The use of a necessarily approximate system model for the design of a feedback controller for an actual plant introduces strictures on the quality of the model which are different from those pertaining in open loop. T...
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Iterative identification and control design extend classical design methods by using on-line experimental performance data to adjust the feedback regulator. The inclusion of this new information concerning achieved co...
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Iterative identification and control design extend classical design methods by using on-line experimental performance data to adjust the feedback regulator. The inclusion of this new information concerning achieved controller properties permits a focus on actual performance, as opposed to designed performance. In the context of robust Control, this is a fundamentally important piece of information. However, controller adjustment for performance improvement needs to be balanced against closed-loop stability requirements. To achieve this balance it is critical not to modify the controller too outlandishly in any one step but, rather, to apply some cautious updating procedure to limit the change to the controller. Likewise, alterations to the desired controlled performance need to be made gradually rather than dramatically. Our approach in this paper is to explore the origin of this caution and to present some methods derived and applied in a practical problem of sugar-cane crushing mill control.
In this paper, we develop new results concerning the risk-sensitive dual control problem for output feedback nonlinear systems, with unknown time-varying parameters. These results are not merely immediate specializati...
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We propose a methodology for iterative recursive feedback tuning of a given controller structure. The algorithm and its convergence (stability) properties are analyzed. The algorithm can be viewed as the dual of the r...
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We propose a methodology for iterative recursive feedback tuning of a given controller structure. The algorithm and its convergence (stability) properties are analyzed. The algorithm can be viewed as the dual of the recursive closed-loop output-error identification algorithm as studied in Landau and Karimi (1997).
作者：
M. FeemsterD.M. DawsonA. BehalW. DixonMatthew Feemster received the B.S degree in Electrical Engineering from Clemson University
Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962
in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology
Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no
In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects...
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In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.
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