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A new adaptive inverse control scheme for teleoperation system with varying time delay

A new adaptive inverse control scheme for teleoperation syst...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Sha Sadeghi, M. Momeni, H.R. Amirifar, R. Ganjefar, S. Department of Electrical Engineering Tarbiat Modares University Tehran Iran Department of Electrical Engineering Bu Ali Sina University Hamedan Iran Researcher of Information Technology Institute Tarbiat Modares University Tehran Iran

ISBN: (纸本)0780397959

This paper presents a new force-reflecting teleoperation control system scheme with varying time delay. Time delay is an unavoidable factor in teleoperation. Transmission time delays are possibly destabilizing, and reduce significantly ability of teleoperation. Considering the timevarying non-deterministic characteristic of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ascertain that the system is robust and transparent. An elaborate and special strategy is presented to design the reference model for adapting the slave-side controller, and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact. © 2006 IEEE.

关键词： Adaptive control systems

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A new gain scheduling controller synthesis and its application to attitude control systems of a large flexible satellite

A new gain scheduling controller synthesis and its applicati...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Hamada, Yoshiro Ohtani, Takashi Kida, Takashi Nagashio, Tomoyuki Institute of Aerospace Technology Japan Aerospace Exploration Agency 7-44-1 Jindaiji Higashi-machi Chofu-shi Tokyo 181-8522 Japan Graduate School of Information Systems University of Electro-Communications 1-5-1 Chofugaoka Chofu-shi Tokyo 182-8585 Japan

ISBN: (纸本)0780397959

This paper proposes a new synthesis of a gain scheduling controller based on approximation of Lyapunov solutions with spline functions. Using the proposed synthesis, scheduled controllers, which do not require large programs when implemented in an actual control system, can be derived by setting the number of "knots" (i.e. grid points) of the controller as small as possible. Scheduled controllers which are piecewise-linear on a parameter can also be obtained by adding some constraints to the derived condition. The synthesis is applied to design an attitude controller of a large flexible satellite and simulation results are provided to show the effectiveness of our synthesis. ©2006 IEEE.

关键词： Satellites

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A novel adaptive nonlinear dynamic data reconciliation and gross error detection method

A novel adaptive nonlinear dynamic data reconciliation and g...

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joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Taylor, James H. Laylabadi, Mazyar B. Department of Electrical and Computer Engineering University of New Brunswick PO Box 4400 Fredericton NB E3B 5A3 Canada

ISBN: (纸本)0780397959

Data reconciliation is a well-known method in online process control engineering aimed at estimating the true values of corrupted measurements under constraints. Most nonlinear dynamic data reconciliation methods have studied cases where the input variables are constant over relatively long periods of time separated by simple step changes (e.g., set-point changes). While this scenario is not uncommon in process control, it imposes strong limitations on a method's applicability. In this paper a novel adaptive nonlinear dynamic data reconciliation algorithm is presented that extends the method presented by Laylabadi and Taylor [1] to the cases where the input variables are ramps or slow sinusoidal functions or, for that matter, any slow, smooth variation. © 2006 IEEE.

关键词： Nonlinear control systems

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MPC for a diesel engine air path using an explicit approach for constraint systems

MPC for a diesel engine air path using an explicit approach ...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Ortner, Peter Langthaler, Peter Ortiz, José Vicente García Del Re, L. Institute for Design and Control of Mechatronical Systems JKU Linz Departamento Ingenieria Mecánica y Construcción Jaume Universidad

ISBN: (纸本)0780397959

The air path of an internal combustion engine is a classical example of MIMO system with actuator constraints and high dynamic requirements. While the classical approach consists in using simple, decoupled heuristic controllers and empirical limitations, this paper proposes to state the problem in terms of an optimal control problem with input constraints and to solve it in a model based environment. To this end, a recently developed controller design - explicit MPC - is used to calculate the explicit solution of the state feedback control law offline and to store it in tables for online controller selection. The combination of plant and switched controller leads to a piecewise linear and discrete system - a special form of hybrid system. The approach has been tested on a production diesel engine yielding impressive improvements in terms of soot while compared with the basic application. © 2006 IEEE.

关键词： Diesel engines

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Predictive control of earth station antenna with backlash compensation

Predictive control of earth station antenna with backlash co...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Mohammadzaman, I. Khaki Sedigh, A. Nasirian, M. Ferdowsi, M.H. Electrical Engineering Department Malek Ashtar University of Technology Tehran Iran K.N. Toosi University of Technology Tehran Iran Electrical Engineering Department K.N. Toosi University of Technology Tehran Iran Malek Ashtar University of Technology Tehran Iran

ISBN: (纸本)0780397959

In this paper, Generalized Predictive control (GPC) algorithm is implemented to control an earth station antenna. Nonlinear term in motors caused by gearbox or other parts is modeled by a backlash block. Simulation results show the effectiveness of GPC method for robust control in the presence of backlash nonlinearity without a priori knowledge about upper and lower bounds of backlash. Also, adaptation mechanism as a self tuning predictive control is used to conquer environment changing. © 2006 IEEE.

关键词： Antenna arrays

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design of active steering and intelligent braking systems for road vehicle handling improvement: A robust control approach

Design of active steering and intelligent braking systems fo...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Başlamişli, S. Çaǧlar Köse, I. Emre Anlaş, Günay Department of Mechanical Engineering Boǧaziçi University Istanbul Turkey

ISBN: (纸本)0780397959

Linear Matrix Inequality (LMI) based robust control tools are used for the design of active steering and intelligent braking controllers for handling improvement of road vehicles. Vehicle plane dynamics are expressed in the generic Linear Parameter Varying (LPV) form and static state feedback controllers ensuring robust performance against changing road conditions are designed. First, stable braking on split μ road is taken into consideration. Simulations reveal efficiency of active steering when compared to intelligent braking, ensuring both high vehicle deceleration and low yaw rate and body side slip angle build-up for relatively high μ gradient. Second, the performance of intelligent braking is tested during cornering maneuvers on low μ roads. In all cases, it is shown that static state feedback controllers obtained by the proposed design method can achieve acceptable road handling performance. © 2006 IEEE.

关键词： Braking

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Proceedings of the 2006 IEEE International conference on control applications

Proceedings of the 2006 IEEE International Conference on Con...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

ISBN: (纸本)0780397959

The proceedings contain 360 papers. The topics discussed include: vehicle dynamics control and controller allocation for rollover prevention;modeling and control of a four wheel drive parallel hybrid electric vehicle;trajectory generation and feedforward control for parking a car;a computational method to vibration reduction of vehicle engine-body system using Haar wavelets;transparency in the bilateral control methodology by state convergence;using force control for fidelity in low-force medical haptic simulators;transparent collaborative haptic simulation;a telerobotic manipulator system with impedance control;a new adaptive inverse control scheme for teleoperation system with varying time delay;nonlinear predictive control for real time applications;and robust model predictive control using the unscented transformation.

关键词： control theory

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Issues in the modeling and boundary control of 2D heat flow: POD based modeling

Issues in the modeling and boundary control of 2D heat flow:...

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joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Efe, Mehmet Önder TOBB Economics and Technology University Department of Electrical and Electronics Engineering Sögütözü Ankara Turkey

ISBN: (纸本)0780397959

Low Dimensional (LD) modeling of systems governed by Partial Differential Equations (PDE) has been studied several times in the past. Various types of boundary excitations have been considered. This paper demonstrates how the external stimuli is made explicit in an autonomous set of ODEs and how the excitations along nonpoint subdomains of the boundaries are handled. Dirichlét type boundary excitations are considered and 2D heat equation has been chosen as the test bed. Linearity of the system makes it a good choice for investigating the stability and performance issues. Proper Orthogonal Decomposition (POD) is used in the modeling stage and it is shown that the developed model reconstructs the essential dynamics of the solution of the PDE successfully. The contributions of the paper are on the effects of the number of modes on the model performance, spectral dependence of LD models to the initial and boundary conditions and the prime importance of a fundamental assumption. ©2006 IEEE.

关键词： Heat transfer

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Adaptive headlight system design using hardware-in-the-loop simulation

Adaptive headlight system design using hardware-in-the-loop ...

引用

joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Hacibekir, T. Karaman, S. Kural, E. Öztürk, E.S. Demirci, M. Güvenç, B. Aksun Automotive Control and Mechatronics Research Center Department of Mechanical Engineering Istanbul Technical University Gumussuyu Taksim Istanbul TR-34437 Turkey

ISBN: (纸本)0780397959

According to traffic accident data, the majority of severe road accidents occur at night. It is, therefore, of great importance to use available technology to contribute to road safety by improving the visual conditions provided by vehicle headlights. This paper presents the hardware in the loop simulation of an Adaptive Headlight System for motor vehicles. The Adaptive Headlight System is an active safety system, where the headlamp orientation control system rotates the right and left low beam headlights independently and keeps the beam as parallel to the curved road as possible to provide better night time visibility. In the paper, the real time vehicle and road models used are presented first. The hardware-in-the-loop simulation setup proposed for testing the adaptive headlight concept is then given. Real time simulations using this simulator are used to illustrate the approach. © 2006 IEEE.

关键词： Headlights

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Nonlinear ∞ control applied to biped robots

Nonlinear ∞ control applied to biped robots

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joint 2006 IEEE conference on control applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Siqueira, Adriano A. G. Terra, Marco H. Department of Mechanical Engineering University of São Paulo at São Carlos 400 Av. Trabalhador São-carlense 13566-590 São Carlos-SP Brazil Department of Electrical Engineering University of São Paulo São Carlos Brazil

ISBN: (纸本)0780397959

In this paper, a control strategy based on nonlinear ∞ approach is applied in a biped robot with torso, knees, and feet, that presents a passive dynamic walking. To obtain an anthropomorphic gait, the Foot Rotation Indicator was used as control variable. The ∞ control adopted is based on the Linear Parameter Varying (LPV) approach with a quasiLPV representation of the biped robot. Results obtained from simulation show that the proposed controller increases the basin of attraction of the system limit cycle against external disturbances. © 2006 IEEE.

关键词： Nonlinear control systems

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