers are designed in a distributed fashion. The computation effort due to high dimension of the whole system is then mitigated. The controllers are designed using linear quadratic regulation theory. A sufficient condition to guarantee the stability of the closedloop system is derived. A conservative matrix norm bound condition for the controller is provided as well. Numerical simulation is given to verify the design procedure.
Output H∞ synchronization of heterogeneous linear multiagent systems via a distributed outputfeedback
 Autoři: Yaghmaie, F.A., doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc., Lewis, F.L., Su, R.
 Publikace: Proceedings of the IEEE 55th Conference on Decision and Control (CDC). Piscataway, NJ: IEEE, 2016. p. 26772682. ISBN 9781509018376.
 Rok: 2016
 DOI: 10.1109/CDC.2016.7798666
 Odkaz: https://doi.org/10.1109/CDC.2016.7798666
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper investigates output H∞ synchronization of a group of linear heterogeneous agents. Agents are subject to external unmodeled disturbances and distributively communicate one set of outputs. The aim is to design a distributed controller to achieve synchronization on another set of outputs with an H∞ bound. We obtain an H∞criterion for each agent that guarantees output synchronization in the absence of the external unmodeled disturbances and output H∞ synchronization in their presence. We derive the overall L2gain of the output synchronization error with respect to the external unmodeled disturbances. We demonstrate our developments by a simulation example.
Structured Lyapunov functions for synchronization of identical affineincontrol agents—Unified approach
 Autoři: doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc., prof. RNDr. Sergej Čelikovský, CSc.,
 Publikace: Journal of the Franklin Institute. 2016, 353(14), 34573486. ISSN 00160032.
 Rok: 2016
 DOI: 10.1016/j.jfranklin.2016.06.028
 Odkaz: https://doi.org/10.1016/j.jfranklin.2016.06.028
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper brings structured Lyapunov functions guaranteeing cooperative state synchronization of identical agents. Versatile synchronizing region methods for identical linear systems motivate the structure of proposed Lyapunov functions. The obtained structured functions are applied to cooperative synchronization problems for affineincontrol nonlinear agents. For irreducible graphs a virtual leader is used to analyze synchronization. For reducible graphs a combination of cooperative tracking and irreducible graph cooperative synchronization is used to address cooperative dynamics by Lyapunov methods. This provides a connection between the synchronizing region analysis, incremental stability and Lyapunov cooperative stability conditions. A class of affineincontrol systems is singled out based on their contraction properties that allow for cooperative stability via the presented Lyapunov designs.
Synchronizing Region Approach for Identical Linear TimeInvariant Agents
 Autoři: doc. Kristian HengsterMovric, Ph.D., prof. Ing. Michael Šebek, DrSc.,
 Publikace: Control of Complex Systems  Theory and Applications. Kidlington Oxford OX GB: Elsevier, 2016. p. 519548. ISBN 9780128052464.
 Rok: 2016
 DOI: 10.1016/B9780128052464.000185
 Odkaz: https://doi.org/10.1016/B9780128052464.000185
 Pracoviště: Katedra řídicí techniky

Anotace:
The use of versatile synchronizing region methodology for synchronization of identical multiagent systems; stateoftheart and perspectives.
Cooperative synchronization control for agents with control delays: A synchronizing region approach
 Autoři: doc. Kristian HengsterMovric, Ph.D., Lewis, F.L., prof. Ing. Michael Šebek, DrSc., Vyhlídal, T.
 Publikace: Journal of the Franklin Institute. 2015, 352(5), 20022028. ISSN 00160032.
 Rok: 2015
 DOI: 10.1016/j.jfranklin.2015.02.011
 Odkaz: https://doi.org/10.1016/j.jfranklin.2015.02.011
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper investigates multiagent system synchronization in the presence of control signal delays. Agents are assumed to be identical linear timeinvariant systems, interacting on a directed graph topology, all having the same control delay. Distributed control of multiagent systems is complicated by the fact that the communication graph topology interplays with singleagent dynamics. Here a design method based on a synchronizing region is given that decouples the design of local feedback gains from the detailed properties of graph topology. Such extension of the synchronizing region concept to agents with delays is rigorously justified. Delaydependent synchronizing region is defined and methods are given guaranteeing its estimates. Qualitative properties of delaydependent synchronizing regions and implications for control design are discussed. It is found that these regions are inherently bounded which restricts the graphs that allow for synchronization under delayed communication. Stronger property of exponential stability with a prescribed convergence rate is presented as a special case.
Distributed static outputfeedback control for state synchronization in networks of identical LTI systems
 Autoři: doc. Kristian HengsterMovric, Ph.D., Lewis, F.L., prof. Ing. Michael Šebek, DrSc.,
 Publikace: Automatica. 2015, 53 282290. ISSN 00051098.
 Rok: 2015
 DOI: 10.1016/j.automatica.2014.12.015
 Odkaz: https://doi.org/10.1016/j.automatica.2014.12.015
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper studies state synchronization of multiagent systems with disturbances using distributed static outputfeedback (OPFB) control. The bounded L2 gain synchronization problem using distributed static OPFB is defined and solved. The availability of only output measurements restricts the local controls design, while the communication graph topology restricts global information flow among the agents. It is shown here that these two types of restriction can be dealt with in a symmetric manner and lead to two similar conditions guaranteeing the existence of bounded L2 gain static OPFB. One condition is on the output measurement matrix on a local scale, and the other on the graph Laplacian matrix on a global scale. Under additional conditions a distributed twoplayer zerosum game using static OPFB is also solved and leads to distributed Nash equilibrium on the communication graph. As a special case the static OPFB globally optimal control is given. A new class of digraphs satisfying the above condition on the graph Laplacian is studied. The synchronizing region for distributed static OPFB control is exposed and found to be conical, different than the infinite righthalf plane synchronizing region for distributed state feedback.
INVESTIGATION OF LINEAR QUADRATIC REGULATOR DECENTRALIZATION PROPERTIES FOR A CLAMPEDCLAMPED BEAM
 Autoři: Zhang, X., Faria, C.T., doc. Ing. Martin Hromčík, Ph.D., doc. Kristian HengsterMovric, Ph.D.,
 Publikace: Proceedings of the International Conference on Structural Engineering Dynamics. Lisboa: University of Lisbon, 2015, pp. 111. ISBN 9789899627697.
 Rok: 2015
 Pracoviště: Katedra řídicí techniky

Anotace:
Heavy computational burden is imposed on centralized controllers when dampening vibration for largescale flexible structures. For homogeneous flexible structures, the structure of controllers shall be investigated to simplify the control loop design. In this work, firstly a linearquadratic regulator (LQR) is designed for a normalized infinitedimensional beam model under a clampedclamped boundary condition, to demonstrate the decentralization property of the controller. A finite element model (FEM) based on EulerBernoulli beam theory is then considered, an LQR is designed with distributed actuators and isolated pointactuators respectively, providing all the states can be measured. Control simulations have shown a decentralization property in both cases, which motivates a decentralized controller inherited from the LQR design. Simulation results have shown that the performance of decentralized controller and the LQR is comparable.
Synchronizing Region Approach to Identical LTI System State Synchronization Distributed Control Continuous and discretetime systems, state, outputfeedback and delays
 Autoři: doc. Kristian HengsterMovric, Ph.D.,
 Publikace: Proceedings of the 20th International Conference on Process Control. Piscataway: IEEE, 2015. p. 5459. ISBN 9781467366274.
 Rok: 2015
 DOI: 10.1109/PC.2015.7169938
 Odkaz: https://doi.org/10.1109/PC.2015.7169938
 Pracoviště: Katedra řídicí techniky

Anotace:
This paper surveys some recent results in identical system state synchronization. Design methods are given for distributed synchronization control of continuous and discretetime multiagent systems on directed communication graphs. The graph properties complicate the design of synchronization controllers due to an interplay between the eigenvalues of the graph Laplacian matrix and the required stabilizing gains. Methods given herein are based on computation of the local control gains using Riccati design. Conditions are given for synchronization relying on relation of the graph Laplacian eigenvalues to a region in the complex plane that depends on agent dynamics and Riccati solutions. Distributed observers for agents networked on a directed graph are also investigated. Cooperative observer design guaranteeing convergence of estimates of all agents to their actual states is proposed. It is shown that the discretetime synchronizing region is inherently bounded, so that the conditions for observer convergence and state synchronization are stricter than results for their continuoustime counterparts. If outputs only are available for control the distributed static outputfeedback (OPFB) control can be used. The synchronizing region for static OPFB control is exposed and found to be conical, different than the infinite righthalf plane synchronizing region for distributed statefeedback. Furthermore, the multiagent system synchronization with control signal delays is presented. Agents are assumed to have the same control delay. Delaydependent synchronizing region is defined and methods are given guaranteeing its estimates.