A gain-scheduled controller is designed for regulating the response of a large-scale pneumatic muscle actuator device which has inherently nonlinear dynamics. The tracking paradigm consists of a triangular-wave desire...
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A gain-scheduled controller is designed for regulating the response of a large-scale pneumatic muscle actuator device which has inherently nonlinear dynamics. The tracking paradigm consists of a triangular-wave desired force input signal. To compute the appropriate scheduled gains, a steady state and transient analysis of the pneumatic muscle system's response were conducted within the dynamic range of its operation. Experimental data are presented on the controller designed.
This paper explores the benefits of integration of building control solutions with enterprise level applications and how underlying technologies and industry standards are used to improve facility management decision ...
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This paper explores the benefits of integration of building control solutions with enterprise level applications and how underlying technologies and industry standards are used to improve facility management decision making. The discussion will also focus on how building control solutions providers like Honeywell Inc. are addressing a facilities' total information access and control needs to make higher order integration a competitive advantage in creating better business outcomes.
Elevator controlsystems are very sophisticated, hard real-time systems that have to do various activities within specified timing constraints. Also, they have numerous differences of functions and system specificatio...
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Elevator controlsystems are very sophisticated, hard real-time systems that have to do various activities within specified timing constraints. Also, they have numerous differences of functions and system specifications due to adopting user's requirements. So, it makes difficult to develop new models especially on requirement changes with satisfying timing constraints. In order to make hard real-time controlsystem more reliable and easier to achieve time-to-market, a new software development process focused on software reuse is introduced. This process has been applied from the first phase of the software life-cycle. It is called Feature-Oriented Reuse Method (FORM). Using FORM, we could describe those complicated elevator systems in more understandable form, utilize reusability of requirement specification, adopt new requirements, and finally develop reliable controlsystems. FORM a software process is not only having visual modeling tool to analyze and develop software but also a dynamic behavior simulator utilizing state simulation engine and logic analyzer. This paper present real-time elevator model resulted from each software development process for the elevator controller and promising simulation results showing dynamic behavior.
Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimi...
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Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimize the required active control effort to satisfy given output variance constraints and robust performance constraints. The problem is formulated as an iterative sequential controldesign followed by control/structure redesign. Each step of the iterative algorithm is formulated as a Linear Matrix Inequality (LMI) optimization problem that can be solved effectively using available LMI solvers. Convergence of the proposed algorithm to a solution that provides improved control effort and robust stability compared to the single-step structural and controldesign is guaranteed. Both static state-feedback and dynamic output feedback problems are considered.
This paper considers the fundamental design and modeling of the Caltech ducted fan. The Caltech ducted fan is a scaled model of the longitudinal axis of a flight vehicle. The purpose of the ducted fan is the research ...
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This paper considers the fundamental design and modeling of the Caltech ducted fan. The Caltech ducted fan is a scaled model of the longitudinal axis of a flight vehicle. The purpose of the ducted fan is the research and development of new nonlinear flight guidance and control techniques for Uninhabited Combat Aerial Vehicles. It is shown that critical design relations must be satisfied in order that the ducted fan's longitudinal dynamics behave similar to those of an flight vehicle. Preliminary flight test results illustrate the flying qualities of the ducted fan.
In order to meet the control reconfiguration requirement within a limited frequency range for the fault tolerant controlsystems, a numerical frequency-domain control mixer module method is developed in this paper, an...
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In order to meet the control reconfiguration requirement within a limited frequency range for the fault tolerant controlsystems, a numerical frequency-domain control mixer module method is developed in this paper, and the sufficient condition for the existence of a real mixer matrix is obtained basing on the proper frequency samplings. Furthermore, the heterogeneous control approach is employed to deal with the non-smooth transition problem during the control mixer switches. Finally, a practical self-repairing flight controlsystem is utilized to test our method.
Though pneumatic systems are used for many applications, the control of such systems present major challenge because of nonlinearity caused by friction and the nonlinear volume-pressure relation in pneumatics. This pa...
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Though pneumatic systems are used for many applications, the control of such systems present major challenge because of nonlinearity caused by friction and the nonlinear volume-pressure relation in pneumatics. This paper presents the results on modeling, estimation and control of a heavy industrial pneumatic log handling machine. It is shown that a modified self-tuning generalized predictive control can achieve much improved performance over other control schemes.
Digital system upsets can occur as a result of electrical transients induced by electromagnetic fields. One possible upset is the irrecoverable loss of sensor data due to noisy readings or data changes in the input ci...
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Digital system upsets can occur as a result of electrical transients induced by electromagnetic fields. One possible upset is the irrecoverable loss of sensor data due to noisy readings or data changes in the input circuitry. The controlsystem may not perform adequately when faced with such modes of failure. The present paper focuses on a technique in which a virtual closed loop is used to overcome these modes of failure. The advantage of using this technique is confirmed by results from a DC motor controlsystem set-up in electromagnetic environments.
In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be o...
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In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizating transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.
Model helicopters are becoming increasingly popular as benchmark systems for control theory and as platforms for aerial robotics. As benchmark systems, an important question to ask is: How do results for model helicop...
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Model helicopters are becoming increasingly popular as benchmark systems for control theory and as platforms for aerial robotics. As benchmark systems, an important question to ask is: How do results for model helicopters scale to the full-size version? After presenting a description of a typical laboratory-scale helicopter system, we discusses some of the key differences between model and full-sized helicopters. We also discuss some of the fundamental issues of scale, including efficiency as the helicopter becomes very small or very large.
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