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Detection Filter Design in Uncertain Linear Systems: Application of The Generalized Observer Scheme

IFAC Proceedings Volumes 1999年第2期32卷 7802-7807页

作者： A. Edelmayer J. Bokor F. Szigeti Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Sciences Budapest Kende u. 13-17. H-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11. La Hechicera Venezuela

In this paper the robust fault detection and isolation (FDI) problem in linear systems, which are subjected to multiple faults and time varying system perturbations is discussed. The detection and isolation problem is treated by using algebraic methods and geometric design concepts. The idea of the classical Luenberger observer is generalized in an attempt that residual generators for solving the robust FDI problem can be designed.

关键词： Bilinear systems (c, a)-invariant subspaces luenberger observers matrix lie algebra time varying systems

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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A toolbox for model-based fault detection and isolation

A toolbox for model-based fault detection and isolation

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European control Conference (ECC)

作者： L. Tesař L. Berec G. Dolanc G. Szederkényi J. Kadlec D. Juričić K. Hangos M. Kinnaert Oblast ved o zive prirode a chemickych ved AV CR Praha CZ Department of Computer Automation and Control J. Stefan Institute Jamova 39 SI 1001 Ljubljana Slovenia Computer and Automation Research Institute MTA P.O.B. 63 H-1518 Budapest Hungary Universite Libre de Bruxelles Bruxelles Bruxelles BE

A toolbox for model-based fault detection and isolation (FDI) has been developed in the MATLAB/SIMULINK environment. It includes methods relying on analytical or qualitative models of the supervised process. A demonstration of each approach can be performed on a simulation of either a three-tank system, a cocurrent or a countercurrent heat exchanger. The results are displayed in a common format, which allows performance comparison. A user manual including guidelines for tuning method specific parameters is available.

关键词： Computational modeling Mathematical model Fault detection Data models MATLAB Heating

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Process control as an element in a CIM concept-a case study

Process control as an element in a CIM concept-a case study

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Mediterranean Electrotechnical Conference (MELECON)

作者： V. Jovan G. Dolanc Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

The paper describes the design and implementation of a control system which in 1996 was successfully installed in a Slovenian brickworks. Its primary function is efficient control of the drying process in the factory, and so far this system is conceived as a classic computer-based process control system. With regard to the possible need to incorporate this control system into a future CIM information system, a concept of flexible recipes was applied as a possible integration link between planning, which is a typical business-level activity and process control, which is a production level activity. Flexible recipes thus may provide a modest contribution to the integration of shop floor control and logistical functions.

关键词： Process control computer integrated manufacturing computer aided software engineering control systems Automatic control Production systems Design automation computer industry Manufacturing industries Application software

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Wiener Model Based Nonlinear Predictive control of a pH Neutralisation Process

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IFAC Proceedings Volumes 1998年第11期31卷 547-552页

作者： Samo Gerkšič Đani Juričić Department of Computer Automation and Control Jožef Stefan Institute Jamova 39 SI-1000 Ljubljana Slovenia

A case-study evaluation of a Wiener model based nonlinear predictive control method is presented. The approach makes use of Wiener model identification and does not require first-principles modelling. It was tested on a simulated model of a pH neutralisation process that was reconstructed from the literature. The obtained results are better than those resulting from the original physical model based nonlinear control and also of an artificial neural network (ANN) based approach. The performance is excellent also in the case of a considerable plant-to-model mismatch. There is a clear relation to the underlying linear model based method in a form of gain scheduling, so that the properties of the nonlinear control system can be analysed from the comprehensible linear control aspect. The method combines advantages of linear model based predictive control and gain scheduling while retaining a moderate level of computational complexity, thus it can be applied as the first next step in cases where performance of linear control is unsatisfactory due to process nonlinearity.

关键词： control algorithms nonlinear control optimization problems predictive control

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Improving the resolution and stability of diagnostic systems

Improving the resolution and stability of diagnostic systems

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Rakar D. Juricic Department of Computer Automation and Control Jožef Stefan Institute Ljubljana Slovenia

The paper addresses the problem of distinguishing between faults with the same fault signatures. It is shown that additional improvements in terms of resolution can be achieved if information about the sensitivity of the residuals with respect to faults is taken into account. When two fault signatures are qualitatively identical but have significantly different sensitivity terms, additional discrimination can be achieved by using the ratios of the underlying residuals. This extra isolability feature simplifies reasoning in the isolation stage. However, to achieve better overall performance, the diagnostic results should be stable, i.e. should not vary substantially under different operating conditions. Improved diagnostic stability is obtained by the approximate reasoning approach which relies on the transferable belief model. An outline of the ideas is given and some practical results obtained on a DC motor are provided.

关键词： Stability DC motors Fault diagnosis automation Automatic control control systems System performance Parameter estimation Equations Decision making

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Comparison of the self-tuning generalized predictive controller and pole placement controller

Comparison of the self-tuning generalized predictive control...

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Mediterranean Electrotechnical Conference (MELECON)

作者： I. Santro N. Peric I. Petrovic Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

The basic principles of the self-tuning generalized predictive controller (GPC) and the self-tuning pole placement controller are presented. A laboratory shell-and-tube heat exchanger is used to test the properties of the presented controllers. The self-tuning GPC were compared with the self-tuning pole placement controller regarding their parameter adjustment complexity, reference and disturbance step responses and robustness to differences between the real process and its mathematical model.

关键词： State feedback Automatic control Predictive models Optimal control Costing Cost function control engineering computing Laboratories Testing Robust control

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Rudder servo-system fault diagnosis using neural network fault modeling

Rudder servo-system fault diagnosis using neural network fau...

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OCEANS

作者： Z. Vukic D. Pavlekovic H. Ozbolt Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

The model based fault detection and identification scheme for the rudder servo system as the actuator in the closed loop course keeping control system is presented. The nonlinear process model that enables description of a wide class of fault types is given and the fault function as the residual for detecting and identifying the fault is introduced. A fault detection scheme with variable thresholds is suggested and its performance has been tested via simulation in the presence of modeling uncertainty and noise. A fault identification scheme based on comparison between the fault function estimate and the output of a predefined analytical fault model is suggested.

关键词： Fault diagnosis Neural networks Fault detection control systems Automatic control Actuators control system synthesis Redundancy control engineering computing computer networks

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Improved Fuzzy Autopilot for Track-Keeping

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IFAC Proceedings Volumes 1998年第30期31卷 123-128页

作者： Zoran Vukić Edin Omerdić Ljubomir Kuljaca University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia University of Tuzla Faculty of Electrical and Mechanical Engineering Department of Control Engineering in Automation Franjevačka 2 BH-75000 Tuzla Bosnia and Herzegovina

Improved 2-input fuzzy autopilot for ship course control and 3-input fuzzy autopilot for track-keeping are proposed. Nonlinear model of a ship and a steering subsystem is used. The 3-input fuzzy autopilot uses heading signal, yaw rate signal and lateral offset from the nominal track to produce a command rudder angle. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. Obtaining of FAM rules for 3-input fuzzy is described. Dynamical behavior of 2 and 3-input fuzzy autopilot is compared. The influence of wave disturbance, sea current and external disturbance from a passing ship on track-keeping performance was analyzed.

关键词： Disturbance rejection Fuzzy control Nonlinear control systems Ship control

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