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Robust adaptive control of a class of nonlinear systems: state and output feedback

Robust adaptive control of a class of nonlinear systems: sta...

引用

American control Conference (ACC)

作者： S. Jain F. Khorrami Control/Robotics Research Laboratory Department of Electrical Engineering Polytechnic University Five Metrotech Center Brooklyn NY USA

A new adaptive design procedure is presented which guarantees robustness to parametric and dynamic uncertainties for a class of nonlinear systems, and also rejects any bounded, unmeasurable disturbances entering the system. The uncertainties in the system are assumed to be unknown, except that they are bounded by an unknown pth order polynomial; in the arguments. For the state feedback case, we identify systems transformable to a special strict feedback form. For the case, where only the outputs are measured, the adaptive design procedure applies to systems transformable to the output feedback form, where the output dependent nonlinear terms are unknown. Results in both cases are presented for state-output tracking and regulation problems.

关键词： Robust control Adaptive control Nonlinear systems Output feedback State feedback Uncertainty control systems Nonlinear dynamical systems Polynomials Error correction

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Application of a decentralized adaptive output feedback based on backstepping to power systems

Application of a decentralized adaptive output feedback base...

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IEEE Conference on Decision and control

作者： S. Jain F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Five Metrotech Center Polytechnic University Brooklyn NY USA

This paper considers an application of the decentralized adaptive output feedback scheme developed previously by the authors (1995) to maintain global robustness to parametric and dynamic uncertainties among interconnections in large-scale power systems and also rejection of any bounded, unmeasurable disturbances entering the system. The proposed design utilizes only feedback from local rotor angle measurements. The scheme is applied to a two axis (fourth order) model of the generator with a second order turbine/governor model and an IEEE type I excitation control (fifth order) for each subsystem. The design presented is also applicable to higher order models of the generator and turbine/governor system. Furthermore, the design methodology proposed here obviates the need for controller redesign and therefore maintains robust connective stability if individual subsystems are appended or removed.

关键词： Output feedback Power system modeling Power system dynamics Power system interconnection Turbines Robust stability Robustness Large-scale systems Power system measurements Rotors

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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An optimal turning gait for a quadruped walking robot

An optimal turning gait for a quadruped walking robot

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： Z. Bien M.G. Chun H.S. Son Department of Electrical Engineering Robotics and System Control Laboratory Seoul South Korea Korea Telecommunication Authority Research Center South Korea

A turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. First, feasible leg sequences which guarantee positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequence and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be applied to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.< >

关键词： Legged locomotion Turning Service robots Leg Stability Mobile robots control systems Telecommunication control Vehicles Orbital robotics

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Efficient computation of forward kinematics and Jacobian matrix of a Stewart platform-based manipulator

Efficient computation of forward kinematics and Jacobian mat...

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IEEE Southeastcon

作者： C.C. Nguyen Z.-L. Zhou S.S. Antrazi C.E. Campbell Robotics and Control Laboratory Department of Electrical Engineering Catholic University of America Washington D.C. DC USA NASA Goddard Space Flight Center Greenbelt MD USA

The authors consider the problem of efficient computation of the forward kinematics of a six-degree-of-freedom robot manipulator built to study autonomous assembly of parts in space. The manipulator, based on the Stewart platform mechanism, consists mainly of two platforms and six linear actuators. The closed-form solution of the inverse kinematics is formulated in such a way as to optimize the computation efficiency of the iterative solution of the forward kinematics using the Newton-Raphson method. A modified Jacobian matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles is introduced. Computer simulation is performed to evaluate the computation efficiency of the developed computation schemes.< >

关键词： Kinematics Jacobian matrices Robotic assembly Manipulators Orbital robotics Hydraulic actuators Closed-form solution Optimization methods Iterative methods Newton method

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Evolving a neural network

Evolving a neural network

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IEEE International Symposium on Intelligent control (ISIC)

作者： K.J. Hintz J.J. Spofford Center of Excellence in Command Control Communications and Intelligence Department of Electrical and Computer Engineering School of Information Technology George Mason University Fairfax VA USA

Although artificial neural networks have been shown to be effective in the computation of solutions to difficult problems a general theory has not yet been developed to provide guidance in their design and implementation. Genetic algorithms have also been shown to be effective in evolving solutions to optimization problems which involve objective functions that are not 'nice'. The approach presented here is the utilization of genetic algorithms to evolve the number of neurons in an artificial neural network, the weights of their interconnects, and the interconnect structure itself. With this approach, no a priori assumptions about interconnect structure, weights, number of layers. or to which neurons the inputs or outputs are connected need to be made. A combined neural network evaluation and genetic algorithm evaluation program has been written in C on a Sun workstation. The method has been successfully applied to the 9*9 bit character recognition problem.< >

关键词： Neural networks Artificial neural networks Neurons Computer networks Evolution (biology) Communication system control Artificial intelligence Intelligent control Intelligent networks Information technology

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Manipulability and stability of a tentacle based robot manipulator

Manipulability and stability of a tentacle based robot manip...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.S. Pettinato H.E. Stephanou Center for Robotics and Control Department of Electrical and Computer Engineering George Mason University Fairfax VA USA

A massively redundant, tentacle-based robot manipulator is proposed as an alternative to dextrous manipulation by an arm/hand combination. The tentacle is advantageous because it is an all-in-one arm and gripping device capable of a wide variety of configurations and grasps, while maintaining the mechanics of serial manipulators. A method for evaluating the forces and velocities imparted to an arbitrary object by a robot hand is reviewed and extended to include the case where several serial manipulators each come in contact with an object at multiple joints. From this analysis, a quantitative evaluation of grasp manipulability and stability is developed that accounts for multiple object contacts for each serial manipulator in the system. A method of applying both precision and power grasps to three-dimensional objects using a tentacle is presented that allows for easy transition between the two by merely curling or uncurling links from around the object. This method helps reduce the number of complexity of grasp configurations. Numerical simulations of different tentacle manipulators and grasps are given.< >

关键词： Manipulators Robot control Stability analysis Numerical simulation Grasping Wrapping Fingers Instruments Friction

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control of a 5-link biped robot for steady walking

Control of a 5-link biped robot for steady walking

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： T.-T. Lee P.L. Jeng W.A. Gruver Center for Robotics and Manufacturing Systems and Department of Electrical Engineering University of Kentucky Lexington KY USA Institute of Control Engineering National Chiao Tung University Hsinchu Taiwan

Trajectory planning methods and control algorithms for biped robot steady walking are discussed. The model following plus variable structure systems technique is developed for the control of dynamic walking in the sagittal plane. The nonlinear feedback plus modified alpha -computed torque technique is introduced for walking in the frontal plane. simulation results are provided for level walking and ascending on staircases for a five-link biped robot. These results indicate that the proposed algorithms could achieve robust trajectory tracking even in the presence of system modeling errors. Specifically, simulation results show that, even in the presence of disturbances, gait stability can be achieved within two steps after the start of walking. In addition, the biped robot can walk with prespecified patterns.< >

关键词： Legged locomotion Trajectory Leg Torso Polynomials Equations Robots Carbon capture and storage Boundary conditions Interpolation

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Optimization Based Clearance of Flight control Laws 1

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丛书名： Lecture Notes in control and Information Sciences

1000年

作者： Andreas Varga Anders Hansson Guilhem Puyou

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