A new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty is developed. The novelty is in the strategy to construct such a Lyapunov f...
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A new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty is developed. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L2-gain constraint for the tracking performance. Simulation works are carried out to evaluate the effectiveness of the proposed control scheme for a two-link electrically-driven robot manipulator.
The effect of model reduction strategies for actuator design and control of a thermal convection loop was studied. The actuator designs were based on coarse and fine grid finite element approximations. It was shown th...
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The effect of model reduction strategies for actuator design and control of a thermal convection loop was studied. The actuator designs were based on coarse and fine grid finite element approximations. It was shown that useful information concerning the location of control actuators can be obtained by computing the feedback laws for various placements and comparing the resulting performance.
The generation of chaos by a linear system with nonlinear feedback has been studied by many researchers. In this paper, a chaotic system using `Relay' as nonlinear feedback element is presented. The system is easi...
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The generation of chaos by a linear system with nonlinear feedback has been studied by many researchers. In this paper, a chaotic system using `Relay' as nonlinear feedback element is presented. The system is easily analyzed by means of the describing function approach, which gives parameter condition leading to chaotic motion. By the bilinear transformation, the proposed system is also shown to be transformed into Brockett proposed chaotic system with piecewise-linear feedback element.
A statistically-based approach is proposed to detect excessively oscillatory feedback control loops. The technique is simple and requires only normal operating data. The effectiveness and widespread applicability of t...
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A statistically-based approach is proposed to detect excessively oscillatory feedback control loops. The technique is simple and requires only normal operating data. The effectiveness and widespread applicability of the new approach are demonstrated in several experimental applications, including an industrial distillation column.
The possibility of looperless rolling in finishing mill of hot rolling process is studied. The performance of controlsystem with the compensator designed by μ synthesis considering parameter perturbation is better t...
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The possibility of looperless rolling in finishing mill of hot rolling process is studied. The performance of controlsystem with the compensator designed by μ synthesis considering parameter perturbation is better than that with the compensator designed by H∞. In order to realize the looperless rolling, the effect of noise of measured variable and the way to reduce the order of compensator must be considered.
In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control(IMC) and limiting properties of LQ control. Then the proposed control is applie...
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In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control(IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two links robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control.
This paper presents a synthetic design procedure of robust LQ optimal controller for refining process, including modeling and robust optimal systemdesigning. The paper discusses three major topics: mathematical model...
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This paper presents a synthetic design procedure of robust LQ optimal controller for refining process, including modeling and robust optimal systemdesigning. The paper discusses three major topics: mathematical modeling of the process with large uncertainty, determination of a synthetic performance index for optimizing the process, and design of the robust optimal controlsystem with robust guaranteed stability. This research is a part of preliminary results of the real refining process optimal controlsystem implemented in Minfeng Paper Mill, Zhejiang Province. Simulation test results show that the proposed modeling and control algorithms are efficient and practicable.
We propose some simple methods for designing attachable robust compensators that improve the robustness and decrease the sensitivity of attached controlsystems. Concerning with the practical design method of Robust M...
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We propose some simple methods for designing attachable robust compensators that improve the robustness and decrease the sensitivity of attached controlsystems. Concerning with the practical design method of Robust Model Matching (RMM), we propose linear-time-invariant (LTI) attachable robust compensators for LTI controlsystems with some structured and unstructured disturbances. First, a generalized approach to the standard RMM is proposed. Then, a new configuration for RMM that separates the robust compensator from the existing controller is proposed. We also examine the efficiency of the proposed method by a laboratory experiment.
Experimental results demonstrate that μ synthesis provides an excellent tool for increasing the dynamic stiffness of thrust magnetic thrust bearings. Accurate system modeling and appropriate uncertainty descriptions ...
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Experimental results demonstrate that μ synthesis provides an excellent tool for increasing the dynamic stiffness of thrust magnetic thrust bearings. Accurate system modeling and appropriate uncertainty descriptions are critical to obtaining such results and are described in detail. Both complex μ and mixed μ synthesis were used to designcontrollers. The performance of the μ controllers is compared to that of an optimized PID controller. The dynamic stiffness of the spindle's thrust axis was increased by a factor of two over that obtained with optimized PID control.
A simple method for the diagnosis of oscillations in process control loops is presented. The new method is based on the cross-correlation between control variable and loop output and it is shown to correctly diagnose ...
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A simple method for the diagnosis of oscillations in process control loops is presented. The new method is based on the cross-correlation between control variable and loop output and it is shown to correctly diagnose the two most important reasons for oscillations in control loops in the process industry, namely external oscillating disturbances and static friction (stiction) in control valves.
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