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SICE Annual Conference

作者： A. Kanbolat Y. Okuyama F. Takemori L. Gianone S. Horvat J. Bokor Department of Information and Knowledge Engineering Facult of Engineering Tottori University Japan Tottori Daigaku Tottori JP Dept. of Inf. & Knowledge Eng. Tottori Univ. Japan Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Transpoi-talion Engineering Technical University of Budapest Hungary

This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.

关键词： control systems control theory Open loop systems Displacement control Weight control Acceleration Wheels Fluctuations Robust control Power system modeling

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

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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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THE PERFORMANCE OF A TIMER-controlLED TOKEN PASSING MECHANISM WITH FINITE BUFFERS IN AN INDUSTRIAL COMMUNICATION-NETWORK

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1993年第4期40卷 421-427页

作者： KIM, DW PARK, HS KWON, WH Engineering Research Center for Advanced Control and Instrumentation and Automation and Systems Research Institute Seoul National University Seoul South Korea

In this paper, the timer-controlled token passing mechanism widely used in an industrial communication network is analyzed. We consider several real network parameters, such as finite buffers and finite token holding time (THT), which generally determine the overall performance of a network. The approximate matrix equation between the queue length distribution and the token rotation time is derived. Based on this matrix equation, the equations for the mean waiting time and the blocking probability are also derived. These equations can be easily solved using personal computers due to its simple matrix structure and small computation time. Using these equations, the performance of field bus or other timer-controlled token passing network can be more accurately evaluated, since finite size buffers and finite THT are considered. The approximation error is shown to be small by computer simulation.

关键词： Equations Communication networks Communication industry Manufacturing automation Communication standards Intelligent networks Performance analysis Microcomputers Approximation error Computer simulation

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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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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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