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American control Conference (ACC)

作者： Liu Hsu R. Costa A.K. Imai P. Kokotovic Department of Electrical Engineering COPPE/UFRJ Rio de Janeiro Brazil Â‡ Center for Control Engineering and Computation University of California Santa Barbara CA

The design of model-reference adaptive control (MRAC) for MIMO linear systems has not yet been achieved, in spite of significant efforts, the completeness and simplicity of its SISO counterpart. One of the main obstacles has been the generalization of the SISO assumption that the sign of the high-frequency gain is known. Here we overcome this obstacle and present a MIMO analog to the well known Lyapunov-based MRAC SISO design. Our algorithm makes use of a new control parametrization derived from a factorization of the high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive definite, D is diagonal, and U is unity upper triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K/sub p/, are assumed to be known.

关键词： Adaptive control MIMO Linear systems Frequency Transmission line matrix methods Symmetric matrices Visual servoing Upper bound control engineering control engineering computing

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Modeling and control of robot manipulators

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Automatica 2001年第10期37卷 1681-1682页

作者： Marco de Oliveira Mo Jamshidi Autonomous Control Engineering Center The University of New Mexico Albuquerque NM USA Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM USA

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Discrete time model predictive control design using Laguerre functions

Discrete time model predictive control design using Laguerre...

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American control Conference (ACC)

作者： Liuping Wang Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle Callaghan NSW Australia

In the design of model predictive controller (MPC), the traditional approach of expanding the projected control signal uses the forward operator to obtain the linear-in-the-parameters relation for predicted output. In this paper, by using a performance specification on the exponential change rate of the projected control signal, a more appropriate expansion, related to Laguerre networks, is introduced. It is shown that the number of terms used in the optimization procedure can be reduced to a fraction of that required by the usual procedure in the case of rapid sampling, and as a result, the numerical condition of the optimization algorithm can be significantly improved. Furthermore, the proposed algorithm is easy to tune for closed-loop performance with two explicit tuning parameters. By relaxing the constraint on the exponential change rate of the control signal and allowing arbitrary complexity in describing the trajectory, the proposed approach becomes equivalent to the traditional approach in MPC design.

关键词： Predictive models Predictive control Signal design Sampling methods Trajectory Industrial control electrical equipment industry Polynomials Australia Signal sampling

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Time delay and power control in spread spectrum wireless networks

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IFAC Proceedings Volumes 2001年第23期34卷 159-164页

作者： Aly I. El-Osery Chaouki Abdallah Mo Jamshidi Autonomous Control Engineering Center (ACE) The University of New Mexico Albuquerque NM 87131 USA Electrical & Computer Engineering Department The University of New Mexico Albuquerque NM 87131 USA

Delay in the computation of the signal-to-interference ratio in communication systems is unavoidable. In the the case of mobile communication, delay is a very critical problem due the fast variation of the communication channel and the need for effective, fast and accurate power control. In this paper we present our approach to dealing with the delay in mobile communication systems as well as our controller to achieve and maintain the desired signal quality. We will concentrate on the code division multiple access (CDMA) systems.

关键词： Power control CDMA

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Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form

Decentralized control of large-scale nonlinear systems in ge...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Six Metrotech Center Control/Robotics Research Laboratory Polytechnic University Brooklyn NY USA

ISBN: (纸本)0780370619

A global decentralized adaptive output-feedback dynamic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally diffeomorphic into systems which are interconnections of subsystems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. This represents the first decentralized adaptive output-feedback tracking results for this class of systems.

关键词： Distributed control Large-scale systems Nonlinear systems Programmable control Adaptive control Output feedback control systems Polynomials Uncertainty Robot control

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Voltage-fed permanent magnet stepper motor control with position only feedback

Voltage-fed permanent magnet stepper motor control with posi...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

A robust adaptive nonlinear dynamic controller is designed to achieve practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor positions measurements. Rotor velocity and stator phase currents are not available for feedback. Furthermore, the only motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized so that no other knowledge of motor parameters is required. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. These results can also be extended to other classes of motors.

关键词： Motor drives Robust control Rotors Programmable control Adaptive control Voltage control Error correction Permanent magnet motors control design Position measurement

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments computer science Intelligent systems Intelligent control control system synthesis

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Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode

Nonlinear control of a pneumatic muscle actuator: backsteppi...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Air Force Research Laboratory OH USA

This paper weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.

关键词： Muscles Pneumatic actuators Backstepping Sliding mode control Robust control Programmable control Adaptive control Uncertainty Stability Robustness

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A fuzzy backstepping controller for a pneumatic muscle actuator system

A fuzzy backstepping controller for a pneumatic muscle actua...

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IEEE International Symposium on Intelligent control (ISIC)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Brooklyn Metrotech Center Polytechnic University Brooklyn NY USA HECP Air Force Research Laboratory OH USA

A nonlinear fuzzy backstepping controller is presented for set-point regulation of a pneumatic muscle actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region, are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally and ultimately bounded.

关键词： Fuzzy control Fuzzy systems Backstepping control systems Muscles Pneumatic actuators Sliding mode control Nonlinear control systems Robust control Nonlinear dynamical systems

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An application of nonlinear PID control to a class of truck ABS problems

An application of nonlinear PID control to a class of truck ...

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IEEE Conference on Decision and control

作者： F. Jiang Z. Gao Product Development Center Ford Motor Company Limited Dearborn MI USA The Applied Control Research Laboratory Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA

A NPID (nonlinear PID) control algorithm is applied to a class of truck ABS (anti-lock brake system) problems. The NPID algorithm combines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller.

关键词： Three-term control Wheels control systems Stability Velocity control Vehicle dynamics Pressure control Pulse width modulation Friction Nonlinear control systems

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