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American control Conference (ACC)

作者： Daniel E. Rivera Saurabh Bhatnagar Department of Chemical Bio and Materials Engineering and Control Systems Engineering Laboratory Computer-Integrated Manufacturing Systems Research Center Arizona State University Tempe AZ USA

A novel technique for identifying reduced-order models in the closed-loop is presented. The method arrives at a process model and its corresponding compensator in an iterative fashion by introducing a series of step chan at the manipulated variable. The bias introduced into the identification data set by the closed-loop system, coupled with a control-relevant prefilter, yields a model whose corresponding control system improves its performance at every step. The method is appealing to chemical engineering practitioners because it combines the tasks of system identification with controller commissioning to produce a simple-to-use yet reliable autotuning procedure.

关键词： System identification control systems Error correction control system synthesis Chemical engineering systems engineering and theory control design Frequency estimation Predictive models Open loop systems

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Improved Performance MRAC of Linear and Nonlinear systems

Improved Performance MRAC of Linear and Nonlinear Systems

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American control Conference (ACC)

作者： Ioannis N. M. Papadakis Stelios C. A. Thomopoulos Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

The problem of improved performance adaptive control (IPAC) of a class of linear and nonlinear systems is considered. A method for its solution is presented, the main feature of which lies in augmenting the "standard" model reference adaptive controller by a properly designed signal compensating for the effect of plant parameter uncertainty on the output error. One of the main performance improvement characteristics of the proposed IPAC is that the zero-state output error can be made arbitrarily small under standard model reference adaptive control (MRAC) assumptions in the case of linear systems while a similar result holds for a class of linearizable systems as well. The exponential convergence of the output and parameter errors in the presence of sufficiently rich reference inputs, remains a valid property of this controller which also achieves improved robustness in the presence of bounded disturbances and/or unmodeled dynamics as well as in the case of an adaptation switch-off.

关键词： Nonlinear systems Adaptive control Convergence Programmable control control systems Polynomials Linear systems Uncertain systems Frequency Performance gain

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Improved Performance Adaptive control Under Standard Mrac Assumptions

Improved Performance Adaptive Control Under Standard Mrac As...

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IEEE Regional Conference on Aerospace control systems

作者： I.N.M. Papadakis S.C.A. Thomopoulos Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

In this paper, an adaptive controller with improved transient and steady-state performance using parameter mismatch compensation and high-order tuning is presented. As in previous designs, the use of a properly designed signal, compensating for the effects of parameter mismatch on the output error, leads to "arbitrary" performance improvement. However, unlike previous designs based on first-order (classical) tuners, high-order tuning is necessary in order to avoid the effect of terms due to initial conditions on the output error. This constitutes a strong motivation for the use of high-order tuners in adaptive control which so far, were considered as more complicated alternatives to the classical first-order tuners. The proposed controller also provides robustness enhancement in the presence of bounded disturbances and/or a class of unmodeled dynamics or in the event of an adaptation switch-off end, as in classical model reference adaptive control, guarantees the exponential convergence of all errors to zero in the presence of sufficiently exciting reference inputs.

关键词： Adaptive control Programmable control Tuners Signal design control systems Convergence Stability analysis Laboratories Displays Transient analysis

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Comparative Study of Self-Organizing Neural Networks in Signal Detection and Classification

Comparative Study of Self-Organizing Neural Networks in Sign...

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IEEE Regional Conference on Aerospace control systems

作者： Chin-Der Wann S.C.A. Thomopoulos Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

A benchmark study of two self-organizing artificial neural network models, ART2 and DIGNET, is conducted. The architecture differences and learning procedures between these two models are compared. The performance of ART2 and DIGNET on data clustering and signal detection problems with noise or interference is investigated by comparative simulations. It is shown that DIGNET generally has faster learning and better clustering performance on the statistical pattern recognition problems. DIGNET has a simpler architecture, and the system parameters can be analytically determined from the self-organizing process. The threshold value used in DIGNET can be specifically determined from a given lower bound on the desirable signal-to-noise ratio (SNR). The networks discussed in this paper are applied and benchmarked against clustering and signal detection problems.

关键词： Neural networks Intelligent networks Signal detection Artificial neural networks Pattern recognition Supervised learning Clustering algorithms Signal processing Resonance Partitioning algorithms

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Passivity motivated controller design for flexible structures

Passivity motivated controller design for flexible structure...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS ) Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such naturally passive pairs is small, the closed loop performance may not be satisfactory. This motivates the incorporation of additional sensors in the control design. However, the passivity property no longer holds for these sensors. Some thoughts are presented on extending the passivity based design to incorporate these non-collocated sensors by using some nominal model information to synthesize a fictitious strictly passive output. Simulation and experimental studies are presented to show the merits of this approach.< >

关键词： Flexible structures control systems Actuators Feedback Mechanical sensors Robustness control design Q measurement Passive filters Laboratories

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Nonpositive Hopfield Networks in Error Correcting Coding Applications

Nonpositive Hopfield Networks in Error Correcting Coding App...

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American control Conference (ACC)

作者： Yash Shrivastava Soura Dasgupta S.M. Reddy Center for Industrial Control Systems Newcastle NSW Australia Department of Electrical and Computer Engineering University of Iowa Iowa IA USA

We consider a class of symmetric Hopfield Networks, with nonpositive synapses and zero thresholds and address a variety of design and analysis issues conected with Unidirectional Error Correcting Coding applications of this class. We show that this class is naturally suited to work in a unidirectional error environment We give a necessary and sufficient condition for a set of vectors to be storable in a Nonpositive Network. We propose a simple word storage algorithm, which is amenable to on line implementation, and guarantees storage of all storage compatible words. We show that the storage algorithm creates a maximally fault tolerant network which is free from spurious stationary points, whenever that freedom is possible. We also give a word forgetting algorithm; a tight, deterministic bound on the storage capacity, and give conditions under which the network created by our storage scheme tolerates a given number of arbitrary physical faults.

关键词： Error correction Sufficient conditions Light sources Fault tolerance Hopfield neural networks Symmetric matrices Neural networks Error correction codes Upper bound Tellurium

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Real-time control of reactive ion etching: identification and disturbance rejection

Real-time control of reactive ion etching: identification an...

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IEEE Conference on Decision and control

作者： B.A. Rashap P.P. Khargonekar J.W. Grizzle M.E. Elta J.S. Freudenberg F.L. Terry Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

The main processes involved in the manufacture of integrated circuits are deposition, lithography, etching, and implantation. This paper describes results on identification and real-time control of reactive ion etchers. Experimental results show that significant disturbances to the etch rate can be attenuated with real-time feedback control.< >

关键词： Etching Feedback control Plasma applications Manufacturing processes Laboratories Pressure control Weight control Open loop systems PD control Pi control

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Application of Passivity Motivated controller Design for a Nonlinear Flexible Pointing System

Application of Passivity Motivated Controller Design for a N...

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American control Conference (ACC)

作者： P. Akella X. Chen J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents a passivity based approach to the stabilization of a flexible beam and its application to a testbed at the Picatinny Arsenal. The basic control design consists of tuning an inner passive loop for the rigidbody response, synthesizing a passive output based on an observer and all the available outputs, and finally filtering the synthesized passive output by an optimal passive filter before closing the loop. Previous simulation and experimental experience in the C La MS Laboratory at Rensselaer has shown the efficacy of this approach. Preliminary simulation results based on the Picatinny model are encouraging. Experimental validation on the physical testbed is currently planned.

关键词： Nonlinear control systems control systems Passive filters Laboratories System testing Modeling Robustness Application software control design Friction

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Digital Adaptive control of Rotary System with Unknown Nonlinear Friction

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IFAC Proceedings Volumes 1993年第2期26卷 81-84页

作者： S. Sagara F. Ohkawa T. Yamashita M. Tomizuka Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Japan Department of Mechanical Engineering University of California Berkeley Berkeley CA 94720 USA

This paper is concerned with the design of a discrete time Model Reference Adaptive control System (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a deadzone element for the input, which is active at low velocities. and disturbance. which may take different values depending on the motion direction. respectively. Then, the WAes for the nonlinear friction is a cascade combination of a nonlinear block which contains the deadzone and the disturbance term and a linear dynamic block. Experimental results from a rotary servo system demonstrate the effectiveness of the proposed WAeS

关键词： Model reference adaptive control Nonlinear friction Rotary System Servomechanisms

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Applications of control to Semiconductor Manufacturing: Reactive Ion Etching

Applications of Control to Semiconductor Manufacturing: Reac...

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American control Conference (ACC)

作者： M. Elta H. Etemad J. S. Freudenberg M. D. Giles J. W. Grizzle P. T. Kabamba P. P. Khargonekar S. Lafortune S. M. Meerkov J. R. Moyne B. A. Rashap D. Teneketzis F. L. Terry Solid State Electronics Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Control Systems Laboratory and Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

This paper describes the development of real-time control technology for the improvement of manufacturing characteristics of reactive ion etchers. A general control strategy is presented as well as supporting experime... 详细信息

关键词： Semiconductor device manufacture Etching Plasma applications Laboratories Pulp manufacturing Manufacturing processes Plasma materials processing Feedback control control systems Production facilities

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