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2009 American control Conference (ACC 2009)

作者： Noriko Matsuda Masaki Izutsu Jun Ishikawa Katsuhisa Furuta Karl J. Astrom Department of Computer and Systems Engineering Tokyo Denki University Ishizaka Hatoyama Saitama 350-0394 Japan Department of Advanced Multidisciplinary Engineering Tokyo Denki University Ishizaka Hatoyama Saitama 350-0394 Japan Tokyo Denki University 2-2 Nishiki Kanda Chiyoda Tokyo 101-8457 Japan Department of Automatic Control LTH Lund University Box 118 SE-221 00 Lund Sweden

ISBN: (纸本)9781424445233

This paper proposes a swinging-up and stabilization method for inverted pendulums based on a pendulum oscillation model. A normalized oscillation model is derived by using only one model parameter, i.e., the natural frequency of a pendulum. As a control strategy, energy-based control with a normalized energy model is utilized for the swinging-up from the pendant position. For the stabilization of the pendulum at the upright position, variable structure system (VSS) type adaptive control is designed through the linearized oscillation model. Validity of the proposed method has been confirmed by simulation of an inverted pendulum on a cart. Swinging-up and stabilization control was realized by using only the natural frequency of the pendulum, and the proposed method was also confirmed to be robust against parameter perturbation for the natural frequency. Stability of the designed controller was proven for a given condition that angular velocity of the pendulum has an upper bound.

关键词： control systems Frequency Variable structure systems Adaptive control Error correction Stability analysis Modeling Robust control Angular velocity control Angular velocity

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Design, realization and testing of the nanomefos non-contact measurement machine for freeform optics

Design, realization and testing of the nanomefos non-contact...

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23rd Annual Meeting of the American Society for Precision engineering, ASPE 2008 and the 12th ICPE

作者： Henselmans, Rens Cacace, Lennino Rosielle, Nick Steinbuch, Maarten Control Systems Technology Mechanical Engineering Faculty Technische Universiteit Eindhoven Netherlands Precision Mechanics Department Advanced Precision and Production Equipment TNO Science and Industry Delft Netherlands AC Optomechanix Eindhoven Netherlands

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Basic performance of a desktop NC machine tool with compliant motion capability

Basic performance of a desktop NC machine tool with complian...

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IEEE International Conference on Mechatronics and Automation

作者： Fusaomi Nagata Shintaro Tani Takanori Mizobuchi Tetsuo Hase Zenku Haga Masaaki Omoto Keigo Watanabe Maki K. Habib Department of Electronics and Computer Science Tokyo University of Science Sanyo-Onoda Japan Research & Development Center Meiho Company Limited Nogata Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Mechanical Engineering Department School of Sciences and Engineering American University Cairo Cairo Egypt

In this paper, a new desktop NC machine tool with compliance controllability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots with high position resolution. A tool attached to the tip of the z-axis has a small ball-end shape. Also, the control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along cutter location data. It is expected that the NC machine tool delicately removes surface cusps with under about 0.3 mm height on a mold, and finishes the surface with high quality. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of the abrasive tool, through a simple position/force measurement. Through a similar position/force measurement and a surface following control experiment along a lens mold, the basic position/force controllability of the proposed NC machine tool is demonstrated.

关键词： computer numerical control Force control Force feedback Surface finishing Force measurement controllability Feedback loop Robots Shape control systems

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Minimization of expected cycle time in manufacturing cells with uncontrollable behavior

Minimization of expected cycle time in manufacturing cells w...

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3rd IEEE International Conference on Automation Science and engineering, IEEE CASE 2007

作者： Kobetski, Avenir Richardsson, Johan Åkesson, Knut Fabian, Martin Chalmers Automation Department of Signals and Systems Chalmers University of Technology SE-412 96 Göteborg Sweden Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation SE-405 31 Göteborg Sweden

ISBN: (纸本)1424411548

Finding optimal working sequences for flexible manufacturing systems (FMS) is a challenging task, especially if uncontrollable events, such as machine breakdowns, can occur in these systems. In this paper, we continue our previous work within the area of FMS scheduling by extending our methods to uncontrollable systems. For this sake, the ideas of probabilistic finite automata are combined with the modeling formalism of extended finite automata. Next, an A*-based scheduling algorithm, minimizing the expectation value of the FMS cycle time is designed. © 2007 IEEE.

关键词： Flexible manufacturing systems

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The model-free learning enhanced motion control of DC motor

The model-free learning enhanced motion control of DC motor

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International Conference on Electrical Machines and systems, ICEMS 2007

作者： Rongmin, Cao Zhongsheng, Hou Wei, Zhang Department of Computer and Automation Beijing Institute of Machinery Industry China Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University China

ISBN: (纸本)8986510081

This paper presents an approach towards learning enhanced motion control of DC motor, suitable for applications involving repeated iterations of motion trajectories. The overall structure of the control consists of a feedback and a feed-forward components. The model-free learning adaptive feedback control (MFLAC) provides for the main system stabilization and an iterative learning control (ILC) algorithm is proposed to serve as a feedforward compensation to nonlinear and unknown dynamics and disturbances, thereby enhancing the improvement achievable with PID or MFLAC alone. It serves as the basis for simulation study of the proposed control scheme. A comparison of the performance achieved with traditional PID and MFLAC is also provided to highlight the advantages of the additional intelligent feedforward mode.

关键词： DC motors

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A New Feedback-feedforward Configuration for the Iterative Learning control of a Class of Discrete-time systems

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自动化学报 2007年第3期33卷 323-326页

作者： HOU Zhong-Sheng XU Jian-Xin Advanced-Control Systems Lab of the School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 P.R. China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

这份报纸为反复的学习控制(ILC ) 论述一种新反馈前馈控制配置与反馈设计，它由反馈和一个前馈控制部件组成。反馈积分控制器稳定系统，并且在操作，和前馈控制 ILC 期间起主导的作用补偿可重复的非线性 / 未知的变化时间的动力学和骚... 详细信息

这份报纸为反复的学习控制(ILC ) 论述一种新反馈前馈控制配置与反馈设计，它由反馈和一个前馈控制部件组成。反馈积分控制器稳定系统，并且在操作，和前馈控制 ILC 期间起主导的作用补偿可重复的非线性 / 未知的变化时间的动力学和骚乱，从而提高性能独自由反馈控制完成了。作为这控制策略的最有利的点，没有作努力到前馈控制 / 反馈获得的 reconfigurate 或重新调律，前馈控制 ILC 和反馈控制能独立地或联合工作。与严密分析，建议学习控制计划沿着重复轴保证 asymptotic 得到集中。

关键词：非线性系统自动化控制反馈系统计算机技术

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CAD/CAM-based position/force control for a ball-end abrasive tool and its application to an industrial robot

CAD/CAM-based position/force control for a ball-end abrasive...

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4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007

作者： Nagata, Fusaomi Hase, Tetsuo Haga, Zenku Omoto, Masaaki Watanabe, Keigo Department of Electronics and Computer Science Tokyo University of Science Yamaguchi Japan Research and Development Center Meiho Co. Ltd. Japan Department of Advanced Systems Control Engineering Saga University Japan

control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for industrial robots. The force feedback loop controls the polishing force consisting of the contact force and kinetic friction force. During mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool doesn't deviate from the desired trajectory and keeps a constant pick feed. When a mold polishing robot with the controller runs, cutter location (CL) data with normal vectors are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The CL data allow the robot to realize a complete non-taught operation of the position and contact direction. In this paper, a simple experiment is conducted by using an industrial robot with a ball-end abrasive tool in order to evaluate the effectiveness of the proposed method. The target workpiece is an aluminum PET bottle blow mold after NC machining, whose curved surface has small cusp marks with about 0.3 mm height every pick feed. The results show that the proposed mold polishing robot with the CAD/CAM-based position/force controller can uniformly remove the cusp marks and further achieve mirror-like surface quality without undesirable over-polishing.

关键词： Position control

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Kansei with behavioral patterns for human-robot interaction in ubiquitous environments

Kansei with behavioral patterns for human-robot interaction ...

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作者： Balasuriya, Janaka Chaminda Kamohara, Kouhei Marasinghe, Chandrajith Ashuboda Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Software Engineering Lab. Department of Computer Software University of Aizu Aizu-Wakamatsu Fukushima Japan

ISBN: (纸本)9784990288013

Humans have two distinct features with compared to any other living being;unique physical nature and emotions / feelings. Anybody who studies on humans or trying to construct human like machines should consider these two vital facts. When robots are interacting with humans and other objects, they certainly have a safe distance between them and the object. But how can this distance be optimized when interacting with humans? Will there be any advantages over achieving this? Will it help to improve the condition of robots? Can it be a mere constant distance? How will the humans react? In order to 'humanize' robots, they (robots) should also have certain understating of such emotions that we, humans have. In this research project, authors are trying to 'teach' one such human understanding, commonly known as 'personal space' to autonomous mobile robots. ©ISAROB 2007.

关键词： Human robot interaction

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The Mimo Predictive Pid controller Design

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Asian Journal of control 2008年第4期4卷

作者： M.H. Moradi M.R. Katebi M.A. Johnson Department of Electronic and Electrical Engineering University of Strath-clyde Glasgow GI 1QE UK. Dr. Moradi is a Lecturer in the Department of Electronic and Electrical Engineering University of Bu-Ali Sina in Iran. He obtained the BSc and MSc in 1991 and 1993 from the Sharif University of Technology and Tarbiat Modarres University respectively. Dr. Moradi joined the Bu-Ali Sina University in 1993. In 2002 he obtained his PhD degree from the University of Strath-clyde Glasgow Scotland. His theoretical research interests include predictive PID control advanced classical control generalised predictive control system identification and fault monitoring robust control design computer networks and more recently control through networks. His industrial interests are in the areas of large-scale systems especially power systems and power plant modelling and control supervisory control and process control. Dr. Moradi has published a number of Journal and Conference papers. Dr. Katebi is a senior lecturer in the Department of Electronic and Electrical Engineering University of Strathclyde. His theoretical research interests are currently focused on Non-linear Control and Filtering for Complex Systems Autonomous Control Design System integration and Fault monitoring and Reconfiguration Plant Monitoring through the Internet Discrete Event Simulation Process Optimisation and Robust Control Design. The industrial research interests are in the area of Hot and Rolling for Steel and Aluminium Power Plant Modelling and Control Marine Control Systems Process Control and Wastewater Treatment Control. Dr Katebi is the author/co-author of four books and more than 150 papers and industrial reports. Professor Johnson's academic education began at Coventry University (1969) and continued under the supervision of Professor Greyham Bryant in the field of Control Systems at Imperial College London. He obtained the DIC MSc and PhD from Imperial College leaving for industry in 1978. Subsequent experience was in the

This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control structure is defined which incorporates the prediction of future outputs and uses future set point. A method is proposed to calculate the optimal values of the PID gains from generalised predictive control results. A decentralized version of the predictive PID controllers is presented and the stability of the closed loop system is studied. Simulation studies demonstrate the superior performance of the proposed controller compared with a conventional PID controller. The results are also compared with generalised predictive control solutions.

关键词： PID control design predictive PID MIMO controller optimisation

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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