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A LYAPUNOV-LIKE APPROACH TO PERFORMANCE ANALYSIS OF 3-DIMENSIONAL PURE PNG LAWS

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC systems 1994年第1期30卷 238-248页

作者： SONG, SH HA, IJ Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

The 3-dimensional PPNG (pure proportional navigation guidance) law was proposed about forty years ago, but its performance has been analyzed only on the basis of the linearized trajectory equations, which are valid locally around the collision course. We take into full account the nonlinear dynamic characteristics of pursuit situation in the 3-dimensional space to analyze the performance of the 3-dimensional PPNG law more rigorously. We prove that a missile guided by the 3-dimensional PPNG law can always intercept a target maneuvering randomly in the 3-dimensional space if 1) the target acceleration varies with a known bound, 2) the navigation constant is selected large, and either 3a) the initial heading error is small or 3b) the missile keeps the head toward the target during flight. We also propose a modified PNG law, which seems to exhibit better performance at the final phase of pursuit than the conventional PPNG law. We introduce a Lyapunov-like method that proves to be a very powerful tool in obtaining our results.

关键词： Performance analysis Missiles Acceleration Navigation Angular velocity Nonlinear equations Angular velocity control Proportional control control systems Instruments

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GLOBAL PATH PLANNING FOR MOBILE ROBOT WITH GRID-TYPE WORLD MODEL

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 1994年第1期11卷 13-21页

作者： LEE, JG CHUNG, HY Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul Korea 151–742

This paper presents a new methodology for global path planning for an autonomous mobile robot in a grid-type world model. The value of a certainty grid representing the existence of an obstacle in the grid is calculated from readings of sonar sensors. In the calculation, a way of utilizing three sonar sensor readings at a time is introduced, resulting in a more accurate world model. Once the world model is obtained, a network for path planning is built by using the model. The global paths, defined as the shortest paths between all pairs of nodes in the network, are calculated. A fast algorithm using a decomposition technique is proposed for real-time calculation. The new methodology has been implemented on the mobile robot whose role is to transport materials in a flexible manufacturing system. The results show that the proposed method of certainty grids satisfactorily represents a precise environment, including the locations of obstacles. Thus, the robot successfully comprehends its surroundings, and navigates to its destinations along optimal paths.

关键词： Mobile robots

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EXPLICIT CHARACTERIZATION OF ALL FEEDBACK-LINEARIZING controlLERS FOR A GENERAL TYPE BRUSHLESS DC MOTOR

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IEEE TRANSACTIONS ON AUTOMATIC control 1994年第3期39卷 673-677页

作者： HA, IJ KANG, CI Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul Kyunggi South Korea

In this note, we consider feedback-linearizing control of brushless dc motors which have been increasingly used in high-performance servo applications. We completely characterize the whole class of the feedback controllers that enable the brushless dc motors to behave like linear systems but without torque ripple. The whole class of the feedback-linearizing controllers is characterized in the explicit form which contains a function to be chosen freely. The previously known controllers correspond to either the particular ones in our whole class of the feedback-linearizing controllers or their truncated Fourier expansions. This free function can be used to achieve other control objectives as well as linear dynamic characteristics. Furthermore, our feedback-linearizing controllers can be easily determined from the measurement data of back EMF and can be used even for the case of asymmetric back EMF.

关键词： Brushless DC motors Stators control systems Linear systems Shape control Automatic control Servomechanisms DC motors Torque control Adaptive control

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Grey-Box Modeling for Identification and control: An Emerging Discipline or an Established Technology?

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IFAC Proceedings Volumes 1994年第8期27卷 1193-1198页

作者： S. Bay Jorgensen K.M. Hangos Department of Chemical Engineering Technical University of Denmark Systems and Control Research Laboratory: Computer and Automation Institute HAS

Grey box modeling is a widely used term, which presently reflects that both a priori and experimental knowledge is being incorporated into the model building process. A brief investigation into various uses of grey box modeling approaches reveals that they mainly differ with respect to the required model accuracy. The goal of the model application also has to be considered in the model building, since it constrains the necessary accuracy required by the model. In this paper these two viewpoints are combined thus leading to a proposed new definition of grey box modeling.

关键词： Qualitative differential and algebraic equations Uncertainty representation Verbatim models Robust identification and control Modeling cycle

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A graph-theoretic approach to integrated process and control system synthesis

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IFAC Proceedings Volumes 1994年第7期27卷 61-66页

作者： K.M. Hangos F. Friedler J.B. Varga L.T. Fan Systems and Control Research Laboratory Computer and Automation Institute Hungarian Academy of Sciences H-1518 Budapest Pf. 63 Hungary Department of Systems Engineering Research Institute of Chemical Engineering Hungarian Academy of Sciences H-8201 Veszprim Pf 125 Hungary Department of Chemical Engineering Kansas State University Manhattan KS 66506 USA

A graph-theoretic method for integration of process and control system (IPCS) syntheses has been proposed in the present paper. The foundation of this integration is a well-established, graph-theoretic approach to process synthesis in conjunction with the analysis of structural controllability based on digraph-type process models. A directed bipartite graph, the CP-graph, has been introduced for unambiguous representation of an IPCS structure. The notion of CP-graph has given rise to a set of axioms for describing the combinatorially feasible and controllable structures. The maximal controllable structure of an IPCS synthesis problem has been defined as the union of combinatorially feasible and controllable IPCS structures; obviously, the optimal IPCS structure must be a substructure of this maximal controllable structure. Thus, the mathematical programming model, e.g., MINLP model, of an IPCS synthesis problem should be derived from the maximal controllable structure. The fundamental combinatorial algorithm of IPCS synthesis, i.e., algorithm CMSG, for identifying this maximal controllable structure has been formulated. The complexity of this algorithm has been proved to be polynomial on the size of the problem; its efficacy is illustrated with a relatively simple example. The resultant IPCS structures are compared with the structures synthesized without considering their control systems.

关键词： Process control control system synthesis structural controllability combinatorial mathematics synthesis methods

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A Practical Adaptive Tracking Filter for Maneuvering Targets

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IFAC Proceedings Volumes 1993年第2期26卷 793-796页

作者： T.K. Sung J.G. Lee Department of Control and Instrumentation Engineering & Automation and Systems Research Institute Seoul National University Korea

A practical adaptive tracking filter for maneuvering targets and nonlinear measurements is proposed by combining a modified input estimation technique with pseudo-residuals and a decoupled tracking filter in LOS Cartesian coordinate system. Since the proposed adaptive tracking filter has a decoupled structure, maneuver input estimates can be computed for three axes separately. Consequently, without degrading performance, computation is drastically reduced compared to a coupled adaptive tracking filter with input estimation technique in inertial coordinate system. Also, by small cross-correlations of pseudo-measurement noises, the proposed tracking filter produces less false alarms or miss detections to improve the performance

关键词： adaptive tracking filter maneuvering targets decoupled tracking filter in line-of-sight coordinate system input estimation technique

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Analysis and control of Interconnected Discrete System Using Robust Stability Condition

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IFAC Proceedings Volumes 1993年第2期26卷 307-310页

作者： H.S. Han J.G. Lee Department of Control and Instrumentation Engineering and Automation and Systems Research Institute Seoul National University Seoul Korea

This paper presents sufficient conditions for the stability of interconnected discrete systems and interconnected uncertain discrete systems. The stability conditions are developed by employing the property of spectral radius. It is shown that the stability conditions can be used in designing controllers for interconnected uncertain discrete systems. Specifically, using the proposed condition yields a new robust control design method for interconnected uncertain discrete system. A controller designed by the proposed method is demonstrated for a sample system. The proposed method significantly simplifies a robust controller design for interconnected systems.

关键词： Discrete system interconnected uncertain system stability sufficient condition local controller

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Path constrained time-optimal motion of a cooperative two robot system

Path constrained time-optimal motion of a cooperative two ro...

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International Conference on Industrial Electronics, control and Instrumentation

作者： H.K. Cho B.H. Lee Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called admissible region in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant.< >

关键词： Robotics and automation Motion planning Actuators Robot sensing systems Path planning Multirobot systems Drives Acceleration Automatic control control systems

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Fuzzy rule base derivation using neural network-based fuzzy logic controller by self-learning

Fuzzy rule base derivation using neural network-based fuzzy ...

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International Conference on Industrial Electronics, control and Instrumentation

作者： K.H. Kyung B.H. Lee Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

This paper presents a new rule base derivation method using neural networks for fuzzy logic control of dynamic systems. The proposed method needs neither dynamic models of the system nor control experts for the control problem. Multi-layered perceptron neural networks are used to form the neural network based quasi-fuzzy logic controller (QFLC). The control performance of the QFLC is achieved on-line using the feedback error learning scheme. The fuzzy control rules are then extracted from the input-output characteristics of the QFLC. They are reduced to form the fuzzy control rule base for an FLC through consecutive procedures such as smoothing, logical reduction, and test running and selection of firing rules. To verify the validity of the proposed rule base derivation method, the authors apply the method to fuzzy logic control of an inverted pendulum.< >

关键词： Fuzzy logic Fuzzy neural networks Neural networks Multi-layer neural network Fuzzy control control systems control system synthesis Multilayer perceptrons Neurofeedback Error correction

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An approach to the direct analysis of transient stability

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European Transactions on Electrical Power 1993年第3期3卷 241-248页

作者： Djukanovic, M.B. Sobajic, D.J. Pao, Y.‐H. Miodrag B. Djukanovic (1959) received his B.S. M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976 respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU) Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department

The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propose the Potential Energy Boundary Surface (PEBS) based method for direct analysis of transient stability. The critical value of transient energy and the Critical Clearing Time (T_CCT) are evaluated without the need for successive calculation and memorization of the system kinetic and potential energy values along the sustained fault trajectory. The method is used for determination of output features in the training phase of the neural‐net based transient security assessment. The proposed approach is tested on the well‐known ten‐generator New England test system demonstrating the validity and accuracy of obtained results. Copyright © 1993 John Wiley & Sons, Ltd.

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