In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain w...
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In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a controlsystems are lenient enough to allow the use of a sampling frequency which is smaller than the frequency at which unstructured uncertainty becomes significant, an adaptive controller can behave robustly. Many, if not all, of the applications of adaptive control which have been successful employ relatively slow sampling of the process. Thus, the results of this paper provide a theoretical explanation of how certain adaptive controllers are performing robustly in practice. In addition, the final theorem is of a form which provides insight into what a priori knowledge is required to achieve robust adaptive control and how this knowledge say be used.
作者：
GILBERT, EGHA, IJDepartment of AeroSpace Engineering
Robot Systems Division University of Michigan Ann Arbor MI USA Computer
Information and Control Engineering Program Robot Systems Division College of Engineering University of Michigan Ann Arbor MI USA
A control problem involving a mechanical system with generalized coordinates q ∈ R m is considered. The error in tracking a desired input y d ∈ R p is e = E (q,y d )∈ R m . If E satisfies simple conditions, ...
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A control problem involving a mechanical system with generalized coordinates q ∈ R m is considered. The error in tracking a desired input y d ∈ R p is e = E (q,y d )∈ R m . If E satisfies simple conditions, it leads to a nonlinear control law that assures e (t)→0 as t →∞. The law is robust in that small changes in it do not produce large steady-state errors or loss of stability. In this theory a unified framework is presented for treating a number of problems in the control of mechanical manipulators.
A new iterative adaptive image restoration algorithm is developed. It is composed of a sub-optimal filter and a least squares based identifier. To account for nonstationarity, a moving window technique has been incorp...
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A new iterative adaptive image restoration algorithm is developed. It is composed of a sub-optimal filter and a least squares based identifier. To account for nonstationarity, a moving window technique has been incorporated. Based upon computational results on two noisy images and a comparison with three other adaptive image restoration algorithms, it was concluded that the proposed adaptive image estimation algorithm is highly competitive.
An overview of system applications using large-scale modelling, optlmlsation and control methods is presented. The method used includes both hierarchical and dec entralised control. The applications are drawn from the...
An overview of system applications using large-scale modelling, optlmlsation and control methods is presented. The method used includes both hierarchical and dec entralised control. The applications are drawn from the fields of power systems, biological processes, water distribution networks, urban traffic control, telecommunication networks, river pollution control and a ship system.
A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeepin...
A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeeping-optimized hull form without making concessions to other performance considerations, such as resistance. The seakeeping-optimized hull is then modified to improve other performance characteristics without degrading the seakeeping. Presented is a point-design example produced by this methodology. Merits of the methodology and the point design are assessed on the basis of theoretical calculations and model experiments. This methodology is an integral part of the Hull Form Design System (HFDS) being developed for computer-supported naval ship design. The modularized character of HFDS and its application to hull form development are discussed.
A collaborative effort has been undertaken at both UMIST and Rensselaer to use interactive computer graphics to develop an improved user interface for the UMIST suite of programs for performing analysis, design, and s...
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A collaborative effort has been undertaken at both UMIST and Rensselaer to use interactive computer graphics to develop an improved user interface for the UMIST suite of programs for performing analysis, design, and synthesis of controlsystems. The objective is to explore ways in which presently available and newly emerging interactive graphics terminals can be employed with this specific suite and with control design packages in general. This paper is a presentation of the plans for this project and a report on its progress to date.
作者：
Richardson, James C.Berman, Paul I.Capt. James C. Richardson
Jr. a surface warfare officer was graduated from the U.S. Naval Academy U.S. Naval Postgraduate School and the American University. With proven subspecialities in Material Management and Computer Systems Technology he has served as Commanding Officer USS Hepburn (FF-IOSS) Program Manager of the Mk 86 Gun Fire Control System at the Naval Sea Systems Command and is currently Commanding Officer of the Navy Regional Data Automation Center Washington D. C. Paul Berman is manager of Product Support Engineering for Lockheed Electronics Company
Plain field New Jersey. His department is responsible for logistics planning and analysk supply support field engineering training and technical documentation in support of the division as products. His 30 years of experience in product support include preparation of logistics plans engineering data technical publications and training materials. He is also an adjunct instructor at Rutgers University. Mr. Berman received a BA from Queens College in 1951 and an MA from Hunter College in 1957. He attended the U.S. Army Signal Corps radar school and was a field radio and radar repairman during the Korean War. He is currently a member of the Society of Logistics Engineers and the National Management Association.
One of the most serious problems encountered in Naval steam plants following World War II was the unreliable performance of boiler and main feedpump pneumatic controlsystems. In addition to control component and syst...
One of the most serious problems encountered in Naval steam plants following World War II was the unreliable performance of boiler and main feedpump pneumatic controlsystems. In addition to control component and system design deficiencies, these controlsystems suffered from inadequate methods to measure and adjust system alignment. This paper describes the development of a set of procedures for on-line alignment verification (OLV) of pneumatic main boiler and feedpump controlsystems. The procedures are designed for use by N avy control system technicians and, in addition to on-line alignment verification, provide guidance for troubleshooting and for performing system alignment. Procedure static checks measure steady state steaming performance and OLV procedure dynamic checks measure the ability of the boiler and controlsystems to respond to load changes. The paper describes typical control system characteristics that influence OLV procedure content and the supporting analysis that was used to establish alignment criteria ranges that satisfy both steady state and transient performance requirements. Also described is the alignment criteria tolerance analysis along with the steps involved in a typical OLV check procedure development. Descriptions of the various OLV checks, troubleshooting procedures and alignment procedures are provided. Typical shipboard implementation requirements are described and experience to date with the procedures is provided along with a status report on OLV procedure implementations.
This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. A finite number system...
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