Noorma Yulia Megawati

Bisimulation equivalence of differential-algebraic systems

ABSTRACT In this paper, the notion of bisimulation relation for linear input-state-output systems is extended to general linear differential-algebraic (DAE) systems. Geometric control theory is used to derive a linear-algebraic characterisation of bisimulation relations, and an algorithm for computing the maximal bisimulation relation between two linear DAE systems. The general definition is specialised to the case where the matrix pencil sE − A is regular. Furthermore, by developing a one-sided version of bisimulation, characterisations of simulation and abstraction are obtained.

Model predictive control for obstacle avoidance as hybrid systems of small scale helicopter

In this paper, we apply model predictive control for obstacle avoidance of small scale helicopter as a hybrid system such that this UAV can determine the optimal trajectory from initial position to the target position and avoid an obstacle. The hybrid dynamics of this UAV can be interpreted as a piecewise affine (PWA) model that can be transformed into equivalent mixed logical dynamical model (MLD). The PWA model is triggered by state events (coordinate of the UAV for this case). MPC for MLD can be solved using mixed integer quadratic programming (MIQP). We simulate the model and the controller with several shapes of obstacles. From the simulation results, UAV avoids the obstacle optimally using the track generated by MPC.

Tracking control for hybrid system of unmanned small scale helicopter using predictive control

In this paper, we formulate the hybrid dynamic of unmanned small scale helicopter (Yamaha R-50) as piecewise affine (PWA) model and transform it into equivalent mixed logical dynamic (MLD) model using hybrid system description language (HYSDEL) integrated with hybrid toolbox for MATLAB. This hybrid model is triggered by the location of this unmanned aerial vehicle (UAV) which has two modes. By using the MLD model, we design the controller using model predictive control (MPC) to calculate the optimal control action so that this UAV flights and tracks a trajectory. Finally, we simulate this UAV and its controller to track a rectangular trajectory. From the simulation results, this unmanned small scale helicopter follows given trajectory very well.

Robust switched linear controller for multimode helicopter models

This paper investigates the application of a robust hybrid control design for a small scale helicopter flying with multiple linearised mathematical models. A hybrid control architecture is proposed and will be developed to cope with the complexity of the non-linear system. A class of this control system is known as hybrid control systems which deal with dynamic changes and jump transition behaviour between the changes. The small scale helicopter is known to inherently have these features. In this paper, the behaviours of the small scale helicopter are represented into five linearized models at trim conditions. When a wider region of flight envelope is considered, this approach leads to a switching problem representing changes from one mode to another mode in a predifined order for a safe and successful flight. In this paper we specifically investigate the control of transition dynamics between many modes as a hybrid system. One approach of control for hybrid switch system is characterized by Linear Matrix Inequalities (LMIs) for performance analysis and control synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance.

LQ cooperative distributed MPC to protect two connected buildings from seismic activities

In this paper, we study a linear quadratic (LQ) cooperative distributed MPC based on LQ cooperative game theory and apply it to reduce the vibration of two connected buildings caused by seismic activities. Two connected buildings is a systemwide contains two subsystems connected by a bridge. Dynamics of this systemwide can be written as a composite model that is the combination of decentralized model and interaction model between subsystems. The control purpose is reducing the vibration or regulating the displacements of buildings from their origin. The optimal control action of the LQ cooperative distributed MPC is determined by finding Pareto solution. We simulate this control design to view the response of the system from seismic activities. From the simulation results, the controller reduces the vibration of the system and brings the states to the origin faster than uncontrolled system.

Safety analysis of linear system with SOS for complex eigenvalues

In this paper we investigate safety verification of linear system. The structure of linear system will be exploited and converted to certain eigenstructure as an emptiness problem for a semi algebraic set. Sum of square (SOS) is emploited to check emptiness of of the set defines by polynomial inequalities which can be computed by semidifinite programming. A special consideration is to investigate safety problem of linear system with complex eigenvalues.