Most of the methods which are commonly used in parametric oriented robust controldesign and analysis require extensive symbolic and numerical computations. The Matlab toolbox PARADISE (PArametric Robustness Analysis ...
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Most of the methods which are commonly used in parametric oriented robust controldesign and analysis require extensive symbolic and numerical computations. The Matlab toolbox PARADISE (PArametric Robustness Analysis and design Interactive Software Environment) offers various methods of parametric robust control for an efficient application in a computer framework. Amongst the currently implemented methods are the parameter space approach, design in an invariance plane, calculation of stability profiles, and computation of stability radii. The application of the toolbox PARADISE is demonstrated by computation of stability radii for a state feedback controlled loading bridge.
This paper lays down the foundations of developing a reconfigurable controlsystem within the Robot Operating system (ROS) for autonomous robots. The essential components of robots are programmed under a ROS system. A...
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This paper lays down the foundations of developing a reconfigurable controlsystem within the Robot Operating system (ROS) for autonomous robots. The essential components of robots are programmed under a ROS system. A formal model is defined as a tripartite graph to represent the robots functional architecture. ROS systems are then generalised to component libraries for any ROS architecture and an abstract model as a “system graph” is introduced. Orthogonality of a library and a system graph is defined and redundancy levels of robot components are studied for maintaining full functionality of the robot by automated reconfiguration in face of hardware malfunction. This allows AI planning tools, such as Planning Domain Definition Language (PDDL), to compute permissible reconfigurations. We present an example of a pair of robotic arms which requires reconfiguration of the underlying controlsystem in order to retain the capability to carry out a task.
Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The ...
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Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The algorithms are implemented in the Polynomial Toolbox for Matlab.
Recent work on computeraidedcontrolsystems design (CACSD) tools have put an increased emphasis on the design of good man-machine interfaces. In particular, a family of integrated control packages, each having a com...
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Recent work on computeraidedcontrolsystems design (CACSD) tools have put an increased emphasis on the design of good man-machine interfaces. In particular, a family of integrated control packages, each having a command-language as its primary user interface and the complex matrix as its main data structure, have come to dominate both the research efforts in the CACSD area and the commercial market for CACSD products. This paper will first review the developments leading up to the present situation. Thereafter, it will present the “toolbox” approach of dealing with the inherent complexity of today’s integrated package. In a further section, the properties of todays control programs will be surveyed and both their advantages and their inherent limitations will be discussed together with presentations of different schemes for avoiding these limitations. Finally, the issue of user guidance will be treated from an information processing standpoint, and possible approaches to the employment of expert guiding systems are discussed.
In the mid 1980s, the UK Science and Engineering Research Council funded a number of projects to develop computer-aided control system design (CACSD) environments. The flagship project was ECSTASY (Environment for Con...
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In the mid 1980s, the UK Science and Engineering Research Council funded a number of projects to develop computer-aided control system design (CACSD) environments. The flagship project was ECSTASY (Environment for controlsystem Theory and SYnthesis), a database-mediated framework for hosting a number of popular controlsystems design tools. As the ECSTASY project neared its completion, some of the most urgently requested features appeared in rival commercial packages, and the short-falls in tool provision that ECSTASY was designed to address apparently went away. Using as a benchmark the capabilities of the current generation of the popular CACSD package MATLAB, the prescience of the original ECSTASY proposal will be demonstrated. A couple of areas that the environment excelled in, the use of a common information model and common user interface, will be discussed in the context of recent work done in the University of Wales and elsewhere. Finally, two topics of particular interest to the authors, the proposed standard reference model for computer-aidedcontrol engineering and an Object-Oriented Unified Infonnation Model for CACSD will be revisited in the light of recent developments in internet computing.
A computer-aideddesign approach is described which retains, to a great extent, the essence of the “classical” frequency-response approach, that is the achievement of desired stability and performance targets by the...
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A computer-aideddesign approach is described which retains, to a great extent, the essence of the “classical” frequency-response approach, that is the achievement of desired stability and performance targets by the manipulation of gains and phases. The required controller performance is specified in such a way that the main burden of design manipulation is transferred to the computer. The operators involved are handled by a modified form of singular-value decomposition called the quasi-Nyquist decomposition. An example is given of a design based on industrial plant data.
This paper presents a public domain toolbox built on top of the software LMITOOL and the Semidefinite Programming package. The Multiobjective Robust control Toolbox is a collection of synthesis LMI-based tools for a l...
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This paper presents a public domain toolbox built on top of the software LMITOOL and the Semidefinite Programming package. The Multiobjective Robust control Toolbox is a collection of synthesis LMI-based tools for a large class of nonlinear uncertain systems. It provides solutions for the robust state- and output-feedback controller synthesis under various specifications. These specifications include performance requirements via α-stability, L 2 -gain bounds and command input and outputs bounds.
Globalization and growing new markets, as well as increasing emission and fuel consumption requirements force the car manufacturers and their suppliers to develop new engine control strategies in shorter time periods....
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Globalization and growing new markets, as well as increasing emission and fuel consumption requirements force the car manufacturers and their suppliers to develop new engine control strategies in shorter time periods. This can mainly be reached by development tools and an integrated hardware and software environment enabling rapid implementation and testing of advanced engine control algorithms. The structure of a Rapid control Prototyping (RCP) system is explained, which allows fastmeasurement signal evaluation, and rapid prototyping of advanced engine control algorithms. A hardware-in-the-Ioop simulator for Diesel engine controldesign is illustrated, simulation results for a 40 tons truck are presented. Providing efficient engine models for the proposed development tools, a dynamic local linear neural network approach is explained and appliedfor modelling the NO x emission characteristics of a 1.9 liter direct injection Diesel engine. Furthermore the application of a RCP system is exemplified by the application of combustion pressure based closed-loop ignition timing control for a SI engine. Experimental results are shown for a 1.0 liter SI engine on a dynamic engine test stand.
Geometrical and algebraic analysis and design methods for non linear systems require the use of computer-algebra systems to carry out the extensive symbolic calculations. Based on the experience with a MACSYMA program...
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Geometrical and algebraic analysis and design methods for non linear systems require the use of computer-algebra systems to carry out the extensive symbolic calculations. Based on the experience with a MACSYMA program for the analysis and design of nonlinear observers, the new concept of a toolbox for the design of nonlinear controllers using Mathematica is developed. The main focus is on the flatness based design of quasi-static state feedback for nonlinear tracking. The controller design for a nonlinear chemical reactor model illustrates the functionality of the program.
A newly developed interactive graphics CAD package for linear multivariable controlsystems in the parameter space framework is presented. By direct geometric interpretation of stability, performance, robustness, inte...
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A newly developed interactive graphics CAD package for linear multivariable controlsystems in the parameter space framework is presented. By direct geometric interpretation of stability, performance, robustness, integrity, actuator constraints, and other practically important objectives, the 30 capabilities of high-performance interactive computer graphics systems can be employed to design directly in the space of free system parameters. Intelligent strategies help to access high-dimensional parameter spaces by decompositions or neuristic search for display subspaces. The structure and computer realization of the package is discussed with special emphasis on the unique user-computer interaction features. design examples show application of the main techniques for up to 15-dimensional parameter spaces and illustrate the potential as an engineering analysis and design environment.
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