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control OF AN ACTIVE SUSPENSION SYSTEM SUBJECT TO RANDOM COMPONENT FAILURES

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1990年第1期112卷 94-99页

作者： DEBENITO, CD ECKERT, SJ ANAL SCI CORP TROYMI 48084

Two fault-tolerant control algorithms based on certainty-equivalence and dual control approximations, are described in this paper. These algorithms maintain the system performance in the presence of component failures. Their performance is demonstrated by simulations of an active suspension system subjected to sensor and actuator failures. Both algorithms provide viable solutions to the problem of faulttolerant control in automotive systems. However, the certainty-equivalence control algorithm is simpler to implement. ?1990 The American Society of Mechanical Engineers

关键词： Actuators Engineering simulation Simulation Sensors algorithms control algorithms Suspension systems Failure Approximation Certainty

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VEHICLE LATERAL VELOCITY AND YAW RATE control WITH 2 INDEPENDENT control INPUTS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第4期114卷 606-613页

作者： MATSUMOTO, N TOMIZUKA, M UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

In automatic lateral control, which will play a key role in highway automation, vehicles must follow a given path and vehicle direction must be controlled as desired. Therefore, the ideal is for the lateral motion and yaw motion of the vehicle to be controlled independently. This requires at least one additional control input which is independent of the front steering angle. This paper explores the use of two independent control inputs, which are the front steering angle and an extra control input. Three types of extra control inputs are considered. (1) a differential driving torque between the two front wheels;(2) that between the two rear wheels;and (3) the rear steering angle. The analysis utilizing a linearized vehicle model shows that the front and rear independent steering allows a wider variation of lateral velocity and yaw rate in the steady state. A control algorithm with front and rear independent steering, which features continuously changing gains dependent on vehicle velocity and road conditions, is presented. Performance evaluation is based on a simulation study on a nonlinear vehicle model and an experimental study with a laboratory model vehicle.

关键词： Yaw Roads Torque Vehicles Simulation Model vehicles control algorithms Highways Wheels Performance evaluation Steady state

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REAL-TIME COMPUTER control OF A QUADRUPED WALKING ROBOT

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1986年第4期108卷 346-353页

作者： LEE, TT SHIH, CL NATL CHIAO TUNG UNIV INST CONTROL ENGN HSINCHU 300 TAIWAN

This paper presents a description of the hardware and software systems used to achieve real-time computer control of locomotion in an experimental quadruped walking robot. This robot possesses three independently powered joints in each of its four legs. Each joint provides position and rate feedback to a microprocessor-based controller. To control the movement of the leg so that the leg is placed on the desired foothold position, nonlinear feedback is first applied for decoupling, and then Model-Reference-Adaptive-control is used to control the motion and position of the leg. Experimental results show that the proposed control algorithm can effectively control the leg.

关键词： Robots Computer control Feedback control algorithms control equipment Computer software Hardware

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Enhanced control in time-delay processes: Diagnostic, monitoring, and self-tuning strategies for the filtered smith predictor in response to model-plant mismatch and abrupt load disturbances

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control ENGINEERING PRACTICE 2024年 145卷

作者： Giraldo, Sergio A. C. Melo, Priamo A. Secchi, Argimiro R. Univ Fed Rio de Janeiro Chem Engn Program Software Dev Lab COPPE Cidade Univ BR-21941914 Rio De Janeiro RJ Brazil

The Filtered Smith Predictor (FSP) is a practical structure in industrial control systems, especially those with dominant time delays. Despite its importance, a notable gap exists in developing tailored algorithms for the FSP that can effectively diagnose model degradation and the presence of abrupt disturbances. This research addresses the challenge of distinguishing between model -plant mismatch (MPM) and unmeasured disturbances (UD), which is crucial to maintaining control system performance and stability. We propose a novel algorithm that diagnoses, monitors, and self -tunes the FSP structure. By leveraging the sensitivity transfer function, our method ascertains nominal closed -loop performance without MPM or UD and meticulously analyzes the real effects of these factors. A dynamic time window and an operating range, used as tuning parameters, enable a precise assessment of the model's predictive capacity and the detection of UD. Additionally, the algorithm incorporates a self -tuning mechanism for the FSP's robustness filter, responding adaptively to identified discrepancies and ensuring enhanced system stability. Demonstrated through detailed simulated case studies and a real -life temperature control experiment, our methodology significantly improves the diagnosis and self -tuning capabilities of FSP structures. The results highlight a marked enhancement in system stability and performance, providing our approach's practical value and effectiveness in real -world industrial applications.

关键词： Dead-time compensators Unmeasured disturbances Closed-loop performance control algorithms Optimization Robustness filter

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Research on Swing up control Based on Energy for the Pendubot System

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2014年第4期136卷 041018-041018页

作者： Ordaz, Patricio Espinoza, Eduardo S. Munoz, Filiberto Polytech Univ Pachuca Robot & Adv Elect Res Lab Pachuca 43830 Hidalgo Mexico

In this paper, we present a class of nonlinear control scheme for swinging up and stabilization of an underactuated two-link robot called as Pendubot. The main objective of this paper is to present a switched control that swing up and stabilize for almost all combination of initial states given on the four equilibrium points of the double underactuated pendulum. The proposed methodology is based on two control strategies to swing up and stabilize the Pendubot system. The first one is based on Lagrangian dynamics, energy analysis, and stability theory, while the second one is based on linear quadratic regulator. Moreover, here we present a stability analysis of the switched control algorithm. In order to verify the proposed control strategy, experimental results were performed.

关键词： Dynamics (Mechanics) Stability Equilibrium (Physics) Pendulums control algorithms Robots algorithms

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ROBUST, NEAR TIME-OPTIMAL control OF NONLINEAR 2ND-ORDER SYSTEMS - THEORY AND EXPERIMENTS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1991年第3期113卷 363-370页

作者： NEWMAN, WS SOUCCAR, K CASE WESTERN RESERVE UNIV CTR AUTOMAT & INTELLIGENT SYST RESCLEVELANDOH 44106 CASE WESTERN RESERVE UNIV DEPT ELECT ENGN & APPL PHYSCLEVELANDOH 44106

A technique is presented for controlling second-order, nonlinear systems using a combination of bang-bang time-optimal control, sliding-mode control, and feedback linearization. Within the control loop, a state space evaluation of the system classifies the instantaneous dynamics into one of three regions, and one of three corresponding control algorithms is invoked. Using a prescribed generation of desirable sliding surfaces, the resulting combined controller produces nearly time-optimal performance. The combination controller is provably stable in the presence of model uncertainty. Experimental data are presented for the control of a General Electric GP132 industrial robot. The method is shown to achieve nearly time-optimal motion that is robust to modeling uncertainties. Representative transients compare favorably to bang-bang control and PD control.

关键词： Nonlinear systems Dynamics (Mechanics) control algorithms Systems theory Uncertainty Modeling Feedback control equipment Time optimal control Robots Transients (Dynamics)

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Cooperative Locomotion Via Supervisory Predictive control and Distributed Nonlinear controllers

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2022年第3期144卷 031005-031005页

作者： Kim, Jeeseop Hamed, Kaveh Akbari Virginia Tech Mech Engn Blacksburg VA 24061 USA

This paper presents a hierarchical nonlinear control algorithm for the real-time planning and control of cooperative locomotion of legged robots that collaboratively carry objects. An innovative network of reduced-order models subject to holonomic constraints, referred to as interconnected linear inverted pendulum (LIP) dynamics, is presented to study cooperative locomotion. The higher level of the proposed algorithm employs a supervisory controller, based on event-based model predictive control (MPC), to effectively compute the optimal reduced-order trajectories for the interconnected LIP dynamics. The lower level of the proposed algorithm employs distributed nonlinear controllers to reduce the gap between reduced- and full-order complex models of cooperative locomotion. In particular, the distributed controllers are developed based on quadratic programing (QP) and virtual constraints to impose the full-order dynamical models of each agent to asymptotically track the reduced-order trajectories while having feasible contact forces at the leg ends. The paper numerically investigates the effectiveness of the proposed control algorithm via full-order simulations of a team of collaborative quadrupedal robots, each with a total of 22 degrees-of-freedom. The paper finally investigates the robustness of the proposed control algorithm against uncertainties in the payload mass and changes in the ground height profile. Numerical studies show that the cooperative agents can transport unknown payloads whose masses are up to 57%, 97%, and 137% of a single agent's mass with a team of two, three, and four legged robots.

关键词： Computer simulation Dynamics (Mechanics) control algorithms Robustness Uncertainty Teams control equipment Quadratic programming algorithms Robots Predictive control

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Development and optimisation of stochastic targeted (STAR) glycaemic control for neonatal intensive care

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IFAC Proceedings Volumes 2012年第18期45卷 319-324页

作者： Jennifer L. Dickson Aaron J. Le Compte J. Geoffrey Chase Adrienne Lynn Geoffrey M. Shaw Richard P Floyd Department of Mechanical Engineering University of Canterbury Christchurch New Zealand Neonatal Department Christchurch Women's Hospital Christchurch New Zealand Department of Intensive Care Christchurch Hospital Christchurch New Zealand

Hyperglycaemia is a common complication of prematurity and stress in neonatal intensive care units (NICUs). It has been linked to worsened outcomes and mortality. There is currently no universally accepted best practice glycaemic control method, with many protocols lacking patient specificity and relying heavily on clinical judgment. The result is persistent hypoglycaemia and poor control. This research presents the virtual trial design and optimisation of a stochastic targeted (STAR) approach to improve performance and reduce hypoglycaemia. Clinically validated virtual trials based on NICU patient data (N = 61 patients, 7006 hours) are used to develop and optimise a STAR protocol that improves on current STAR-NICU performance and reduce hypoglycaemia. Five approaches are used to maximize the stochastic range of BG outcomes within 4.0-8.0mmol/L, and are designed based on an overall cohort risk to provide clinically specified risk (5%) of BG above or below a clinically specified level. The best protocol placed the 5 th percentile BG outcome for an intervention on 4.0mmol/L band. The optimised protocol increased %BG in the 4.0-8.0mmol/L band by 3.5% and decreased the incidence of BG<2.6mmol/L by 1 patient (50%). Significant intra- and inter- patient variability reduced possible performance gains, indicating a need for patient-specific or sub-cohort specific approaches to manage variability.

关键词： Insulin sensitivity control algorithms physiological models simulation intensive care

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Implementation of a high-power-factor interior permanent magnet synchronous motor drive system with a small film DC-link capacitor

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JOURNAL OF ENGINEERING-JOE 2020年第8期2020卷 717-726页

作者： Liu, Tian-Hua Mubarok, Muhammad Syahril Yang, Zhi-Sheng Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan

This study investigates a small film DC-link capacitor inverter for a permanent magnet synchronous motor drive system. Two control methods, including ad-q-axis current control and a positive torque region current control, are originally proposed to improve the torque dynamics of the drive system. In addition, a damping compensation method is used to improve the input power factor and reduce the input current harmonics. A current-loop predictive controller and a speed-loop predictive controller are first proposed to improve the dynamic responses of the interior permanent magnet synchronous motor drive system. To implement the drive system, a digital signal processor, TMS 320LF2808, is used as a control centre to execute the control algorithms. Experimental results can validate the correctness and feasibility of the proposed methods.

关键词： permanent magnet motors machine windings invertors machine control electric current control power factor predictive control synchronous motor drives angular velocity control power capacitors digital signal processing chips electric machine analysis computing control engineering computing torque control power conversion harmonics damping compensation method input power factor input current harmonics current-loop predictive controller speed-loop predictive controller control centre control algorithms high-power-factor interior permanent magnet synchronous motor drive system film DC-link capacitor inverter control methods positive torque region current control torque dynamics

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NICONET: Network for Performant Numerical Software Development in control Engineering

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IFAC Proceedings Volumes 1997年第4期30卷 199-204页

作者： Sabine Van Huffel Ad J.W van den Boom Department of Electrical Engineering (ESAT) Katholieke Universiteit Leuven K. Mercierlaan 94 B-3001 Leuven-Heverlee Belgium Department of Electrical Engineering Eindhoven University of Technology P. O. Box 513 5600 MB Eindhoven The Netherlands

Robust and performant numerical software for control systems analysis and design, such as the SLICOT and RASP libraries, is an essential ingredient in modern computer aided control systems design. To avoid duplicating the implementation efforts and ensure a wider dissemination, the originators of the SLICOT and RASP libraries have agreed to combine their libraries and make the joint library freely available. To extend the scope of cooperation, a thematic network for numerics in control NICONET is set up. This paper motivates the need for such a network and describes the objectives, benefits and main network activities.

关键词： Computer-aided control systems design numerical algorithms software tools software performance control algorithms system theory

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