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Guidance, Navigation, and control Conference and Exhibit, 1998

作者： Shtessel, Y. McDuffie, J. Jackson, M. Hall, C. Gallaher, M. Krupp, D. Hendrix, N.D. Department of Electrical and Computer Engineering University of Alabama in Huntsville HuntsvilleAL35899 United States Guidance and Control Systems Division NASA Marshall Space Flight Center MSFC AL35812 United States

This work develops a sliding mode controller for the X-33 vehicle in launch and re-entry mode. The resulting controller utilizes two-loop sliding mode controller and provides robust, de-coupled tracking of both the required angular velocity profiles and the desired vehicle orientation angles. The motion in sliding of both the angular velocity and the orientation angles is described by linear de-coupled homogeneous vector valued differential equations with desired eigenvalues placement. An optimal control allocation algorithm is employed to allocate torque commands into endeffector deflection commands, which are executed by the actuators. Simulation of the X-33 vehicle in launch and re-entry modes demonstrated accurate, robust, decoupled tracking performance. © 1998, American Institute of Aeronautics and Astronautics, Inc.

关键词： Vehicles

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Sliding mode control of the X33 vehicle in launch mode

Sliding mode control of the X33 vehicle in launch mode

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1998 American control Conference, ACC 1998

作者： Shtessel, Yuri Jackson, Mark Hall, Charles Krupp, Don Hendrix, N. Douglas Department of Electrical and Computer Engineering University of Alabama in Huntsville Huntsville AL 35899 United States Guidance and Control Systems Division NASA Marshall Space Flight Center MSFC AL 35812 United States

ISBN: (纸本)0780345304

The "nested" structure of the control system for the X33 vehicle in launch mode is developed. The outer loop (guidance) and the inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance. © 1998 AACC.

关键词： Vehicles

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Scalability of an MPI-based fast messy genetic algorithm 98

Scalability of an MPI-based fast messy genetic algorithm

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1998 ACM Symposium on Applied Computing, SAC 1998

作者： Merkle, Laurence D. Gates, George H. Lament, Gary B. Center for Plasma Theory and Computation Air Force Research Laboratory Kirtland AFBOH87117 United States Air Force Research Laboratory WL HPC Technical Focal Point Wright-Patterson AFBOH45433 United States Department of Electrical and Computer Engineering Graduate School of Engineering Air Force Institute of Technology Wright-Patterson AFBOH45433 United States

ISBN: (纸本)0897919696

The fast messy genetic algorithm (fmGA) belongs to a class of algorithms inspired by the principles of evolution, known appropriately as "evolutionary algorithms" (EAs). These techniques operate by applying biologically-inspired operators, such as recombination, mutation, and selection, to a population of individuals. EAs are frequently applied as optimum seeking techniques, by way of analogy to the principle of "survival of the fittest." In contrast to many EAs, the fmGA consists of several evolutionary phases, each with distinct characteristics of local/global computation. These are explained in the paper. Previous scalability analyses of island-model EAs have been based on either fixed global population size or fixed subpopulation size. Recently developed population sizing theory enables scalability analysis based on fixed expected solution quality. Parallel computational experiments are performed to determine the effectiveness and efficiency of an MPI-based fmGA using eeich of these scaling techniques. The optimization problem for these experiments is the minimization of the CHARMM energy model of the pen-tapeptide [Met]-Enkephalin. © 1998 ACM.

关键词： computation theory

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Optimal choice of cupola furnace nominal operating point

Optimal choice of cupola furnace nominal operating point

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Southeastern Symposium on System Theory

作者： M.A. Abdelrahman K.L. Moore Electrical and Computer Engineering Department Tennessee Technological University Cookeville TN USA Measurement and Control Engineering Research Center College of Engineering Idaho State University Pocatello ID USA

One of the main goals in the operation of a cupola furnace is to keep the molten iron properties within prescribed bounds while maintaining the most economical operation for the cupola. We present a procedure to obtain the nominal values for the manipulated process variables. The nominal values are calculated by solving a constrained nonlinear programming optimization problem. Two different optimization problems are discussed and examples for using the procedure are presented.

关键词： Furnaces Iron Foundries Cost function Automatic control Fuel economy Constraint optimization Production Optimal control Electric variables measurement

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Exponential Tracking control of a Mobile Car Using a Cascaded Approach

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IFAC Proceedings Volumes 1998年第27期31卷 201-206页

作者： Elena Panteley Erjen Lefeber Antonio Loria Henk Nijmeijer Institute of Problems of Mech. Engg. Academy of Sciences of Russia St. Petersbourg RUSSIA Faculty of Mathematical Sciences Department of Systems Signals and Control University of Twente P.O. Box 217 7500 AE Enschede The Netherlands Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbera CA 93106-9560 USA Faculty of Mechanical Engineering Eindhoven University of Technology PO Box 513 5600 MB Eindhoven The Netherlands

In this paper we address the problem of designing simple global tracking controllers for a kinematic model of a mobile robot and a simple dynamic model of a mobile robot. For this we use a cascaded systems approach, r... 详细信息

关键词： mobile robot trajectory tracking persistency of excitation global K -exponential stabilization

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Sliding mode control of the X33 vehicle in launch mode

Sliding mode control of the X33 vehicle in launch mode

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American control Conference (ACC)

作者： Y. Shtessel M. Jackson C. Hall D. Krupp N.D. Hendrix Department of Electrical and Computer Engineering University of Alabama Huntsville Huntsville AL USA Guidance and Control Systems Division NASA Marshall Space Flight Center AL USA

关键词： Sliding mode control Vehicles control systems Motion control Fuels Nonlinear control systems Nonlinear equations Actuators Robust control Stability

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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL SCIENCE 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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Experimental control of a cupola furnace

Experimental control of a cupola furnace

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American control Conference (ACC)

作者： K.L. Moore M.A. Abdelrahman E. Larsen D. Clark P. King Measurement and Control Engineering Research Center College of Engineering Idaho State University Pocatello USA Electrical and Computer Engineering Department Tennessee Technological University Cookeville USA Lockhecd Martin Idaho Technologies Company Idaho National Engineering and Environmental Laboratory Idaho Falls USA U. S. Department of Energy Albany Research Center Albany USA

We present some final results from a research project focused on introducing automatic control to the operation of cupola iron furnaces. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace. Experimental data are used to calibrate the model, which is taken as a first-order multivariable system with time delay. Then relative gain analysis is used to select loop pairings to be used in a multiloop controller. The resulting controller pairs melt-rate with blast volume, iron temperature with oxygen addition, and carbon composition with metal-to-coke ratio. Special (nonlinear) filters are used to compute the melt-rate from actual scale readings of the amount of iron produced and to smooth the temperature measurement. The temperature and melt-rate loops use single-loop PI control. The composition loop uses a Smith predictor to discount the deadtime associated with mass transport through the furnace. Experiments results validate the conceptual controller design.

关键词： Furnaces Iron Foundries Automatic control US Department of Energy Temperature measurement Power engineering and energy Production Instruments Educational institutions

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Experimental control of a cupola furnace

Experimental control of a cupola furnace

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1998 American control Conference, ACC 1998

作者： Moore, Kevin L. Abdelrahman, Mohamed A. Larsen, Eric Clark, Denis King, Paul Measurement and Control Eng. Research Center College of Engineering Idaho State University Pocatello ID 83209-8060 United States Electrical and Computer Engineering Department Tennessee Technological University Cookeville TN 38505-0001 United States Lockheed Martin Idaho Technologies Company Idaho National Eng. and Env. Laboratory P.O. Box 1625 Idaho Falls ID 83415 United States U. S. Department of Energy Albany Research Center 1450 Queen Ave. SW Albany OR 97321 United States

ISBN: (纸本)0780345304

In this paper we present some final results from a research project focused on introducing automatic control to the operation of cupola iron furnaces. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace, an important foundry process used to melt iron. Previous papers have described the development of appropriate control system architectures for the cupola. In this paper experimental data is used to calibrate the model, which is taken as a first-order multivariable system with time delay. Then relative gain analysis is used to select loop pairings to be used in a multiloop controller. The resulting controller pairs meltrate with blast volume, iron temperature with oxygen addition, and carbon composition with metal-to-coke ratio. Special (nonlinear) filters are used to compute meltrate from actual scale readings of the amount of iron produced and to smooth the temperature measurement. The temperature and meltrate loops use single-loop PI control. The composition loop uses a Smith predictor to discount the deadtime associated with mass transport through the furnace. Experiments conducted at the Department of Energy Albany Research center's experimental research cupola validate the conceptual controller design and provide proof-of-concept of the idea of controlling a foundry cupola. © 1998 AACC.

关键词： Automation

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Robust object tracking of robot manipulator using low-cost vision system

Robust object tracking of robot manipulator using low-cost v...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Wong-Gie Han Tae-Yong Kuc Agency for Defense Development Naval Weapon Systems Research and Development Center Chinhae Kyunggi South Korea Intelligent Control and Dynamic Simulation Laboratory School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Kyunggi South Korea

ISBN: (纸本)0780347781

Proposes a robust visual servoing scheme for robot manipulator with eye-in-hand camera configuration. To perform the tasks defined in the image plane, the velocity Jacobian matrix is used to transform the camera motion to the object position change. In addition, a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system without the dynamic control loop in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

关键词： Robustness Robot vision systems control systems Manipulator dynamics Cameras Visual servoing Jacobian matrices Tracking loops Servomechanisms Convergence

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