Extremum-Seeking Control and Applications: A Numerical Optimization-Based Approach

209 Pages·2012·6.023 MB·English

by  Chunlei Zhang, Raúl Ordóñez (auth.)

Advances in Industrial Control
Forfurthervolumes:
www.springer.com/series/1412
Othertitlespublishedinthisseries:
DigitalControllerImplementation ModellingandControlofMini-Flying
andFragility Machines
RobertS.H.IstepanianandJamesF. PedroCastillo,RogelioLozanoand
Whidborne(Eds.) AlejandroDzul
OptimisationofIndustrialProcesses ShipMotionControl
atSupervisoryLevel TristanPerez
DorisSáez,AldoCiprianoandAndrzejW.
HardDiskDriveServoSystems(2ndEd.)
Ordys
BenM.Chen,TongH.Lee,KemaoPeng
RobustControlofDieselShipPropulsion andVenkatakrishnanVenkataramanan
NikolaosXiros
Measurement,Control,and
HydraulicServo-systems CommunicationUsingIEEE1588
MohieddineMaliandAndreasKroll JohnC.Eidson
Model-basedFaultDiagnosisinDynamic PiezoelectricTransducersforVibration
SystemsUsingIdentificationTechniques ControlandDamping
SilvioSimani,CesareFantuzziandRonJ.
S.O.RezaMoheimaniandAndrewJ.
Patton
Fleming
StrategiesforFeedbackLinearisation
ManufacturingSystemsControlDesign
FreddyGarces,VictorM.Becerra,
StjepanBogdan,FrankL.Lewis,Zdenko
ChandrasekharKambhampatiandKevin
Kovacˇic´andJoséMirelesJr.
Warwick
WindupinControl
RobustAutonomousGuidance
PeterHippe
AlbertoIsidori,LorenzoMarconi
andAndreaSerrani NonlinearH2/H∞ConstrainedFeedback
Control
DynamicModellingofGasTurbines
MuradAbu-Khalaf,JieHuang
GennadyG.KulikovandHaydnA.
andFrankL.Lewis
Thompson(Eds.)
PracticalGrey-boxProcessIdentification
ControlofFuelCellPowerSystems
TorstenBohlin
JayT.Pukrushpan,AnnaG.Stefanopoulou
andHueiPeng ControlofTrafficSystemsinBuildings
SandorMarkon,HajimeKita,HiroshiKise
FuzzyLogic,IdentificationandPredictive
andThomasBartz-Beielstein
Control
JairoEspinosa,JoosVandewalle WindTurbineControlSystems
andVincentWertz FernandoD.Bianchi,HernánDeBattista
andRicardoJ.Mantz
OptimalReal-timeControlofSewer
Networks AdvancedFuzzyLogicTechnologies
MagdaleneMarinakiandMarkos inIndustrialApplications
Papageorgiou YingBai,HanqiZhuangandDaliWang
ProcessModellingforControl (Eds.)
BenoîtCodrons
PracticalPIDControl
ComputationalIntelligenceinTimeSeries AntonioVisioli
Forecasting
AjoyK.PalitandDobrivojePopovic (continuedafterIndex)
Chunlei Zhang (cid:2) Raúl Ordóñez
Extremum-Seeking
Control and
Applications
A Numerical Optimization-Based Approach
ChunleiZhang RaúlOrdóñez
AppliedMaterials,Inc. Dept.Electrical&ComputerEngineering
E.ArquesAve.974 UniversityofDayton
Sunnyvale,CA94085 CollegePark300
USA Dayton,OH45469-0232
[email protected] USA
[email protected]
ISSN1430-9491 AdvancesinIndustrialControl
ISBN978-1-4471-2223-4 e-ISBN978-1-4471-2224-1
DOI10.1007/978-1-4471-2224-1
SpringerLondonDordrechtHeidelbergNewYork
BritishLibraryCataloguinginPublicationData
AcataloguerecordforthisbookisavailablefromtheBritishLibrary
LibraryofCongressControlNumber:2011941276
©Springer-VerlagLondonLimited2012
Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,asper-
mittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,
storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublish-
ers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicensesissuedbythe
CopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesentto
thepublishers.
Theuseofregisterednames,trademarks,etc.,inthispublicationdoesnotimply,evenintheabsenceofa
specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree
forgeneraluse.
Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation
containedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissions
thatmaybemade.
Coverdesign:VTeXUAB,Lithuania
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
To Ran(C.Z.)
To JunkoandKaito(R.O.)
Series Editors’ Foreword
The series Advances in Industrial Control aims to report and encourage technol-
ogy transfer in control engineering. The rapid development of control technology
has an impact on all areas of the control discipline. New theory, new controllers,
actuators, sensors, new industrial processes, computer methods, new applications,
newphilosophies...,newchallenges.Muchofthisdevelopmentworkresidesinin-
dustrial reports, feasibility study papers and the reports of advanced collaborative
projects.Theseriesoffersanopportunityforresearcherstopresentanextendedex-
position of such new work in all aspects of industrial control for wider and rapid
dissemination.
A monograph that was very influential in the field of extremum-seeking con-
trolwasthatduetoK.B.AriyurandM.Krstic´ entitledReal-TimeOptimizationby
Extremum-SeekingControlpublishedin2003.Thiswasaverytimelycontribution
totheliteraturesinceitcreatedafocusforthecurrentresearchactivityintothethe-
oryandapplicationofextremum-seekingcontrol,anactivitythathascontinuedto
growintheinterveningyears.
Many industrial and manufacturing processes are often “nudged” by operators
into operating conditions that give better outcomes, productivity, and yields. Sub-
sequently the controller design may need some adjustment to take advantage of
the process features in the new operating condition. Extremum-seeking control is
oneformalwayoffindingthisoptimisedprocesslocation.However,unlikeoptimal
control design methods per se, in extremum-seeking control the performance cost
function is often unknown analytically, and the optimization has to proceed using
online real-time measurements of actual or related process and system variables.
Consequently,itisnotsurprisingtofindthatextremum-seekingcontrolhasdrawn
onthewealthofresearchintonumericaloptimizationmethods.
ThisAdvancesinIndustrialControlseriesmonographExtremum-SeekingCon-
trolandApplicationsbyChunleiZhangandRaúlOrdóñezhasthesubtitleANumer-
icalOptimization-BasedApproachthatclearlyindicatestheconstructivenumerical
optimization route the authors intend to follow. The monograph has an introduc-
tory overview chapter and then the remaining chapters fall into two parts, theory
first followed by the application studies. There are four chapters of theory. Chap-
ter 2 reports the numerical optimization results and techniques the authors will be
vii
viii SeriesEditors’Foreword
using. This is followed by the extremum-seeking control design chapter and then
twochaptersonthedevelopmentandanalysisforthenumerical-optimizationbased
extremum-seeking control algorithm devised by the authors. The results in these
chaptersareillustratedbyexamplesandsimulationstudies.
In the all-important applications part of the monograph, the reader will find
detailed expositions of three applications, each presented at chapter length in
Chaps. 6, 7, and 8 respectively.Usefully, these chapters present a benchmark pro-
cess,areal-worldindustrialapplication,andapotentialfieldoffutureapplications.
Somehow,theantilockbrakesystemalmostseemstohavebecomeabenchmarkpro-
cess for demonstrating extremum-seeking control methods and this is the topic of
Chap.6.Thereal-worldindustrialproblemofChap.7involvesextremumseeking
control design and implementation for a semiconductor plasma-processing cham-
ber,andinChap.8,thefutureapplicationistheco-ordinatedcontrolofaswarmof
agents (particles) where the solution of a source seeking and surround problem is
investigated.Thesechaptershavethemeritofpresentingatutorialapplication,are-
port of what happens in a real industrial application of extremum-seeking control
andalookatamorefuturisticapplicationthatappearsfrequentlyinquiteanumber
oftoday’sinternationalcontrolresearchconferences.
Thismonographwillbeofinteresttoreadersfrom awiderangeofdisciplines,
from applied industrial mathematics, through the mechanical, electrical, manufac-
turingandchemicalengineeringdisciplinesandontothecontrolsystemsandcon-
trol engineering fields. The level of the presentation is appropriate for industrial
engineersandresearchers,postgraduatestudentsandthecontrolacademicresearch
and practitioner communities. The Editors are pleased to welcome this very first
monographonextremum-seekingcontrolintheAdvancesinIndustrialControlse-
ries.
IndustrialControlCentre M.J.Grimble
Glasgow,Scotland,UK M.A.Johnson
Preface
There are many problems of engineering interest for which an optimal operating
pointorconditionexists,butthispointorconditionarenotnecessarilywellknown
or easy to find. Extremum seeking control is a family of control design methods
whosepurposeistoautonomouslyfindanoptimalsystembehavior(e.g.,setpoint
ortrajectorytobetracked)fortheclosed-loopsystem,whileatthesametimemain-
tainingstabilityandboundednessofsignals.Extremumseekingcontrolistherefore
mainlyusedtorealizereal-timeoptimizationfordynamicsystems.Ithasbeenap-
pliedtoengineeringproblemsintheautomotiveindustry,processcontrol,thermal
fluids,flowcontrol,semiconductorindustry,energyconversionandmanyotherar-
eas. The motivation for the research on extremum seeking control arises from its
practical interest, since even small improvements in performance can lead to cost
andenergysavings.Thisbookreviewsexistingextremumseekingtechniques,and
proposesanewnumericaloptimizationbasedextremumseekingcontrolapproach.
Severalapplicationsarepresented,includingproblemsfromtheautomotiveindus-
try,autonomousroboticsandthesemiconductorindustry.Thisbookwillbeofben-
efit to students and professionals in all areas of engineering, especially on system
control and optimization. The book contains many figures (block diagrams, plots,
simulationandexperimentalresults)thatwillhelpthereadertounderstandthema-
terial.Thereader(researcher,Ph.DorM.Slevelgraduatestudent,R&Dengineer)
will become familiar with step-by-step algorithms that can be readily applied to a
varietyof controlproblems in engineeringpractice.The reader will also acquirea
deepunderstandingofextremumseekingcontrolanditsmathematicalfoundations.
Theapplicationexamplesincludedinthebookwillhelpthereaderunderstandthe
conceptsandhowtheycanbeapplied.
Overviewof theBook
Trackingavaryingmaximumorminimumofaperformance(output,cost)function
iscalledextremumseekingcontrol.Forexample,problemswherefindingsuchan
ix
x Preface
extremummaybeofinterestincludemaximizingtheyieldofbioreactors,minimiz-
ing the power demand in formation control, minimizing reflected power, or even
producing a better tuning of the PID coefficients in a control system. All of these
are problems of practical interest in engineering, some of which have ad-hoc so-
lutions, and some of which are yet unresolved. It is for these types of problems
that extremum seeking control can be of great value. Extremum seeking attempts
to determine the optimal performance of a control system as it operates, thereby
potentially eliminating or reducing the need for down time and for doing system
analysis.
Inthefirstpartofthebook,webeginwithacomprehensivereviewofthestate-
of-the-artintheextremumseekingcontrolliterature,andprovidethereaderwithan
understandingofwhatthedifferent“flavors”ofextremumseekingcontrolare,and
howtheyrelatetoeachother.Wereviewtheexistinganalogoptimizationbasedex-
tremumseekingcontrolmethods,whichincludegradientbaseddesign,perturbation
based design and sliding mode based design. Then, we present a novel numerical
optimizationbasedextremumseekingcontrolmethodthatmakesuseofnumerical
optimizationalgorithmsandstateregulation,startingfromsimplelineartimeinvari-
antsystemsandextendingtoaclassoffeedbacklinearizablenonlinearsystems.We
alsoanalyzetherobustnessoftwomainoptimizationalgorithmsastheyapplytoex-
tremumseeking:linesearchmethodsandtrustregionmethods.Forlinearsystems,
afinitetimestateregulatorisproposedandanasymptoticstateregulatorisusedfor
nonlinear systems. Further design flexibility is achieved via the robustness results
of the optimization algorithms and the asymptotic state regulator, where existing
nonlinearadaptivecontroltechniquescanbeintroducedforrobustdesign.
Thesecondpartofthebookdealswiththeapplicationaspectsofextremumseek-
ingcontrol.Weperformacomparativestudyofantilockbrakingsystemdesignvia
differentextremumseekingcontrolschemes.Anindustrialapplicationofextremum
seeking control methods to RF impedance matching is also presented, including
experimental results obtained by one of the authors (Zhang) at Applied Materials.
Finally, an interesting and promising application studied here is the autonomous
agentsourceseekingproblem.Weuseextremumseekingcontrolandartificialpo-
tentials to achieve source seeking, formation control, collision avoidance and ob-
stacleavoidanceofagroupofautonomousagents.Withinthiscontext,wepresent
a practical application of source seeking via extremum seeking control to mobile
radarsensornetworks.
Acknowledgements
The authors gratefully acknowledge Professor Paul Eloe (University of Dayton),
Professor John Dennis (Rice University) and Professor Mark A. Abramson (Air
Force Institute of Technology) for their help on numerical optimization and anal-
ysis (Chap. 2); Professor Ümit Özgüner (Ohio State University) for discussions
on sliding mode based extremum seeking control (Chap. 3); Professor Miroslav
Krstic´, Daniel Arnold, Antranik Siranosian and Nima Ghods (all at University of
Preface xi
CaliforniaatSanDiego)for their collaborativeresearchonperturbationbasedex-
tremum seeking control (Chap. 3); Professor Ruihua Liu (University of Dayton)
andProfessorManfrediMaggiore(UniversityofToronto)fortheirvaluablesugges-
tionsforNOESConLTIsystems(Chap.4);KartikRamaswamy,JimCruse,Sergio
Shoji,LawrenceWong,BryanLiao,AndreySemeninandHirojiHanawa(allatAp-
plied Materials) for the work of impedance matching (Chap. 7); Professor Kevin
M. Passino (Ohio State University) and Professor Veysel Gazi (Istanbul Kemer-
burgaz University) for their pioneering work on swarm source seeking (Chap. 8);
Jingyi Yao for her collaboration on swarm source seeking problem (Chap.8); and
Dr. Atindra Mitra and Sean Young (Air Force Research Laboratory) for their help
intheformulationofapotentialfunctionintheworkonradarleakagepointlocal-
ization(Chap.8).
This work would not have been possible without the help from Professor
Miroslav Krstic´ (University of California at San Diego) and Professor Qin Sheng
(Baylor University). One of the authors (Zhang) benefitted significantly from the
guidanceonextremumseekingcontrolfromProfessorMiroslavKrstic´,onnumeri-
caloptimizationfromProfessorQinSheng,andfromtheirdedicationtoacademic
research.
TheauthorsalsoliketothankKayodeAjayi-MajebifortheKheperaexperimen-
tationsusingextremumseekingcontrol;JiaWangforthepotentialfieldsanddecen-
tralizedcontrol;andHaiYuforhisinsightfulcommunicationsonextremumseeking
control.
C. Zhang would like to thank his colleagues Kartik Ramaswamy, Sergio Shoji,
JimCruse,ShahidRaufandKenCollinsatAppliedMaterialsfortheirgreatsupport
andalltheyhavetaughthimaboutthesemiconductorindustry.
R.OrdóñezwouldliketothankhisPhDdissertationadviser,ProfessorKevinM.
Passino(OhioStateUniversity),forhislife-longdedicationtoscholarship,andfor
hishumanistapproachtoteachingandresearch,allofwhichhavebeenaconstant
inspirationandasourceofguidance.
Finally,wewouldmostliketothankourfamilies,whohavebeenlovinglysup-
portivethroughallthetimeofintenseworkdevotedtothisbook.
SantaClara,CA,USA ChunleiZhang
Dayton,OH,USA RaúlOrdóñez