Naly Rakoto | Ecole des Mines de Nantes (original) (raw)
Papers by Naly Rakoto
Un sistema cuyo comportamiento es modelado por la interacción de sub-sistemas continuos y sub-sis... more Un sistema cuyo comportamiento es modelado por la interacción de sub-sistemas continuos y sub-sistemas a eventos discretos es llamado un sistema híbrido. En este artículo se presentan dos estructuras de modelamiento para este tipo de sistemas: sistemas lineales a trazos (PWA) y sistemas dinámicos y lógicos mixtos (MLD). El problema de control de este tipo de sistemas modelados en estructura MLD es abordado. Los resultados presentados son aplicados en un ejemplo de tres tanques.
This paper presents a new algorithm for translating Mixed Logical and Dynamical (MLD) systems int... more This paper presents a new algorithm for translating Mixed Logical and Dynamical (MLD) systems into PieceWise Affine (PWA) systems. The presented algorithm uses an enumeration technique and solves several linear programming problems in order to obtain the equivalence. The obtained model is equivalent to the MLD model meaning that given an initial state and an input sequence, the trajectory of the state vector and output vector are the same. The technique is applied to three examples. The computation time and the simulation results for these examples are given.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2000
Q e i a . u d g . es r a k o t o a e m n .fr A b s t r a c t -Piecewise linear models systems ari... more Q e i a . u d g . es r a k o t o a e m n .fr A b s t r a c t -Piecewise linear models systems arise os mathematical models of systems in many practical applications, often from linearization for nonlinear systems. There are two main approaches of dealing with these systems according to their continuous o r discrete-time aspects. We propose an approach which is based on the state transformation, more particularly the partition of the phose portrait in different regions where each subregion is modeled os a two-dimensionol linear time invariont System. Then the Takagi-Sugeno model, which is a combination of local model is calculated. The simulation results show that the Alpha portition is well-suited for dealing with such a system.
Computers in Industry, 2016
Lecture Notes in Computer Science, 2003
ABSTRACT In the last decade, the manufacturing environment has considerably changed. The increasi... more ABSTRACT In the last decade, the manufacturing environment has considerably changed. The increasing level of automation, integration and flexibility implied the need of formal approaches for controlling such a system. The main advantages of this approach are the guarantee that the behavior of the controlled system meets the desired control specifications, while providing maximally permissive controlled behavior. In this paper we present the modeling and simulation of an experimental manufacturing cell, in order to construct the supervisor that will control the system.
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206), 2000
ABSTRACT
A generalization of a polynomial approach to solve the optimal control problem of nonlinear switc... more A generalization of a polynomial approach to solve the optimal control problem of nonlinear switched systems is presented. We present a technique to deal with the more general non-polynomial switched systems, using the polynomial approach previously presented, combined with a recasting process. It is shown that the representation of the original switched problem into a continuous polynomial system allows us to use the generalized Maximum Principle. With this method and from a theoretical point of view, we provide necessary and sufficient conditions for the existence of minimizer by using particular features of its relaxed, convex formulation using the theory of moments.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003
ABSTRACT This paper presents a solution of the three tank benchmark problem modeled using the Mix... more ABSTRACT This paper presents a solution of the three tank benchmark problem modeled using the Mixed Logical and Dynamical (MLD) system framework and controlled using model predictive control (MPC). Compared to the existing works using the same approach, this work is different in the Mixed Integer Quadratic Programming, especially in the tuning method of the weighting matrices.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003
This work presents some results in hybrid modeling and control of a drinking water treatment plan... more This work presents some results in hybrid modeling and control of a drinking water treatment plant. The work is focused in modeling of the filtering sub-process using the mixed logical and dynamical (MLD) systems, this framework that is able to represent continuous dynamics and discrete-event dynamics in an integrated form. The resultant system is well-posed for model predictive control (MPC) that is used as control strategy for the system.
EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696), 2003
ABSTRACT This paper presents a methodological approach of supervision and optimal control of some... more ABSTRACT This paper presents a methodological approach of supervision and optimal control of some industrial processes. The modeling formalism used mixed logical and dynamical (MLD) systems framework, and it is used for obtaining a model predictive control (MPC) scheme. The methodology is applied to a water treatment plant in Bogota, Columbia and some preliminary results are presented.
Studies in Computational Intelligence, 2015
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005., 2005
Model predictive control (MPC) based on mixed logical dynamical (MLD) systems was proposed as a s... more Model predictive control (MPC) based on mixed logical dynamical (MLD) systems was proposed as a suitable approach to the control problem of hybrid systems. In this paper, we study some extensions of the basic structure in order to gain precision in the regulation problem. We study the robustness of the resulting controlled system using simulations of a three-tank benchmark
Proceedings of the 17th IFAC World Congress, 2008, 2008
A polynomial approach to solve the optimal control problem of switched systems is presented. It i... more A polynomial approach to solve the optimal control problem of switched systems is presented. It is shown that the representation of the original switched problem into a continuous polynomial systems allow us to use the method of moments. With this method and from a theoretical point of view, we provide necessary and sufficient conditions for the existence of minimizer by using particular features of the minimizer of its relaxed, convex formulation. Even in the absence of classical minimizers of the switched system, the solution of its relaxed formulation provide minimizers.
Lecture Notes in Computer Science, 2001
ABSTRACT
2007 46th IEEE Conference on Decision and Control, 2007
... 2004. [7] E. Mojica, A. Gauthier, and C. Collazos, Control Automático de un Bioreactor de Cr... more ... 2004. [7] E. Mojica, A. Gauthier, and C. Collazos, Control Automático de un Bioreactor de Crecimiento Celular, In Proc. 2nd IEEE Colombian Workshop on Robotics and Automation, 2006. [8] M. Rewienski and J. White, A Trajectory Piecewise-Linear Approach to Model Order ...
Un sistema cuyo comportamiento es modelado por la interacción de sub-sistemas continuos y sub-sis... more Un sistema cuyo comportamiento es modelado por la interacción de sub-sistemas continuos y sub-sistemas a eventos discretos es llamado un sistema híbrido. En este artículo se presentan dos estructuras de modelamiento para este tipo de sistemas: sistemas lineales a trazos (PWA) y sistemas dinámicos y lógicos mixtos (MLD). El problema de control de este tipo de sistemas modelados en estructura MLD es abordado. Los resultados presentados son aplicados en un ejemplo de tres tanques.
This paper presents a new algorithm for translating Mixed Logical and Dynamical (MLD) systems int... more This paper presents a new algorithm for translating Mixed Logical and Dynamical (MLD) systems into PieceWise Affine (PWA) systems. The presented algorithm uses an enumeration technique and solves several linear programming problems in order to obtain the equivalence. The obtained model is equivalent to the MLD model meaning that given an initial state and an input sequence, the trajectory of the state vector and output vector are the same. The technique is applied to three examples. The computation time and the simulation results for these examples are given.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2000
Q e i a . u d g . es r a k o t o a e m n .fr A b s t r a c t -Piecewise linear models systems ari... more Q e i a . u d g . es r a k o t o a e m n .fr A b s t r a c t -Piecewise linear models systems arise os mathematical models of systems in many practical applications, often from linearization for nonlinear systems. There are two main approaches of dealing with these systems according to their continuous o r discrete-time aspects. We propose an approach which is based on the state transformation, more particularly the partition of the phose portrait in different regions where each subregion is modeled os a two-dimensionol linear time invariont System. Then the Takagi-Sugeno model, which is a combination of local model is calculated. The simulation results show that the Alpha portition is well-suited for dealing with such a system.
Computers in Industry, 2016
Lecture Notes in Computer Science, 2003
ABSTRACT In the last decade, the manufacturing environment has considerably changed. The increasi... more ABSTRACT In the last decade, the manufacturing environment has considerably changed. The increasing level of automation, integration and flexibility implied the need of formal approaches for controlling such a system. The main advantages of this approach are the guarantee that the behavior of the controlled system meets the desired control specifications, while providing maximally permissive controlled behavior. In this paper we present the modeling and simulation of an experimental manufacturing cell, in order to construct the supervisor that will control the system.
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206), 2000
ABSTRACT
A generalization of a polynomial approach to solve the optimal control problem of nonlinear switc... more A generalization of a polynomial approach to solve the optimal control problem of nonlinear switched systems is presented. We present a technique to deal with the more general non-polynomial switched systems, using the polynomial approach previously presented, combined with a recasting process. It is shown that the representation of the original switched problem into a continuous polynomial system allows us to use the generalized Maximum Principle. With this method and from a theoretical point of view, we provide necessary and sufficient conditions for the existence of minimizer by using particular features of its relaxed, convex formulation using the theory of moments.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003
ABSTRACT This paper presents a solution of the three tank benchmark problem modeled using the Mix... more ABSTRACT This paper presents a solution of the three tank benchmark problem modeled using the Mixed Logical and Dynamical (MLD) system framework and controlled using model predictive control (MPC). Compared to the existing works using the same approach, this work is different in the Mixed Integer Quadratic Programming, especially in the tuning method of the weighting matrices.
SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2003
This work presents some results in hybrid modeling and control of a drinking water treatment plan... more This work presents some results in hybrid modeling and control of a drinking water treatment plant. The work is focused in modeling of the filtering sub-process using the mixed logical and dynamical (MLD) systems, this framework that is able to represent continuous dynamics and discrete-event dynamics in an integrated form. The resultant system is well-posed for model predictive control (MPC) that is used as control strategy for the system.
EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696), 2003
ABSTRACT This paper presents a methodological approach of supervision and optimal control of some... more ABSTRACT This paper presents a methodological approach of supervision and optimal control of some industrial processes. The modeling formalism used mixed logical and dynamical (MLD) systems framework, and it is used for obtaining a model predictive control (MPC) scheme. The methodology is applied to a water treatment plant in Bogota, Columbia and some preliminary results are presented.
Studies in Computational Intelligence, 2015
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005., 2005
Model predictive control (MPC) based on mixed logical dynamical (MLD) systems was proposed as a s... more Model predictive control (MPC) based on mixed logical dynamical (MLD) systems was proposed as a suitable approach to the control problem of hybrid systems. In this paper, we study some extensions of the basic structure in order to gain precision in the regulation problem. We study the robustness of the resulting controlled system using simulations of a three-tank benchmark
Proceedings of the 17th IFAC World Congress, 2008, 2008
A polynomial approach to solve the optimal control problem of switched systems is presented. It i... more A polynomial approach to solve the optimal control problem of switched systems is presented. It is shown that the representation of the original switched problem into a continuous polynomial systems allow us to use the method of moments. With this method and from a theoretical point of view, we provide necessary and sufficient conditions for the existence of minimizer by using particular features of the minimizer of its relaxed, convex formulation. Even in the absence of classical minimizers of the switched system, the solution of its relaxed formulation provide minimizers.
Lecture Notes in Computer Science, 2001
ABSTRACT
2007 46th IEEE Conference on Decision and Control, 2007
... 2004. [7] E. Mojica, A. Gauthier, and C. Collazos, Control Automático de un Bioreactor de Cr... more ... 2004. [7] E. Mojica, A. Gauthier, and C. Collazos, Control Automático de un Bioreactor de Crecimiento Celular, In Proc. 2nd IEEE Colombian Workshop on Robotics and Automation, 2006. [8] M. Rewienski and J. White, A Trajectory Piecewise-Linear Approach to Model Order ...