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Robustness of a Few control Methods Used in Robotics

IFAC Proceedings Volumes 2000年第13期33卷 601-606页

作者： Vesna Krajčí Ladislav Jurišica Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovakia Phone: 00421 7 60 291 599 Phone: 00421 760291351 Fax: 00421 765429521

The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path control methods is evaluated in the case of planar articulated robot moving along two common used trajectories: straight-line and circular. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness of all presented robot control methods.

关键词： robotics robustness variable-structure control robust control fuzzy control robot arm computer simulation

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Improving Disturbance Rejection Properties of the MMO Method

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IFAC Proceedings Volumes 2000年第13期33卷 83-87页

作者： Damir Vrančić Stanko Strmčnik Mikulas Huba J. Stefan Institute Jamova 39 SI-1001 Ljubljana Slovenia FAX: + 386-61-219-385 Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak Technical University SK-812 19 Bratislava Slovakia

The PI controllers provide very good trade-off between robustness and performance. However, in certain applications the control performance of the PI controller is not sufficient. In order to increase control performance, more complicated controller structure has to be used. In this paper it has been shown that disturbance rejection properties can be significantly improved by simply adding the first-order filter within the classical PI controller structure.

关键词： PID control Magnitude Optimum Frequency Response controller Tuning Disturbance Rejection

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Some Basic Points in control Education For Industry

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IFAC Proceedings Volumes 2000年第31期33卷 31-35页

作者： Ersin Tulunay Kaddour Najim Department of Electrical and Electronics Engineering Middle East Technical University06531 Ankara Turkey. Tel:+*** Fax:+*** Process Control Laboratory E.N.S.I.G.C. Chemin de la Loge 31078 Toulouse Cedex France. ТеТ:+*** Fax:+***

control is a subject that heavily relies on mathematics and physics. High level theoretical treatments are more easily understood and digested when accompanied by concrete examples. In this study, two important phenomena, namely linearization and integration are chosen as two cases that are important in industrial processes. Examples of teaching approaches are demonstrated around these two cases. Some simple examples are chosen, for easy demonstration, without the loss of generality. The approaches are believed to be effective in teaching engineering students and especially engineers working in industry.

关键词： control education Technology transfer control engineering Teaching Training

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Stabilization of affine polynomial families: an LMI approach

Stabilization of affine polynomial families: an LMI approach

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： D. Henrion V. Kucera M. Sebek Lab. d'Analyse et d'Archit. des Syst. CNRS Toulouse France Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

ISBN: (纸本)0780365666

This paper deals with the open issue of finding a stable element in an affine polynomial family, a difficult design problem occurring when stabilizing a given SISO plant with a fixed order compensator whose parameters are subject to interval constraints. Using a rank-one LMI formulation of the problem, a tractable linearization heuristic is developed, which proves efficient in practice, as illustrated by intensive numerical experiments.

关键词： Polynomials control engineering Stability Information theory automation Algorithm design and analysis

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Development and test of a 30 kVA superconducting generator

Development and test of a 30 kVA superconducting generator

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IEEE Power engineering Society Winter Meeting, 2000

作者： Sohn, Myung Hwan Park, Doh Young Ahn, Jong Bo Baik, Seung Kyu Kwon, Young Kil Ryu, Kang Sik Kim, Yong Joo Kim, Kook Hun Muta, Itsuya Applied Superconductivity Research Group Korea Electrotechnology Research Institute Sungju Dong 28-1 Changwon641-120 Korea Republic of Mechatronics Research Team Korea Electrotechnology Research Institute Sungju Dong 28-1 Changwon641-120 Korea Republic of Control and Automation Group Korea Electrotechnology Research Institute Sungju Dong 28-1 Changwon641-120 Korea Republic of Department of Electrical Engineering Kyoto University SakyoukuKyoto606-8501 Japan

ISBN: (纸本)0780359356

A 3-phase, 30 kVA, 4 pole, 1800 rpm superconducting generator is built and tested. The field winding of the rotor is a racetrack type with NbTi superconducting wire. The rotor is composed of two dampers and a liquid helium container in which the field poles reside. The space between the outermost damper and the container is vacuum insulated. To continuously transfer the liquid helium from the stationary dewar into the rotor and return the helium gas conversely, a special coupling is installed. The stationary coupling is connected to the rotor through a ferrofluid seal. The open circuit characteristic (OCC) and short circuit characteristic (SCC) are obtained. Also, the test results under the light load (up to 3.6 kW) are given. From the design stage, 2-D FE analysis coupled with the external circuit has been performed. The external circuit includes the end winding resistance and reactance as well as two dampers. When compared with the test data, the FE analysis results show a very good agreement. © 2000 IEEE.

关键词： Winding

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Stability issues of finite precision state estimate feedback controller realizations for discrete time systems

Stability issues of finite precision state estimate feedback...

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作者： Wu, Jun Chen, Sheng Li, Gang Istepanian, Robert Habib Chu, Jian Whidborne, James F. National Lab. of Industrial Control Tech. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Dep. of Electronics and Computer Sci. University of Southampton Highfield Southampton SO17 lBJ United Kingdom School of EEE Nanyang Technological University Singapore Dep. of Electrical and Computer Eng. Ryerson Polytechnic University Toronto ON M5B 2K3 Canada Department of Mechanical Engineering King's College London London WC2R 2LS United Kingdom

This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-length constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such a complex problem. Simulation results of the optimum realizations of state estimate feedback controller structures are presented to illustrate the effectiveness of the proposed strategy. © 2000 American Automatic control Council.

关键词： Nonlinear programming

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Robust H ∞ Filter Design via Parameter-Dependent Lyapunov Functions *

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IFAC Proceedings Volumes 2000年第14期33卷 65-70页

作者： Carlos E. de Souza Minyue Fu Alexandre Trofino Department of Systems and Control Laboratório Nacional de Computação Científica - LNCC Av. Getúlio Vargas 333 25651-070 Petrópolis RJ Brazil Department of Electrical and Computer Engineering The University of Newcastle NSW 2305 Australia Department of Automation and Systems Universidade Federal de Santa Catarina PO Box 476 88040-900 Florianópolis SC Brazil

This paper is concerned with the problem of H ∞ filtering for linear continuous-time systems with uncertain time-varying parameters in the matrices of the state-space signal model. The admissible values of the parameters and their rates of variation are assumed to belong to a given polyhedral region. Based on a parameter-dependent Lyapunov function, which is quadratic in the uncertain parameters, we develop an LMI method for designing a linear stationary, asymptotically stable filter, which ensures a prescribed performance in a H ∞ sense.

关键词： Robust estimation H ∞ filtering uncertain linear systems time-varying parameters parameter-dependent Lyapunov function

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A phenomenological nonlinear multivariable controller for a pellet cooling process

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IFAC Proceedings Volumes 2000年第22期33卷 167-172页

作者： Dominique Pomerleau Daniel Hodouin Eric Poulin GRAIIM (Groupe de recherche sur les applications de l’informatique à l’industrie minérale) Department of Mining and Metallurgical Engineering Université Laval Sainte-Foy Québec Canada G1К 7P4 Department of Automation and Process Control Breton Banville & Associates 375 Boul. Laurier Mont-St-Hilaire Québec Canada J3H 6C3

When process non-linearities are responsible for the deterioration of linear controller performances, usually the linear approximation of the model is updated as the operating conditions change. The alternative approach, which is used in this paper, is to directly incorporate the non-linear phenomenological simulator of the process into the controller. To assess the method, the control of a cooling zone of an iron oxide pellet-sintering furnace, a multivariable process containing strong gain variations, has been simulated. The structure of the predictive controller is based on the internal model control scheme. The observer part of the control loop uses the non-linear phenomenological dynamic model of the process, while the controller part uses either the steady-state or the dynamic non-linear model for output predictions.

关键词： Dynamic Modelling Predictive control Nonlinear control Model based control Nonlinearity

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Development and test of a 30 kVA superconducting generator

Development and test of a 30 kVA superconducting generator

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IEEE Winter Meeting Power engineering Society

作者： Myung Hwan Sohn Doh Young Park Jong Bo Ahn Seung Kyu Baik Young Kil Kwon Kang Sik Ryu Yong Joo Kim Kook Hun Kim Itsuya Muta Applied Superconductivity Research Group Korea Electrotechnology Research Institute Changwon South Korea Mechatronics Research Team Korea Electrotechnology Research Institute Changwon South Korea Control & Automation Group Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical Engineering Kyoto University Kyoto Japan

关键词： Superconducting filaments and wires Helium Coupling circuits Rotors Containers Circuit testing Iron Niobium compounds Titanium compounds Insulation

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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： System identification orthogonal basis functions series expansions model reduction parametrization

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