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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

Decentralized adaptive control design is developed for a class of large-scale interconnected nonlinear systems which do not satisfy the strict matching restriction. To this end, large-scale nonlinear systems transformable to the decentralized strict feedback form are considered. The interconnections are assumed to be bounded by unknown polynomials in states. The controller maintains a global uniform boundedness of the model reference tracking error to a compact set which can be made arbitrarily small based on appropriate choice of control gains. In the regulation case, global asymptotic performance is achieved.

关键词： Adaptive control Large-scale systems Nonlinear systems control systems Feedback Polynomials Nonlinear control systems Programmable control Robot control Laboratories

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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...

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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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Implementation of real time spatial mapping in robotic systems through self-organizing neural networks

Implementation of real time spatial mapping in robotic syste...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： V. Morellas J. Minners M. Donath Robotics Laboratory Department of Mechanical Engineering and the Center for Advanced Manufacturing Design and Control University of Minnesota Minneapolis MN USA

Presents a methodology which allows an autonomous agent i.e., a mobile robot, to learn and build maps of its operating environment by relying only on its range sensors. The maps, described with respect to the robot's inertial frame, are developed in real time by correlating robot position and sensory data. This latter feature characterizes part of the uniqueness of the authors' approach. These maps are topologically isomorphic to the maps created for the same room(s) by humans. The methodology exploits the principle of self-organization, implemented as an artificial neural network module which processes incoming sensor range data. The generation of environmental maps can be visualized as an elastic string of neurons whereby every neuron represents a finite portion of the physical world. This elastic string stretches dynamically so as to take on the shape of the environment, a unique characteristic of the authors' methodology. In this respect, the neural net provides a discretized representation of the "continuous" physical environment as the latter is seen through the robot's own sensors. Experiments, focused on indoor applications, have successfully demonstrated the ability of a robot to build maps of geometrically complex environments. The results presented in this paper, compared with the authors' earlier efforts, show significant improvement in that every single sensor data point contributes equally to the location of the neurons of the spatial map at the end of the learning process. This is important because the authors wish to minimize the effect of the order in which data points are processed.

关键词： Real time systems Robot sensing systems Sensor phenomena and characterization Neurons Autonomous agents Mobile robots Humans Artificial neural networks Data visualization Shape

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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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Guest Editorial: Recent Developments of Parallel Manipulators

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Journal of Robotic Systems 1995年第12期12卷 781-782页

作者： Nguyen, Charles C. Robotics and Control Laboratory The Catholic University of America Department of Electrical Engineering Washington District of Columbia 20064 United States

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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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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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A cross-country teleprogramming experiment

A cross-country teleprogramming experiment

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.R. Stein R.P. Paul P.S. Schenker E.D. Paljug TDepartment of Mechanicaland Materials Engineering Wilkes University Wilkes Barre PA USA General Robotics and Active Sensory PerceptionGRASP) Laboratory University of Pennsylvania Philadelphia PA USA Automation and Control SectionJet Propulsion Laboratory California Institute of Technology Pasadena CA USA

The teleprogramming system is a supervisory control approach to time delayed teleoperation that incorporates predictive graphics and reactive skills to accomplish dexterous manipulation tasks in the presence of significant time delay. This paper presents an experimental effort to validate the teleprogramming system using the GRASP laboratory of the University of Pennsylvania as the operator station and the TROPICS laboratory of the Jet Propulsion laboratory as the remote site. The teleprogramming experiment involved operator supervisory control of a robot performing puncture and slice operations on the thermal blanket securing tape of a satellite repair mission sub-task This experiment was successfully performed in August, 1994 using the Internet as the sole medium of communication. During experimentation, messages experienced time-varying time delay between three and fifteen seconds with an average delay of approximately six seconds.

关键词： Delay effects Laboratories Supervisory control Graphics Propulsion Robots Artificial satellites Internet

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Systems, Modelling and control Theory Issues in the Global Operation of Industrial Processes

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IFAC Proceedings Volumes 1995年第10期28卷 221-228页

作者： N. Karcanias H.N. Koivo C. Kyriakopoulos Control Engineering Centre City University Northampton Square London EC1V OHB England Department of Electrical Engineering Tampere University of Technology P O B 692 SF-33101 Tampere Finland Laboratory of Automation and Robotics Department of Electrical Engineering University of Patras 26001 RION Greece

The paper deals with the overall problem of process operations of large industrial processes and aims to idenify a number of important Systems and control Theory type issues which are of generic character and they are also relevant to both continuous and discrete type processes. It is argued that modelling is central to the overall exercise of understanding global process operations and that some new form of systems theory is needed to transcent the boundaries of a given type model family. The development of the systems approach for understanding the issues of global operations is shown to be based on four general clusters of system type problems. These are the Model Embedding Problem (MEP), the Model Interface Problem (MIP), the Variable Complexity Modelling Problem (VCMP) and the Model Composition Problem (MCP) families. The role of such problems for global process operations is discussed and their main features are established

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Development of engineering courseware for university undergraduate teaching using computer animation

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Computer Applications in Engineering Education 1995年第2期3卷 121-121页

作者： Tan, F.-L. Fok, S.-C. School of Mechanical and Production Engineering Nanyang Technological University Singapore 2263 Fock-Lai Tan:was born in Singapore in 1959. He received his BEng in mechanical engineering from the National University of Singapore in 1984 and his MSME degree in mechanical engineering from Rensselaer Polytechnic Institute Troy New York in 1992. He is currently a lecturer in the School of Mechanical and Production Engineering of the Nanyang Technological University. His research interest is in the area of modeling of casting processes. He has recently been active in the development of multimedia educational coursewares for university teaching. Sai-Cheong Fok:was born in Singapore in 1957. He received his diploma in production engineering from Singapore Polytechnic in 1977 BASc from the University of Ottawa Canada in 1985 and his PhD from Monash University Australia in 1990. He is currently a lecturer in the School of Mechanical and Production Engineering of the Nanyang Technological University. His research interest is in the area of robotics and control. He has also been active in the development of multimedia courseware for laboratory teaching.

Computer animation on personal computers (PC) is becoming increasingly popular as an educational teaching aid. With the increasing CPU power and high-resolution graphics of PC, and the rapid evolution of animation softwares, engineering courses can be developed on the PC using computer animation. Many engineering systems and processes in the engineering courses can be animated to enhance learning by university undergraduates. These animation projects could be developed into engineering courseware on certain subjects or topics for effective teaching in classrooms, at home, or as computer-aided laboratory lessons. Several types of animation software are introduced in this article.

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