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Section: Partnerships and Cooperations
European Initiatives
Collaborations in European Programs, Except FP7 & H2020
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Project title: Fractional-order systems; analysis, synthesis and their importance for future design
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Abstract: Fractional-order systems have lately been attracting significant attention and gaining more acceptance as generalization to classical integer-order systems. Mathematical basics of fractional-order calculus were laid nearly 300 years ago and since that it has gained deeply rooted mathematical concepts. Today, it is known that many real dynamic systems cannot be described by a system of simple differential equation or of integer-order system. In practice we can encounter such systems in electronics, signal processing, thermodynamics, biology, medicine, control theory, etc. The Action will favor scientific advancement in above mentioned areas by coordinating activities of academic research groups towards an efficient deployment of fractal theory to industry applications.
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Abstract: Control theory and controller design for linear dynamical systems is well developed. The same cannot be said for nonlinear systems and searching for a general set of design tools applicable to any nonlinear system may be futile. Restricting the class of system dynamics with the aim of developing a more complete set of controller design tools for such a restricted model class therefore appears to be a reasonable approach. One such restricted class of system dynamics is the class of polynomial dynamical systems, for which stability analysis and controller design tools based on Convex Optimization has recently flourished, using so-called Sum of Squares (SOS) programming. Three topics were studied: - Time discretization techniques. SOS programming for discrete time system is less developed than for continuous time systems. This research task will then study discretization techniques leading to polynomial or rational models. In particular we will develop methods to compare the continuous time system and the discretized one by, for instance, comparing estimates of the region of attraction of stable equilibria. - Observer design. In many applications, not all states are measured, and therefore they have to be inferred using a state observer. Note that the so-called Certainty Equivalence Principle does not in general hold for nonlinear systems. This research task will therefore address observer design using SOS programming, and study the effects of interactions between controller design and observer design on the stability of the overall system. - Benchmark application. CentraleSupelec has a cart and pendulum experimental setup. The complexity of SOS-based controller design for this system is near the limit of what can be accommodated by current optimization packages and computational resources. This research task will test the limits of available numerical solution tools and provide a convincing demonstration of the capabilities of SOS-based controller design.
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Project title: Analysis of stabilizability of delayed dynamical system as function of the systems parameters and the time delays with applications to human balancing
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Other partners: Budapest University of Technology and Economics, Hungary
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Abstract: Motivated by a class of Time-delay systems occurring in modeling of many mechanical engineering applications, this project aims to associate researchers from control theory, applied mathematics and mechanical engineering to build together a general methodology for the analysis and control of mechanical/bio-mechanical structures. In particular, the human balance is often considered as a control system which operates in the presence of delays, primarily due to the time it takes to acquire the information needed for decision-making, to create control decisions, and to execute these decisions. A particular interest will be devoted to the delayed human balance, where a depthful study of the delay effect on the stability is expected.