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JOURNAL OF PROCESS control 1995年第4期5卷 197-211页

作者： PEARSON, RK DUPONT CO INC POB 80101 WILMINGTON DE 19880 USA

This paper gives a highly abbreviated overview of some of the key issues in empirical nonlinear modelling for chemical process applications. This task is complicated by the inherent nature of nonlinearity: the term describes a class of systems by the one feature they lack. In fact, this division - linear vs. nonlinear - suggests a 'unity' or 'homogeneity' of the class of nonlinear systems that does not exist. Consequently, this review will focus on specific sub-classes of nonlinear models that have analytically useful structural characteristics, and comparisons will be made both between these classes and with the more familiar linear models. Length limitations restrict these discussions somewhat, but it is hoped that the range of examples will be great enough to demonstrate how nonlinear model identification is both similar to and different from linear model identification. The general conclusion of this paper is that nonlinear input/output modelling is a vitally important practical art with many unresolved issues;the principal objective of this paper is to elucidate some of these issues.

关键词： Nonparametric identification systems Networks Time INPUT-OUTPUT linear models Nonlinear Models Classes homogeneity Network nonlinearity model identification

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SYSTEMATIC TECHNIQUES FOR DETERMINING MODELING REQUIREMENTS FOR SISO AND MIMO FEEDBACK-control

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JOURNAL OF PROCESS control 1995年第4期5卷 213-224页

作者： RIVERA, DE GAIKWAD, SV ARIZONA STATE UNIV COMP INTEGRATED MFG SYST RES CTRCONTROL SYST ENGN LABTEMPEAZ 85287

This paper presents a fundamental methodology for assessing modelling requirements of SISO and MIMO linear control problems. The main result is the formulation of a control-relevant parameter estimation problem (CREP), which suitably captures the interplay that occurs between controller sophistication, speed and shape of the closed-loop response, and set-point/disturbance directions affecting the closed-loop system. The CRPEP is used to explain the apparent dilemma between emphasis on low-frequency, steady-state behaviour versus high-frequency, initial time behaviour in modelling for SISO feedback control. For multivariable systems, solutions to the CRPEP are presented using prefiltered estimation of MIMO ARX models (model reduction case) and a state-space frequency-weighted estimation method (system identification case). The superior performance of reduced order and model predictive controllers obtained from control-relevant models is demonstrated on a subset of the Shell heavy oil fractionator problem.

关键词： MODELING MODEL REDUCTION SYSTEM IDENTIFICATION MULTIVARIABLE control systems

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Worst-case control-relevant identification

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AUTOMATICA 1995年第12期31卷 1799-1819页

作者： Makila, PM Partington, JR Gustafsson, TK UNIV LEEDS SCH MATH LEEDS LS2 9JT W YORKSHIRE ENGLAND ABO AKAD UNIV DEPT CHEM ENGN SF-20500 TURKU FINLAND

This paper introduces the reader to several recent developments in worst-case identification motivated by various issues of modelling of systems from data for the purpose of robust control design. Many aspects of identification in H-infinity and l(1) are covered including algorithms, convergence and divergence results, worst-case estimation of uncertainty models, model validation and control relevancy issues.

关键词： identification error analysis estimation robustness uncertainty models worst-case analysis model validation uncertain systems

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Estimation of model quality

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AUTOMATICA 1995年第12期31卷 1771-1797页

作者： Ninness, B Goodwin, GC UNIV NEWCASTLE DEPT ELECT & COMP ENGN CALLAGHAN NSW 2308 AUSTRALIA

This paper provides an introduction to recent work on the problem of quantifying errors in the estimation of models for dynamic systems. This is a very large field. We therefore concentrate on approaches that have been motivated by the need for reliable models for control system design. This will involve a discussion of efforts that go under the titles of 'estimation in H-x', 'worst-case estimation', 'estimation in l(1)' and 'stochastic embedding of undermodelling'. A central theme of this survey is to examine these new methods with reference to the classic bias/variance tradeoff in model structure selection.

关键词： system identification estimation theory identification algorithms least-squares estimation parameter estimation model approximation process identification error estimation bounded disturbances stochastic modelling

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TOPOLOGICAL TASK SPACE MODELING FOR PLANNING AUTONOMOUS SPACE ROBOT ACTIONS

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control ENGINEERING PRACTICE 1995年第8期3卷 1095-1104页

作者： MATTHIESEN, J Control Systems Theory and Robotics Department Darmstadt Technical University Landgraf-Georg-Str. 4 D 64283 Darmstadt Germany

Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented.

关键词： SPACE ROBOTICS AUTONOMOUS control MODEL-BASED TASK PLANNING

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System identification with generalized orthonormal basis functions

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AUTOMATICA 1995年第12期31卷 1821-1834页

作者： VandenHof, PMJ Heuberger, PSC Bokor, J NATL INST PUBL HLTH & ENVIRONM PROTECT 3720 BA BILTHOVENNETHERLANDS HUNGARIAN ACAD SCI COMP & AUTOMAT RES INSTH-1502 BUDAPESTHUNGARY

A least-squares identification method is studied that estimates a finite number of expansion coefficients in the series expansion of a transfer function, where the expansion is in terms of recently introduced generalized basis functions. The basis functions are orthogonal in H-2, and generalize the pulse, Laguerre and Kautz bases. One of their important properties is that, when chosen properly, they can substantially increase the speed of convergence of the series expansion. This leads to accurate approximate models with only a few coefficients to be estimated. Explicit bounds are derived for the bias and variance errors that occur in parameter estimates as well as in the resulting transfer function estimates.

关键词： system identification orthogonal basis functions FIR models linear regression modelling errors system approximation

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Telemanipulation and telepresence

Telemanipulation and telepresence

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6th ifac/IFIP/IFORS/IEA symposium on Analysis, Design and Evaluation of Man-Machine systems

作者： Stassen, HG Smets, GJF FAC MECH ENGN & MARINE TECHNOL 2628 CD DELFTNETHERLANDS

ISBN: (纸本)0080423701

Telemanipulation is studied by many disciplines;however, this is generally done independently. This paper is intended to contribute to the integration of these disciplines by bridging the gap between the control engineers in the man-machine systems field, the computer scientists in the field of human-computer interaction, and the biomedical researchers in the field of severely bodily disabled persons. Three major problems in telemanipulation are recognised, i.e. the lack of tactile and touch information, the lack of information for depth perception since visual displays only generate 2D data, and the existing time-delay in the human operator - telemanipulator - control loop. For control theory the importance of the Internal Model for obtaining optimal filtering and control is highlighted, and for perception theory the choice for the so-called 'ecological approach' is explained. control theory and perception theory both point to the importance of an increase in feedback modalities, for instance by pointing to the importance of proprioceptive feedback for 3D perception, and by designing two-handed controls that pay attention to the asymmetry in the effectivities of both hands. It is argued that a combination of proprioceptive feedback and 3D perception is needed for good telemanipulation, and for telepresence. Also, a short note on compensation methods using predictive displays is given. Finally, the traditional approach will be compared with the ecological approach.;Telemanipulation is studied by many disciplines;however, this is generally done independently. This paper is intended to contribute to the integration of these disciplines by bridging the gap between the control engineers in the man-machine systems field, the computer scientists in the field of human-computer interaction, and the biomedical researchers in the field of severely bodily disabled persons. Three major problems in telemanipulation are recognized, i.e. the lack of tactile and touch information,

关键词： human computer interaction human machine interface manual control robotic manipulators telemanipulation

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Computer-aided design of intelligent control systems for discrete event dynamic systems

Computer-aided design of intelligent control systems for dis...

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Proceedings of the IEEE/ifac Joint symposium on Computer-Aided control System Design

作者： Capkovic, F. Slovak Acad of Sciences Bratislava Slovakia

ISBN: (纸本)0780318005

This paper presents a Petri nets-based approach to both modelling the discrete event dynamic systems (DEDS) to be controlled and the representation of knowledge about details or specifications concerning the control task. In order to synthetize intelligent control systems for the DEDS a procedure utilizing the Petri nets-based model of both the DEDS and the knowledge representation (both of them expressed in analytical terms) is proposed here.

关键词： control systems

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Hybrid analytical/intelligent approach to the modeling and control of DEDS

Hybrid analytical/intelligent approach to the modeling and c...

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Proceedings of the IEEE/ifac Joint symposium on Computer-Aided control System Design

作者： Kamen, E.W. Vachtsevanos, G. Doustmohammadi, A. Mahmood, W. Georgia Inst of Technology Atlanta United States

ISBN: (纸本)0780318005

Many manufacturing processes, such as those arising in electronic circuit assembly and packaging, are characterized by both continuous variables and discrete event dynamics. The design of innovative and effective monitoring and control strategies for these processes requires the development of new models that can capture the hybrid continuous/discrete dynamic nature of the processes and can address the performance objectives in a systematic way. Although there exists an extensive theory of modeling and control for continuous variable dynamic systems (CVDS), as of yet there is no comparable counterpart for the study of discrete event dynamic systems (DEDS), and there is no general systematic approach for combining CVDS and DEDS methodologies for the study of hybrid processes such as those arising in manufacturing systems. This paper introduces a new methodology for modelling, simulation and control of hybrid CVDS/DEDS processes with application to manufacturing systems. A key feature of the proposed approach is the use of a hierarchical modelling philosophy that capitalizes upon control theoretic concepts and tools from the area of fuzzy logic and neural networks.

关键词： Discrete time control systems

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Proceedings of the ACM symposium on Applied Computing

Proceedings of the ACM Symposium on Applied Computing

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1994 ACM symposium on Applied Computing, SAC 1994

ISBN: (纸本)0897916476

The proceedings contain 103 papers. The topics discussed include: developing requirements for a user interface;development life-cycle with reuse;pad-based expert system in small computer;hybrid domain-specific kits for a flexible software factory;a deterrent to linear system inferential attacks using a mediator;CLASSLIB - class management and reuse support on a MVS mainframe;specification and verification of learning;graphics class library for plotting (GCLIP), an extensible, reusable graphics framework;a brief introduction to domain analysis;a real-time people counter;using a document parser to automate software testing;a routing model for active form objects;modelling software process change for cooperative work;reusing a compiler;a fuzzy model-based optimal control strategy;application of fuzzy-logic in fin automatic sorting process;performance analysis of fuzzy proportional-derivative control systems;the Fennec system;fuzzy neural fusion techniques for industrial applications;a fuzzy controller for idle speed regulation;decade fast centroid approximation defuzzification for real time fuzzy control applications;and fuzzy control for the pursuing problem of an adaptive planar structure.

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