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Validating executable controller specifications through formal model checking

Validating executable controller specifications through form...

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： J.J. Scillieri K.R. Butts J.S. Freudenberg Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Powertrain Control Systems Department Ford Research Laboratory Dearborn MI USA

ISBN: (纸本)0780365666

In many embedded control system applications, the control algorithm includes both logical and data flow portions. We apply formal methods of system verification to discrete-state algorithms. Specifically, we make use of a formal model checking tool to prove or disprove various properties of the algorithm. Questions pertaining to the achievability of states and paths and proper variable assignment are cast as logical assertions in computation tree logic (CTL), and evaluated using the model checker. In addition, we describe an approach for generating scenarios; that is, a sequence of inputs and parameters that will take a discrete-state system model through a given sequence. We present several examples illustrating various questions that the designer may wish to pose, and an appropriate CTL assertion for each.

关键词： Mathematical model System testing Power system modeling control system synthesis Logic design engineering computer science Mechanical power transmission Laboratories Application software

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Hybrid automata: a formal paradigm for heterogeneous modeling

Hybrid automata: a formal paradigm for heterogeneous modelin...

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IEEE International symposium on computer aided control System design (CACSD)

作者： K.H. Johansson J. Lygeros Jun Zhang S. Sastry Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

ISBN: (纸本)0780365666

A hybrid automaton is a model of a system with interacting continuous and discrete dynamics. It has been successfully employed in emerging applications on the border between computer science and control theory. In this paper, hybrid automata are formally introduced. Some results on existence and uniqueness of executions for hybrid automata are obtained. Continuous dependence on initial states are shown for a class of hybrid automata. Zeno hybrid automata, i.e., hybrid automata that exhibit infinitely many discrete transitions in finite time, are also discussed.

关键词： Automata Cost accounting Vehicle dynamics Aerodynamics Application software computer science control theory Analog computers Automotive engineering Vehicles

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A generic client/server architecuture for distributed Web-based simulation experimentation

A generic client/server architecuture for distributed Web-ba...

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： R. Finsterwalder Wissenschaftliche Einrichtung Math. & Inf. Univ. der Bundeswehr Munchen Neubiberg Germany

ISBN: (纸本)0780365666

The Java language environment, World Wide Web, and client-server architecture are complementary software technologies, which, when used together provide a powerful set of tools for developing and deploying multi-user distributed applications. In this article we describe an approach to build easy-to-use client software as WWW-downloadable Java applets, which use the World Wide Web to interact with servlets running on a remote server. We use this technology for developing a generic framework for remote computation. As application example serves the parametric multicriteria robustness exploration of the dynamics of a high-fidelity aircraft model.

关键词： Computational modeling Java computer simulation computer architecture Application software Web sites Concurrent computing computer interfaces Data flow computing Web server

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The CRONE toolbox for Matlab

The CRONE toolbox for Matlab

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： A. Oustaloup P. Melchior P. Lanusse O. Cois F. Dancla Laboratoire d’Automatique et de Productique EP 2026 CNRS Equipe CRONE ENSERB Université Bordeaux 1 Talence France

ISBN: (纸本)0780365666

A new CAD tool, the CRONE Matlab toolbox, is presented for engineers and researchers in mathematics and engineering sciences, particularly for electrical and electronic engineering and automatic control. The originality, aims, form and use of the toolbox are presented. The three main modules are described: their content, principle, algorithms, and applications for identification and control. Examples of their use are given. The original theoretical mathematical concepts developed in our laboratory based on noninteger differentiation are used for the computation. CRONE control is a typical application. The toolbox is not only for researchers, including Ph.D students, but also for industrials whose growing interest in noninteger integration, and their readiness to invest in the development of its applications, are manifest. The paper is divided into four sections: aims and organization of the toolbox, "mathematical tools" module, "identification by noninteger model" module, and the "CRONE CSD" module. The final section discusses perspectives.

关键词： MATLAB Automatic control Mathematics Laboratories Mathematical model Visualization Graphics Differential equations Laplace equations Robust control

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RD500 manipulator force controller design: A multiobjective approach

RD500 manipulator force controller design: A multiobjective ...

引用

Proceedings of the 1999 IEEE International conference on control applications (CCA) and IEEE International symposium on computer aided control System design (CACSD)

作者： Folcher, Jean-Pierre Andriot, Claude Ecole Nationale Superieure de Techniques Avancees Paris France

The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joint of the manipulator is performed and numerical experiments demonstrate the effectiveness of the proposed multiobjective approach.

关键词： Force control

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Robust nonlinear fault diagnosis: Application to robotic systems

Robust nonlinear fault diagnosis: Application to robotic sys...

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Proceedings of the 1999 IEEE International conference on control applications (CCA) and IEEE International symposium on computer aided control System design (CACSD)

作者： Trunov, Alexander B. Polycarpou, Marios M. Univ of Cincinnati Cincinnati United States

Fault detection, diagnosis, and accommodation play an important role in the operation of autonomous robotic systems. Incipient faults in the actuators, sensors or in the dynamics of a robotic manipulator can lead to deterioration in performance and unsafe operating conditions. This paper presents a robust nonlinear fault diagnosis scheme for detecting and approximating faults occurring in a class of nonlinear multi-input multi-output systems. The proposed approach utilizes on-line approximators and adaptive nonlinear filtering techniques to obtain estimates of the fault functions. Performance of the nonlinear fault diagnosis scheme is analyzed by investigating its robustness and fault sensitivity properties in the presence of slowly developing or abrupt faults. A simulation example is presented to illustrate the ability of the fault diagnosis scheme to detect faults in a single link robotic manipulator with a revolute elastic joint.

关键词： Nonlinear control systems

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Robust output feedback control of robot manipulators using high-gain observer

Robust output feedback control of robot manipulators using h...

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Proceedings of the 1999 IEEE International conference on control applications (CCA) and IEEE International symposium on computer aided control System design (CACSD)

作者： Shin, E.S. Lee, K.W. Hankuk Aviation Univ

In this paper, we design a robust output feedback controller for trajectory control of n-link robot manipulators with bounded parametric uncertainties. The state feedback controller with integral control improves tracking error due to limit of the robust feedback gains and use of continuous control input for chattering rejection. High-gain observer is used to estimate joint velocities. We show that the stability of the state feedback control system is asymptotically stable and the output feedback controller recovers the performance achieved under the state feedback controller. The performance of the proposed method is demonstrated by simulation on a 2-link robot manipulator.

关键词： Feedback control

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Walking of a biped robot with passive ankle joints

Walking of a biped robot with passive ankle joints

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Proceedings of the 1999 IEEE International conference on control applications (CCA) and IEEE International symposium on computer aided control System design (CACSD)

作者： Yi, Keon Young Kwangwoon Univ Seoul Korea Republic of

This paper deals with a walking of a biped robot which has ankle joints without motor. Ankle joints have been built using springs and mechanical constraints, which gives a flexibility of joint within a certain range and a stiffness beyond the range. The biped with passive ankles proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. Weight and cost of legs are also reduced. As the cost of the advantages, however, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the passive ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Experimental results with the minor modification of the SD-2 robot in the Ohio State University are given to show the validity of the proposed controller.

关键词： Motion control

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Decentralized control of cooperative manipulators based on virtual force transmission algorithm

Decentralized control of cooperative manipulators based on v...

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Proceedings of the 1999 IEEE International conference on control applications (CCA) and IEEE International symposium on computer aided control System design (CACSD)

作者： Itoh, Masanao Murakami, Toshiyuki Ohnishi Kouhei Keio Univ Japan

This paper describes a novel approach to control the cooperative manipulators in the grasping motion. In this method, first, the grasping force and accelerating force are calculated at the end-effectors. Then the impedance controller is adopted to calculate the force. Second, the force is resolved from tip to base link so that the rotational force is changed into the torque and the others are given to the next joint. This means that the force is transmitted among joints step by step and the desired tasks are realized asymptotically. Final, the work space observer is adopted so that the error is corrected in the tip motion response. Using this method, it is possible to realize decentralized control of plural and cooperative manipulators and the control structure is simplified. The proposed method is confirmed by several simulations and experiments.

关键词： Decentralized control

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Automotive control: From concept to experiment to product

Automotive control: From concept to experiment to product

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1996 IEEE International symposium on computer-aided control System design

作者： Hanselmann, H DSPACE GMBH D-33100 PADERBORNGERMANY

Without appropriate tools to implement new controllers quickly and safely, the tightening development schedules cannot be met anymore. This paper addresses the issue of rapid control prototyping (RCP). With RCP there ... 详细信息

ISBN: (纸本)0780330323

关键词： Automotive engineering MATLAB control design control systems Testing design engineering Robust control Real time systems Software tools Mathematical model

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