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检索条件"任意字段=2nd IFAC Conference on Control Systems Design, CSD 2003"

共 366 条记录，以下是1-10 订阅

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Power based adaptive compensator of output oscillations 4

Power based adaptive compensator of output oscillations

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4th ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Ruderman, Michael Univ Agder Dept Engn Sci N-4879 Grimstad Norway

Power-based output feedback compensator for oscillatory systems is proposed. The average input-output power of an oscillatory signal serves as an equivalent control effort, while the unknown amplitude and frequency of oscillations are detected at each half-period. This makes the compensator adaptive and discrete, while the measured oscillatory output is the single available signal in use. The resulting discrete control scheme enables a drastic reduction of communication efforts in the control loop. The compensator is designed for 2nd order systems, while an extension to higher-order dynamics, like e.g. in case of two-inertia systems, is also provided. Illustrative experimental case study of the 5th order oscillatory system is provided. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0/)

关键词： Power based control oscillatory systems harmonics compensation peak detection

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A One-step Approach for Centralized Overactuated Motion control of a Prototype Reticle Stage 2nd

A One-step Approach for Centralized Overactuated Motion Cont...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Tacx, Paul Oomen, Tom Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands Delft Univ Technol Fac Mech Maritime & Mat Engn Delft Netherlands

Next-generation motion stages are envisaged to be lightweight to meet stringent demands regarding accuracy and throughput. The lightweight stage design implies flexible dynamical behavior, which is foreseen to be severely excited due to increasing acceleration forces. The aim of this paper is to exploit additional actuators and sensors to explicitly control the flexible dynamic behavior. A systematic weighting filter design procedure is introduced which is tailored to next-generation motion stages. The presented procedure naturally connects to existing robust control techniques. The procedure is applied to an experimental next-generation reticle stage confirming performance enhancement by exploiting additional actuators and sensors beyond traditional performance limitations. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： Mechatronic systems Motion control systems Identification for control Identification and control methods Modeling

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Improving experiment design for frequency-domain identification of industrial robots 2nd

Improving experiment design for frequency-domain identificat...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Zimmermann, S. A. Enqvist, M. Gunnarsson, S. Moberg, S. Norrlof, M. Linkoping Univ Dept Elect Engn S-58183 Linkoping Sweden ABB Robot S-72136 Vasteras Sweden

For accurate control of industrial robots, a fast and easy-to-use method to estimate the model parameters based on experimental data is desired. This publication is about optimal experiment design in terms of short experiment times and an accurate parameter estimate. An optimization problem that is based on information matrices is solved for finding the optimal robot configurations for the identification experiment. A simulation study shows that the experiment time can be reduced significantly and the accuracy of the parameter estimate can be increased if experiments are conducted only in the optimal manipulator configurations. Furthermore, it is shown that a realistic estimate of the uncertainty in the frequency response function is crucial for successful experiment design. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： Closed-loop identification frequency-domain nonlinear systems industrial robots optimal experiment design covariance matrices

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Optimization Based Excitation Signal design Tailored to Application Specific Requirements 2nd

Optimization Based Excitation Signal Design Tailored to Appl...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Koesters, Tarek Heinz, Tim O. Nelles, Oliver Univ Siegen Res Grp Automat Control Mechatron D-57076 Siegen Germany

Data-driven identification of nonlinear dynamical black-box models is highly dependent on the excitation of the process the experimental data are gathered from. The optimized nonlinear input signal (OMNIPUS) is used to capture data in every operating region. The objective is uniform distribution of data points in the input space of the black-box model. For the industrial application of an OMNIPUS additional challenges occur which are tackled with novel extension of the design procedure of OMNIPUS. This includes constraints expressible by a classification function, speed-up of the execution time, and properties of data in case of unexpected termination of an experiment. Additionally, a model-based method is proposed to gain information about a suitable experiment duration for nonlinear system identification from the collected data. To validate these properties a combine harvester is chosen as industrial application. The data of this real-world process approve the stated advantageous properties. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： design of Experiment (DoE) Identification Real-world application Nonlinear dynamical systems Agricultural systems

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Feedforward with Acceleration and Snap using Sampled-Data Differentiator for a Multi-Modal Motion System 2nd

Feedforward with Acceleration and Snap using Sampled-Data Di...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Mae, Masahiro van Haren, Max Ohnishi, Wataru Oomen, Tom Fujimoto, Hiroshi Univ Tokyo Grad Sch Engn Dept Elect Engn & Informat Syst Tokyo Japan Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands Delft Univ Technol Delft Ctr Syst & Control Delft Netherlands

Sampled-data control requires both on-sample and intersample performance in high-precision mechatronic systems. The aim is to design a discrete-time linearly parameterized feedforward controller to improve both on-sample and intersample performance in a multi-modal motion system. The continuous-time performance is considered as state compatibility by a multirate zero-order-hold differentiator. The developed approach enables the linearly parameterized feedforward controller design for sampled-data systems with physically intuitive tuning parameters. The performance improvement is validated by comparing the developed approach with a conventional approach using a backward differentiator for a multi-modal motion system. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： feedforward discrete-time system sampled-data control zero-order-hold multirate

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Frequency Response Function Identification from Incomplete Data: A Wavelet-based Approach 2nd

Frequency Response Function Identification from Incomplete D...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Dirkx, Nic Tiels, Koen Oomen, Tom ASML Res Mechatron Control Veldhoven Netherlands Eindhoven Univ Technol Dept Mech Engn Control Syst Technol Eindhoven Netherlands Delft Univ Technol Delft Ctr Syst & Control Delft Netherlands

Frequency Response Function (FRF) identification plays a crucial role in the design, the control, and the analysis of complex dynamical systems, including thermal and motion systems. Especially for applications that require long measurements, missing data samples, e.g., due to interruptions in the data transmission or sensor failure, often occur. The aim of this paper is to accurately identify nonparametric FRF models of periodically excited systems from noisy output measurements with missing samples. The presented method employs a wavelet-based transformation to address the identification problem in the time-frequency plane. A simulation example confirms that the developed techniques produce accurate estimates, even when many samples are missing. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： Frequency domain identification non-parametric methods missing data transient estimation linear systems

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Individualizable Vehicle Lane Keeping Assistance System design: A Linear-Programming-Based Model Predictive control Approach 2nd

Individualizable Vehicle Lane Keeping Assistance System Desi...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Zhou, Xingyu Shen, Heran Wang, Zejiang Wang, Junmin Univ Texas Austin Walker Dept Mech Engn Austin TX 78712 USA

Model predictive control (MPC), a control technique that can systematically and explicitly cope with system constraints, has become increasingly prevalent in the field of automotive engineering. Respecting the advanced driver-assistance systems (ADAS) design, the MPC has found its applications in various kinds of ground vehicular lane-keeping assistance systems (LKAS). In this paper, an MPC-based LKAS is synthesized by leveraging the linear programming (LP) methodology. Compared to the conventional MPC-based LKAS that is based on quadratic programming (QP), the LP alternative is less computationally demanding, which is desired for commercial vehicular electronic control units. Besides, the LP scheme enables the designer to formulate the MPC' s performance criterion in the sense of L-1/L-infinity norms, which differs from the QP's L-2-norm-based measure. The proposed LP-based MPC-LKAS is examined in CarSim-Simulink joint simulations and its performance is compared with a QP-based solution. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： Advanced Driver-Assistance systems (ADAS) Lane-Keeping Assistance systems (LKAS) Linear Programming (LP) Model Predictive control (MPC)

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Adaptive Spacing Policy design of Flocking control for Multi-agent Vehicular systems 2nd

Adaptive Spacing Policy Design of Flocking Control for Multi...

引用

2nd Modeling, Estimation and control conference (MECC)

作者： Wang, Fengchen Wang, Gang Chen, Yan Arizona State Univ Mesa AZ 85212 USA

This paper proposes a novel adaptive spacing policy (ASP) of flocking control for multi-agent systems to accommodate complex and specific environments of engineering applications, such as connected and automated vehicles (CAVs). Compared with the existing rigid spacing policy (RSP) that uses a predefined fixed lattice, the ASP involves an ellipse interaction field around every agent, which is adaptive to the agent's speed and orientation. Leveraged by the proposed ASP, an augmented flocking control protocol can achieve heterogeneous lattice formations for a group of agents. The stability analysis proves that the flocking control protocol with the ASP can achieve speed consensus, cohesion, and separation asymptotically. Compared with the RSP, the simulation results demonstrate that the ASP-based flocking control can successfully achieve heterogeneous lattice formation, which displays the features of vehicle motions in CAV applications. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： multi-agent systems flocking control adaptive spacing policy connected and automated vehicles

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A New Iterative Learning control Algorithm for Final Error Reduction 2nd

A New Iterative Learning Control Algorithm for Final Error R...

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2nd Modeling, Estimation and control conference (MECC)

作者： Chen, Zhu Liang, Xiao Zheng, Minghui Univ Buffalo Mech & Aerosp Engn Buffalo NY 14260 USA Univ Buffalo Civil Struct & Environm Engn Buffalo NY 14260 USA

Iterative learning control (ILC) is a powerful technique for tracking performance improvement by adding the iteratively updated learning signal to the feedforward loop of a repetitively operated system. To increase the robustness to uncertainties and noises, usually a low-pass filter is needed in the learning law which can result in a final steady-state error as a trade-off. This study proposes a new ILC algorithm to further reduce the final error associated with the traditional ILC design. This new algorithm can be easily applied to most ILC systems. In the proposed learning algorithm, when the learning converges and a final error is obtained, the learning law is updated by adding a compensating term which consists of a compensatory filter and the obtained final error. The to-be-designed compensatory filter introduces no more design trade-offs and uncertainties. By updating the learning law, the reached learning convergence can be broken and the final error is further reduced. The compensatory filter design guideline along with four different designs are provided and analyzed. Numerical studies with the four designs have been conducted, and the results are compared to that with the traditional ILC design. It shows that the proposed learning algorithm is able to further reduce the final error effectively. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： ILC convergence learning law final error reduction low-pass filter

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A Koopman operator approach for the vertical stabilization of an off-road vehicle 2nd

A Koopman operator approach for the vertical stabilization o...

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2nd Modeling, Estimation and control conference (MECC)

作者： Buzhardt, Jake Tallapragada, Phanindra Clemson Univ Dept Mech Engn Clemson SC 29634 USA

Vehicles traversing off-road terrains experience modes of dynamics that are not usually encountered on-road. Deformable terrains with significant variations in height and the presence of bumps can lead to significant vertical dynamics in a vehicle. Besides rider discomfort and safety of the vehicle, in the case of unmanned vehicles, these vertical dynamics coupled with pitch motion can produce significant disturbances to sensors such as cameras. Reducing these vertical dynamics is therefore important. However any control design for this problem has to first contend with the modeling complexity of vehicle-tire-terrain interaction. Motivated by recent developments in dynamical systems, we propose the use of the Koopman operator to obtain a linear representation for both the vehicle and terrain interaction dynamics as well as the effect of the control input. As a test case for this framework we address the problem of stabilizing the vertical dynamics of a half-car model moving on a deformable terrain using a propulsive force on the car as the sole control input. The terramechanics are modeled using the Bekker-Wong equations. Using the Koopman operator framework, we obtain a lifted, linear representation of the nonlinear control system, which is then used to formulate the optimal control problem as a constrained linear quadratic model predictive control problem on the lifted system. The framework proposed in this paper can potentially be extended to design a combination of data-driven and physics-based control algorithms for intelligent suspensions, motion control and path-tracking for unmanned ground vehicles on unstructured terrains. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： Vehicle dynamic systems Motion control Model Predictive control Koopman operator

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