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ASME 1995 design Engineering Technical Conferences, DETC 1995, collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database symposium

作者： Söffker, Dirk Safety Control Engineering University of Wuppertal Wuppertal Germany

ISBN: (纸本)9780791817186

In the last years modeling, simulation, and control of flexibel structures have made an essential progress, especially stimulated by the requirements of space operations. For this working field, flexible lightweight robots can enhance the work space of space robots very well, if the length of the robot arm is variable. Contributions in the corresponding literature mostly consider models of special configurations and perform simple approximations or even assume linear models to describe. the elastic motions of the robot. However, especially in the case of lightweight robots undergoing large reference motion, its nonlinear dynamic behaviour should be modeled as exact as possible. The mechanical system should be controlled to improve its dynamical behaviour. Unfortunately, it is not possible to measure the position of the endeffector. The only measurements that can be done are that of the strains of the beam. The control input should be the velocity (translational and rotational) transmitted to the base of the beam. This includes a correction of the actual path planning values as a kinematical control. Here the specified task is solved in two parts: Firstly, the variable length, the geometric nonlinear beam behaviour and the large reference motion of the driven joint are taken into consideration with a systematic modeling approach in (Söffker, 1995b;Söffker, 1995c). nonlinear control approaches can often be used only for special classes of problems assumptions have to be made, which cannot be generally fulfilled in practice. Here a new controller is developed which is realizable for on-line applications with the mentioned restrictions. Therefore, in a second part the mechanical plant will be controlled by a new observer-based dynamic compensation scheme. Based on a linear time-invariant model, nonlinear effects and unmodeled dynamics axe estimated in a first step by an Proportinal-Integral (PI) observer scheme, whereby the nonlinearities and the effects of the non-cons

关键词： Robust control

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A NOVEL MODEL MANIPULATION OF ELASTIC-JOINT ROBOTS FOR control PURPOSES

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MATHEMATICS AND COMPUTERS IN SIMULATION 1994年第2-3期37卷 221-225页

作者： TAHBOUB, KA MULLER, PC Safety Control Engineering University of Wuppertal Gaußstr. 20 42097 Wuppertal 1 Germany

This paper presents a new method to control elastic-joint robots. Models that include electrical and mechanical parts of actuator dynamics, together with joint elasticity are considered. A novel nonlinear coordinate transformation is introduced. It is possible after the transformation to exactly linearize the model by the direct computation of the transformed nonlinearities or, for the first time, by the use of an observer that estimates the unmeasured states and nonlinearities. Tracking and disturbance rejection requirements can be met in the design of the outer loop. Simulation results are given.

关键词： Mathematical models

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Maximum A-posteriori (MAP) estimation approach to laser beam control

Maximum A-posteriori (MAP) estimation approach to laser beam...

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Proceedings of the 1993 IEEE International symposium on Intelligent control

作者： Kalata, Paul R. Drexel Univ Philadelphia United States

ISBN: (纸本)0780312074

In laser pointing systems involving Gaussian beams, a symmetrical, rather harsh non linearity due to the Gaussian glint sensing process appears in the feedback loop. In the control design, a forced separation approach in which the observed and controller are designed independently is considered. For the observer, the maximum a-posteriori (MAP) estimator criterion is introduced which leads to a nonlinear observer structure. For the controller structure, a multivariable linear time invariant (LTI) controller is used. An example is presented to illustrate the design method with a simulation illustrating the system performance.

关键词： control systems

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A maximum a-posteriori (MAP) estimation approach to laser beam control

A maximum a-posteriori (MAP) estimation approach to laser be...

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IEEE International symposium on Intelligent control (ISIC)

作者： K.M. Murphy P. Kalata Department of Electrical Computer Engineering Drexel University Philadelphia PA USA

In laser pointing systems involving Gaussian beams, a symmetrical, rather harsh nonlinearity due to the Gaussian glint sensing process appears in the feedback loop. In the control design, a forced separation approach in which the observer and controller are designed independently is considered. For the observer, the maximum a-posteriori (MAP) estimator criterion is introduced which leads to a nonlinear observer structure. For the controller structure, a multivariable linear time-invariant (LTI) controller is used. An example is presented the design method with simulation illustrating the system performance.< >

关键词： Maximum a posteriori estimation Laser beams Optical control Mirrors Laser feedback Laser noise Linear feedback control systems Frequency State estimation Error correction

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Robust detection filter design for jet engine control system

Robust detection filter design for jet engine control system

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IFAC/IMACS symposium on Fault Detection, Supervision and Safety for Technical Processes - SAFEPROCESS'91

作者： Zhang, Hong Yue Wang, Yu Lin Du, Kuan Wen Beijing Univ of Aeronatics and Astronautics Beijing China

The fault detection and isolation for a jet engine nonlinear control system is discussed. It is shown that Beard's detection filter is not robust to unmodelled nonlinearity. A combination of detection filter with Unknown input observer is then proposed. It results in a design of robust detection filter which can completely eliminate the effect of second order nonlinear term in the system on the fault detection and isolation. A simulation example is given for illustration.

关键词： Jet engines

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nonlinear observerS FOR DISTILLATION-COLUMNS

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COMPUTERS & CHEMICAL ENGINEERING 1990年第11期14卷 1297-1301页

作者： LANG, L GILLES, ED Institut für System dynamik und Regelungstechnik Universität Stuttgart (D) Keplerstrasse 7 D-70M Stuttgart F.R.G.

A full-order nonlinear observer for distillation columns is presented. Temperatures are measured at different points of the column and compared to the observer's output temperatures. The error is weighed by a spatially distributed function. The resulting term is used to correct the mathematical model of the observer. The estimated temperature and concentration profiles are then given by the state of the observer. The mathematical model used includes material balances on each tray as well as thermodynamic state-functions. It consists of dynamic and algebraic equations, exhibits severe nonlinearities and is of high order. Physical insight is used to design the observer. The movement of the regions of high mass transfer rate determines the essential dynamic quality of a column. Knowing the location of these mass transfer regions allows observer design and positioning of measurement points. The obtained observer was successfully tested in several simulation studies. It exhibits dynamic behaviour and robustness properties.

关键词： control Systems, nonlinear

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Robust current mode control of switching DC-DC converters

Robust current mode control of switching DC-DC converters

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Southeastern symposium on System Theory

作者： O. Ojo G. Radman Department of Electrical Engineering Tennessee Technological University Cookeville TN USA

Summary form only given. The authors propose an approach that results in a controller and filter design that is optimal and robust and in which the interacting effects (coupling) of the filter and the controller are used as extra degrees of freedom in the selection of the controller gains and filter components. In particular, the controller and filter design methodology is based on a linear quadratic formulation that accounts for the different constraints on design specifications. The resulting controller structure has the following components: (1) feedforward gains that provide anticipative response control to all nonexciting and limited-time-exciting commands and disturbances in the input voltage and that also alter the zeros of the resulting closed-loop system; (2) a servocompensator positioned in the forward loop path of the converter model to ensure asymptotic tracking of the commanded voltage and rejection of all disturbances; (3) state feedback and a filter to enforce the desired high gain at low frequency and low gain at high frequency and approximately -20-dB/s/dec slope at the crossover frequency in order to attain satisfactory phase margin. A proportional integral (PI) observer, instead of using a hardware current sensor, is used to estimate the inductor current. The controller and filter of a 50-W, DC-DC buck converter that supplies a load with a constant output voltage of 5 V have been designed and implemented in hardware.< >

关键词： Robust control DC-DC power converters Switching converters Optimal control Voltage control Frequency conversion Hardware nonlinear filters design methodology Tracking loops

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SYSTEMATIC observer design FOR BILINEAR-SYSTEMS

SYSTEMATIC OBSERVER DESIGN FOR BILINEAR-SYSTEMS

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1989 IEEE INTERNATIONAL SYMP ON CIRCUITS AND SYSTEMS ( ISCAS )

作者： TIBKEN, B HOFER, EP Div of Control & Syst Dynamics Tech Univ of Hamburg-Harburg Hamburg West Ger

observer design for bilinear systems using Ljapunov's methods leads to systems of matrix equations and matrix inequalities to be satisfied. So far, no systematic approach has been implemented in order to attack this problem. The solution presented consists of two major steps. First the matrix equations and matrix inequalities are reduced to polynomial inequalities. Then Collins' algorithm is applied to settle the solvability of the problem and to compute an observer. The efficiency of the new observer design is demonstrated for a continuous furnace process.

关键词： control Systems, nonlinear

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Systematic observer design for bilinear systems

Systematic observer design for bilinear systems

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IEEE International symposium on Circuits and Systems (ISCAS)

作者： B. Tibken E.P. Hofer Division of Control and Systems Dynamics Technical University of Hamburg Hamburg Germany

关键词： nonlinear systems Equations Linear matrix inequalities Vectors State-space methods control systems Sufficient conditions observers Polynomials State feedback

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DECENTRALIZED JOINT control OF ROBOTIC MANIPULATOR.

DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.

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Proceedings - International Workshop on Industrial Automation Systems: Seiken symposium.

作者： Nakao, Masato Ohnishi, Kouhei Miyachi, Kunio Keio Univ Yokohama Jpn Keio Univ Yokohama Jpn

An observer-based interference estimation approach is presented in which the observer can estimate the total interference torque quickly without complicated computations such as inverse dynamics. The estimated interference is supplied to the servomotor, enabling a robust motion servosystem that is not affected by nonlinear effects to be achieved. Each joint is controlled independently and in a decentralized manner. A description is given of the decentralized control design conception. Simulated and experimental results for a three-degree-of-freedom manipulator are shown.

关键词： control SYSTEMS

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