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Discrete-time predictive control with overparameterized delay-plant models and an identified cancellation order

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Kowalczuk Z., Suchomski P.
International Journal of Applied Mathematics and Computer Science
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2005
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tom 15
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nr 1
5-34
EN
The paper presents several solutions to the discrete-time generalized predictive (GPC) controller problem, including an anticipative filtration mechanism, which are suitable for plants with nonzero transportation delays. Necessary modifications of the GPC design procedure required for controlling plants based on their non-minimal models are discussed in detail. Although inevitably invoking the troublesome pole-zero cancellation problem, such models can be used in adaptive systems as a remedy for the uncertainty or variability of the model order. The purpose of this paper is to present a complete GPC controller design for delay plants that is robust to the overparameterization of the plant model. Refined conditions for the existence and stability of GPC control solutions in terms of pertinent design parameters are given, and explicit forms of closed-loop characteristic polynomials are provided. The issue of identifying the model cancellation order is also considered, and practical solutions are proposed. The presented ideas are illustrated numerically.
2
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Intelligent decision-making system for autonomous robots

100%
Kowalczuk Z., Czubenko M.
International Journal of Applied Mathematics and Computer Science
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2011
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tom 21
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nr 4
671-684
EN
The paper gives an account of research results concerning a project on creating a fully autonomous robotic decisionmaking system, able to interact with its environment and based on a mathematical model of human cognitive-behavioural psychology, with some key elements of personality psychology included. The principal idea of the paper is focused on the concept of needs, with a certain instrumental role of emotions.
3
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On-line parameter and delay estimation of continuous-time dynamic systems

100%
Kozłowski J., Kowalczuk Z.
International Journal of Applied Mathematics and Computer Science
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2015
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tom 25
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nr 2
223-232
EN
The problem of on-line identification of non-stationary delay systems is considered. The dynamics of supervised industrial processes are usually modeled by ordinary differential equations. Discrete-time mechanizations of continuous-time process models are implemented with the use of dedicated finite-horizon integrating filters. Least-squares and instrumental variable procedures mechanized in recursive forms are applied for simultaneous identification of input delay and spectral parameters of the system models. The performance of the proposed estimation algorithms is verified in an illustrative numerical simulation study.
4
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Suboptimal fault tolerant control design with the use of discrete optimization

100%
Kowalczuk Z., Oliński K.
International Journal of Applied Mathematics and Computer Science
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2008
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tom 18
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nr 4
561-568
EN
This paper presents a concept of designing fault tolerant control systems with the use of suboptimal methods. We assume that a given (nonlinear) dynamical process is described in a state space. The method consists in searching (at the off-line stage) for a trajectory of operational points of the system state space. The sought trajectory can be constrained by certain conditions, which can express faults or failures already detected. Within this approach, we are able to use the autonomous dynamics of the process in order to minimize a control cost index (a sub-optimality property). The search itself is based on finding a cheapest path in a graph structure, which represents the system's dynamics described in the state space. Such a cheapest path (if it exists) represents the sought trajectory. Another (on-line) design stage consists in tracking this trajectory by an executive controller.
5
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Niching mechanisms in evolutionary computations

100%
Kowalczuk Z., Białaszewski T.
International Journal of Applied Mathematics and Computer Science
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2006
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tom 16
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nr 1
59-84
EN
Different types of niching can be used in genetic algorithms (GAs) or evolutionary computations (ECs) to sustain the diversity of the sought optimal solutions and to increase the effectiveness of evolutionary multi-objective optimization solvers. In this paper four schemes of niching are proposed, which are also considered in two versions with respect to the method of invoking: a continuous realization and a periodic one. The characteristics of these mechanisms are discussed, while as their performance and effectiveness are analyzed by considering exemplary multi-objective optimization tasks both of a synthetic and an engineering (FDI) design nature.
6
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Asynchronous distributed state estimation for continuous-time stochastic processes

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Kowalczuk Z., Domżalski M.
International Journal of Applied Mathematics and Computer Science
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2013
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tom 23
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nr 2
327-339
EN
The problem of state estimation of a continuous-time stochastic process using an Asynchronous Distributed multi-sensor Estimation (ADE) system is considered. The state of a process of interest is estimated by a group of local estimators constituting the proposed ADE system. Each estimator is based, e.g., on a Kalman filter and performs single sensor filtration and fusion of its local results with the results from other/remote processors to compute possibly the best state estimates. In performing data fusion, however, two important issues need to be addressed namely, the problem of asynchronism of local processors and the issue of unknown correlation between asynchronous data in local processors. Both the problems, along with their solutions, are investigated in this paper. Possible applications and effectiveness of the proposed ADE approach are illustrated by simulated experiments, including a non-complete connection graph of such a distributed estimation system.
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