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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J. Gramacki A. Gramacki K. Galkowski E. Rogers D.H. Owens Institute of Informatics and Electronics Technical University of Zielona Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems of both theoretic and practical interest. For example, they arise in the study of industrial processes such as long-wall coal cutting operations and also in the modeling of classes of iterative learning control schemes. This paper describes the development of MATLAB based tools for control related analysis/controller design in the case of so-called discrete linear repetitive processes with particular emphasis on the iterative learning control application. Some areas for short to medium term further development are also briefly noted.

关键词： MATLAB Linear systems control systems Iterative algorithms Electrical equipment industry Industrial control Mathematical model Machining Metals industry Informatics

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Poincare's method for systems with impulse effects: application to mechanical biped locomotion

Poincare's method for systems with impulse effects: applicat...

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IEEE Conference on Decision and control

作者： J.W. Grizzle F. Plestan G. Abba Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA GRAVIR-LSIIT ENSPS Universite Louis Pasteur CNRS Illkirch-Graffenstaden France

The existence and stability properties of periodic orbits are studied for nonlinear systems with impulse effects. This is achieved with an extension of the well-known method of Poincare. The main result is then applied to a model of an under actuated, five degree of freedom biped robot with a torso in order to prove, for the first time, the existence of an asymptotically stable walking cycle.

关键词： Legged locomotion Differential equations Stability Orbits Nonlinear systems Torso Mechanical factors Orbital robotics Limit-cycles Clocks

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability.

关键词： Stability controllability System testing control system analysis Algorithm design and analysis control systems Boundary conditions Process control Standards development Linear systems

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Mixed abstraction level hardware synthesis from SDL for rapid prototyping

Mixed abstraction level hardware synthesis from SDL for rapi...

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International Workshop on Rapid System Prototyping (RSP)

作者： O. Bringmann A. Muth F. Slomka W. Rosenstiel G. Farber R. Hofmann Wilhelm-Schickard-Institut für Informatik Department of Computer Engineering Universität Tubingen Germany Laboratory for Process Control and Real-Time Systems Technische Universitä MTünchen Germany Department of Computer Architecture and Performance Evaluation Universität Erlangen Nürnberg Germany

SDL is currently gaining interest as a system level specification language for HW/SW codesign. Automated synthesis of SDL in hardware so far had problems with its efficiency. The investigations on the resource usage of SDL-to-VHDL designs presented in this paper identify two key challenges: minimizing the overhead introduced by SDL process infrastructure, and choosing the appropriate synthesis method. This paper presents a framework for SDL hardware synthesis where VHDL code generation, high-level synthesis and RT-level synthesis are combined. A configurable run-time environment implements services like data handling and message passing in efficient, hand-coded library components, which take into account properties of the target architecture. For these components RT-level synthesis was found to be suitable. The behavior of each SDL process on the other hand is freely specified by the system designer. Depending on the type of application, i.e. complex data-oriented or control-oriented either high-level synthesis, RT-level synthesis, or a combination of both can prove to be optimal.

关键词： Hardware Prototypes control system synthesis Timing High level synthesis computer architecture Resource management Arithmetic High performance computing Design engineering

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A Web-Based Course in Automatic control for Engineers in Industry

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IFAC Proceedings Volumes 1999年第2期32卷 6405-6409页

作者： Anders Bark Bo Egardt Birgitta Kristiansson Chalmers Open Industry Courses in Electrical and Computer Engineering Chalmers University of Technology S-412 96 Göteborg Sweden Control Engineering Lab Department of Signals and Systems Chalmers University of Technology S-412 96 Göteborg Sweden Department of Electrical Engineering College of Applied Engineering and Maritime Studies Chalmers University of Technology. S-402 72 Göteborg Sweden

This contribution describes the development of a multi-media based course in control, targeted primarily to engineers in industry. We describe some of the difficulties we have encountered in this work, and how we have approached them. Experiences from the first couple of courses will be described. In the presentation at the conference, we will also demonstrate some of the interaction with the course material.

关键词： control education education teaching

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Some properties of switched systems

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IFAC Proceedings Volumes 1999年第2期32卷 4794-4798页

作者： Bo Bernhardsson Karl Henrik Johansson Jörgen Malmborg Department of Automatic Control Lund Institute of Technology Box 118 S-221 00 Lund fax: +46 46 13 81 18 Sweden Department of Electrical Engineering & Computer Sciences UC Berkeley 333 Cory Hall # 1770 Berkeley CA 94720-1770 U.S.A. Space Systems Sweden AB Amiralsgatan 20 S-211 55 Malmö Sweden

Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case i... 详细信息

关键词： Hybrid modes Sliding mode control Nonlinear control systems Discontinuities

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The NTUA snake: Design, planar kinematics, and motion planning

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Journal of Field Robotics 1999年第1期16卷

作者： K. J. Kyriakopoulos G. Migadis K. Sarrigeorgidis Control Systems Lab Mechanical Engineering Department National Technical University of Athens Athens 10682 Greece Electrical Engineering and Computer Science Department University of California Berkeley California 94720

A new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. We propose a multiarticulated snake-like mobile robot, with a body consisting of repeating modules, capable of both efficiently moving and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. This mechanical system is subject to nonholonomic constraints. The kinematic model for motion on-plane of the mobile robot is derived by taking into consideration these constraints. The nonholonomic motion planning is partially solved by converting the multiple-input system to a multiple-chain, single-generator chained form via state feedback and a coordinate transformation. Stabilization and trajectory tracking issues are also considered. We also consider the general case of the n -trailer (or n -module) robotic snake. Simulation results are provided for various test cases. ©1999 John Wiley & Sons, Inc.

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Healthcare Informatics Society of Ireland

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Irish Journal of Medical Science 1999年第4期168卷 276-282页

作者： Rigby, M. Sheridan, A. Draper, R. Stephens, G. Gaffney, P. Grimson, J. Avalos, G. Comerford, F. R. Kanagaratnam, B. Dineen, B. Hamilton, I. Jung, B. Felton, E. Berry, D. Grimson, W. Rice, D. H. Healy, M. Bruce, A. Kelly, J. Carroll, T. Grogan, A. Hurl, G. A. Hyland, D. Roberts, J. Brazil, J. Callanan, I. Devitt, A. O’Brien, T. O’Sullivan, U. M. Peyton, K. Wilson, M. J. Collins, R. Crawley, L. Foley, D. Strachan, H. McBrearty, P. Murnane, R. Murphy, E. Keane, V. Mulvany, F. Sweeney, P. D. Kenny, D. O’Connell, P. R. Balfe, P. Minogue, G. Centre for Health Planning & Management Keele University Keele Staffordshire Britain St. John of God Hospital Stillorgan Hospitaller Order of St. John of God Stillorgan Dept. of Computer Science Trinity College Dublin Clinical Chemistry Laboratory Tallaght Hospital Tallaght Dublin 24 Department of Experimental Medicine Faculty of Medicine National University of Ireland Galway Department of Health Promotion Faculty of Medicine National University of Ireland Galway School of Control Systems & Electrical Engineering Dublin Institute of Technology Ireland Shared Medical Systems Malvern USA Healy Services Dublin Universal Learning Systems Ltd. Dublin The Rotunda Hospital Dublin Mater Misericordiae Hospital Dublin Institute for Healthcare Informatics Dublin First Consulting Group Macclesfield Britain Virus Reference Laboratory UCD Belfield Dublin 4 Cappagh Orthopaedic Hospital Dublin Ireland Southern Health Board Cork Mater Misericordiae Hospital Dublin 7 DSS Dublin Ltd. Ireland University College Dublin Ireland Mary Aikenhead School of Nursing St. Vincent’s Hospital Dublin Blackrock Clinic Dublin Borders Community Health Services NHS Trust Britain James Connolly Memorial Hospital Blanchardstown Dublin 15 Kildare and West Wicklow Mental Health Service for People with A Learning Disability Eastern Health Board Dublin Health Research Board Dublin General Practice Research Unit The Medical Centre Dungloe Dept. of Clinical Biochemistry Our Lady’s Hospital for Sick Children Crumlin Dublin 12

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Sliding mode control of the X33 vehicle in launch mode

Sliding mode control of the X33 vehicle in launch mode

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1998 American control Conference, ACC 1998

作者： Shtessel, Yuri Jackson, Mark Hall, Charles Krupp, Don Hendrix, N. Douglas Department of Electrical and Computer Engineering University of Alabama in Huntsville Huntsville AL 35899 United States Guidance and Control Systems Division NASA Marshall Space Flight Center MSFC AL 35812 United States

ISBN: (纸本)0780345304

The "nested" structure of the control system for the X33 vehicle in launch mode is developed. The outer loop (guidance) and the inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance. © 1998 AACC.

关键词： Vehicles

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Sliding mode control of the X-33 vehicle in launch and re-entry modes

Sliding mode control of the X-33 vehicle in launch and re-en...

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Guidance, Navigation, and control Conference and Exhibit, 1998

作者： Shtessel, Y. McDuffie, J. Jackson, M. Hall, C. Gallaher, M. Krupp, D. Hendrix, N.D. Department of Electrical and Computer Engineering University of Alabama in Huntsville HuntsvilleAL35899 United States Guidance and Control Systems Division NASA Marshall Space Flight Center MSFC AL35812 United States

This work develops a sliding mode controller for the X-33 vehicle in launch and re-entry mode. The resulting controller utilizes two-loop sliding mode controller and provides robust, de-coupled tracking of both the required angular velocity profiles and the desired vehicle orientation angles. The motion in sliding of both the angular velocity and the orientation angles is described by linear de-coupled homogeneous vector valued differential equations with desired eigenvalues placement. An optimal control allocation algorithm is employed to allocate torque commands into endeffector deflection commands, which are executed by the actuators. Simulation of the X-33 vehicle in launch and re-entry modes demonstrated accurate, robust, decoupled tracking performance. © 1998, American Institute of Aeronautics and Astronautics, Inc.

关键词： Vehicles

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