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A constrained receding horizon control for industrial boiler systems

IFAC Proceedings Volumes 2000年第20期33卷 411-416页

作者： Young Sam Lee Wook Hyun Кwon Oh Kyu Kwon Engineering Research Center for Advanced Control and Instrumentation School of Electrical Engr. Seoul National Univ. Seoul 151-742 Korea School of Electrical and Computer Engr. Inha Univ. Inchon 402-751 Korea

In this paper, the control problem of nonlinear boiler systems with actuator constraints is considered. Main difficulties in controlling boiler systems are largely due to the constraints imposed on the actuating valves and nonlinear dynamics. In order to overcome these difficulties, combined approaches are taken. First, the receding horizon control based on semi-definite programming is used to handle the actuator constraints and to enhance the closed-loop stability. Second, gain-scheduling strategy is combined with the RHC to consider the nonlinear dynamics efficiently, hence making the satisfactory global control available. Finally, the performances of the proposed controller are illustrated via the simulations.

关键词： Receding horizon control (RHC) Boiler systems Actuator constraint Semi-definite programming Gain-scheduling

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Some aspects of human-friendly control for movement-helping devices

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Artificial Life and Robotics 2000年第4期4卷 198-205页

作者： Stefanov, Dimitar H. Bien, Zeungnam Song, Won-Kyung Institute of Mechanics Bulgarian Academy of Sciences Sofia Bulgaria Department of Electrical Engineering and Computer Sciences Human-Friendly Welfare Robot System Engineering Research Center (HWRS-ERC) KAIST Taejon Korea Bien's System Control Laboratory at KAIST Taejon Korea

Future welfare models should meet the needs of a large group of aged and disabled people. Present research and technology efforts in this direction are oriented toward the development of highly effective home-installed devices which will provide the user with continuous assistance in different everyday activities. The problems and needs of the elderly and the disabled vary from person to person over a large range, and with many serious requirements. Modern designs for such devices are oriented toward solutions where the user is less engaged in the control process, and the interaction between the device and the user ishuman-friendly, i.e., the devices should possess a high level of intelligence in their controls, actions, and interactions with the user, offering him/her a high level of comfort and functionality. This paper considers a mixed control mode as a better alternative for human-machine interactions for users with great movement disability. Some examples of easy direct control are discussed.

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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Systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the Department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Analysis of compliance characteristic for effective multi-fingered robotic peg-in-hole task

Analysis of compliance characteristic for effective multi-fi...

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Annual Conference of Industrial Electronics Society

作者： Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi Il Hong Suh Wan Kyun Chung School of Electrical Engineering and computer Science Hanyang University Seoul South Korea Intelligent System control Research Center KIST Seoul South Korea School of Mechanical Engineering POSTECH Pohang South Korea

This paper deals with an analysis of the compliance characteristics for an effective peg-in-hole task using a robot hand without inter-finger coupling. We first classify the task of inserting peg-in-a-hole into three contact styles between the peg and the hole. Next, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in-hole task for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness elements between the translational and rotational directions play important roles for a successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

关键词： Fingers Intelligent robots Robot sensing systems Force sensors control systems Orbital robotics Signal analysis Motion control Signal processing computer science

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Microgravity isolation control system design via high-order sliding mode control

Microgravity isolation control system design via high-order ...

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American control Conference (ACC)

作者： I. Shkolnikov Y. Shtessel M. Whorton M. Jackson Department of Electrical and Computer Engineering University of Alabama Huntsville Huntsville AL USA TD55/Vehicle Control Systems NASA Marshall Space Flight Center AL USA

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the asymptotic high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of the second order. The primary DSM is designed for the closed-loop.

关键词： Sliding mode control control systems Acceleration Frequency Vibration control Attenuation Shape control Force control Actuators Filters

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High order sliding modes in dynamic sliding manifolds: SMC design with uncertain actuator

High order sliding modes in dynamic sliding manifolds: SMC d...

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American control Conference (ACC)

作者： D.R. Krupp I.A. Shkolnikov Y.B. Shtessel TD55/Vehicle Control Systems NASA-Marshall Space Flight Center AL USA Department of Electrical and Computer Engineering University of Alabama Huntsville Huntsville AL USA

A problem of sliding mode control design for a SISO system with unmodeled actuators of the first and second order is considered. A design methodology, based on dynamic sliding manifolds (DSM), is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in the presence of unmodeled dynamics. The proposed methodology maintains the sliding mode on the sliding surface, which is designed without actuator dynamics being considered. This goal is achieved via auxiliary dynamic sliding manifold design; the sliding mode on the auxiliary DSM provides for high order asymptotic sliding mode on the initial surface.

关键词： Sliding mode control Actuators control systems Frequency Manifolds Robust control PD control Proportional control Design methodology Limit-cycles

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Mixed H/sub 2//H/sub /spl infin// control with regional pole placements for underwater vehicle systems

Mixed H/sub 2//H/sub /spl infin// control with regional pole...

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American control Conference (ACC)

作者： Jong Hae Kim Kap Rai Lee Yong Chul Cho Hyung Ho Lee Hong Bae Park Sensor Technology Research Center Kyungpook National University Taegu South Korea Department of Computer Applied Control Engineering Doowon Technical College South Korea School of Electronic and Electrical Engineering Kyungpook National University Taegu South Korea

Proposes the mixed H/sub 2//H/sub /spl infin// controller design method with regional pole placements according to the 3 step guidance courses for underwater vehicle systems in horizontal motion and vertical motion, respectively. The change of hydrodynamics, time delays, and disturbances are considered as uncertainties of the system. The full nonlinear simulation including initial leveling part, guidance, autopilot, actuator, etc., shows that the proposed controllers are efficient in the sense of new strategy for underwater vehicle systems.

关键词： Navigation Underwater vehicles Motion control control systems Design methodology State feedback Hydrodynamics Delay effects Uncertainty Actuators

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A biomimetic compliance control of robot hand by considering structures of human finger

A biomimetic compliance control of robot hand by considering...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh Yeh-Sun Hong School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea Advanced Robotics Research Center KIST Seoul South Korea

For an object grasped by a robot hand to work in the compliance control domain, we first analyze a necessary condition for successful stiffness modulation in the operational space. Next, we propose a compliance control method for robot hands which consist of two steps: the RIFDS (resolved inter-finger decoupling solver) decomposes the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without inter-finger coupling; and the RIJDS (resolved inter-joint decoupling solver) decomposes the compliance characteristic in the fingertip space into the compliance characteristic in the joint space without inter-joint coupling. According to the analysis results, the finger structure should be biomimetic in the sense that either kinematic redundancy or force redundancy are required to implement the proposed compliance control scheme. Five-bar fingered robot hands are treated as illustrative examples to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method, simulations are performed for two-fingered and three-fingered robot hands.

关键词： Biomimetics Robot control Humans Fingers Robot kinematics Orbital robotics Force control Manipulator dynamics Intelligent robots Robot sensing systems

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Guest Editorial

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Intelligent Automation & Soft Computing 2000年第3期6卷 171-172页

作者： Mohamed Kamel[a] & Mohammad Jamshidi[b] [a] Pattern Analysis and Machine Intelligence Lab Department of Systems Design Engineering University of Waterloo Waterloo Ontario N2L 3G1 Canada [b] Nasa Center for Autonomous Control Engineering and Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 USA http://ace.tmm.edu

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Disturbance observer-based robust control for underwater robotic systems with passive joints

Disturbance observer-based robust control for underwater rob...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： G.B. Chung K.S. Eom B.-J. Yi I.H. Suh S.-R. Oh Y.J. Cho Sch. of Electr. Eng. & Comput. Sci. Hanyang Univ. Seoul South Korea School of Electrical Engineering and Computer Science Hanyang University Intelligent System Control Research Center KIST Seoul South Korea

Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.

关键词： Robust control Mobile robots Underwater vehicles Manipulator dynamics Uncertainty Vehicle dynamics Hydrodynamics control systems Feedback Underwater tracking

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