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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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ROBUST IDENTIFICATION OF PROCESS MODELS FROM PLANT DATA

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IFAC Proceedings Volumes 2007年第5期40卷 1-18页

作者： Graham C. Goodwin Juan C. Agüero James S. Welsh Gregory J. Adams Juan I. Yuz Cristian R. Rojas Centre for Complex Dynamic Systems and Control (CDSC). The School of Electrical Engineering and Computer Science The University of Newcastle Australia Electronics Department Universidad Técnica Federico Santa María Valparaíso Chile

A precursor to any advanced control solution is the step of obtaining an accurate model of the process. Suitable models can be obtained from phenomenological reasoning, analysis of plant data or a combination of both. Here, we will focus on the problem of estimating (or calibrating) models from plant data. A key goal is to achieve robust identification. By robust we mean that small errors in the hypotheses should lead to small errors in the estimated models. We argue that, in some circumstances, it is essential that special precautions be taken to ensure that robustness is preserved. We present several practical case studies to illustrate the results.

关键词： Closed loop identification robust identification

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Hybrid mobile robot navigational strategy for efficient data collection in sparsely deployed sensor networks

Hybrid mobile robot navigational strategy for efficient data...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marcelo B. Soares Mario F. M. Campos Dimas A. Dutra Victor C. da S. Campos Guilherme A. S. Pereira Department of Computer Science Federal University of Minas Gerais Brazil Department of Control and Automation Engineering Federal University of Minas Gerais Brazil Department of Electrical Engineering Federal University of Minas Gerais Brazil

We propose and implement a hybrid navigational strategy for mobile robots for data collection tasks in sparsely deployed sensor networks. Our approach presents an alternative to the routing algorithms used in wireless sensor networks which focus on the minimization of energy consumption of each node which is mainly due to data transmission. The method has two layers: i) Reactive Layer in which the data collected from a sensor node is modelled as a potential function whose gradient attracts the robot and ii) Planning Layer, that dictates the action the robot must take to collect sensor data. Results from both simulation and real world experiments showing the performance of the proposed methodology are shown, compared and discussed.

关键词： Mobile robots Navigation Wireless sensor networks Robot sensing systems Sensor systems Routing Temperature sensors Data communication Mobile agents Vehicles

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Interior-Point Algorithms for Sum-Of-Squares Optimization of Multidimensional Trigonometric Polynomials

Interior-Point Algorithms for Sum-Of-Squares Optimization of...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Tae Roh Bogdan Dumitrescu Lieven Vandenberghe Electrical Engineering Department University of California Los Angeles Los Angeles CA USA International Center for Signal Processing Tampere University of Technology Tampere Finland Department of Automatic Control and Computer Politechnica University of Bucharest Romania

A wide variety of optimization problems involving nonnegative polynomials or trigonometric polynomials can be formulated as convex optimization problems by expressing (or relaxing) the constraints using sum-of-squares representations. The semidefinite programming problems that result from this formulation are often difficult to solve due to the presence of large auxiliary matrix variables. In this paper we extend a recent technique for exploiting structure in semidefinite programs derived from sum-of-squares expressions to multivariate trigonometric polynomials. The technique is based on an equivalent formulation using discrete Fourier transforms and leads to a very substantial reduction in the computational complexity. Numerical results are presented and a comparison is made with general-purpose semidefinite programming algorithms. As an application, we consider a two-dimensional FIR filter design problem.

关键词： Multidimensional systems Polynomials Signal processing algorithms Multidimensional signal processing Constraint optimization Discrete Fourier transforms Computational complexity Finite impulse response filter Optimization methods Digital filters

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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Depth of Anesthesia Index using Cumulative Power Spectrum

Depth of Anesthesia Index using Cumulative Power Spectrum

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Mathieu Jospin Pere Caminal Erik W. Jensen Montserrat Vallverdu Michel M.R.F. Struys Hugo E.M. Vereecke Daniel T. Kaplan Department of Automatic Control Biomedical Engineering Research Center Technical University of Catalonia Barcelona Spain Department of Anesthesia Ghent University Hospital Ghent Belgium Department of Mathematics and Computer Science Macalester College Saint Paul MN USA

Over the last ten years, monitors of depth of anesthesia have progressively been integrated in the clinical practice. Based on the analysis of the electroencephalogram (EEG), these monitors deliver an index that helps the anesthesiologist to determine the state of the patient during the surgery. Although they employ different kind of algorithms, spectral parameters are always taken into account to achieve the final indexes. In this work, a new spectral parameter based on the cumulative power spectrum is proposed. When compared to the Spectral Edge Frequency (SEF), a classic spectral parameter, the Cumulative Power Spectrum Index (CPSI) presents a higher correlation with reference indexes (AAI, BIS and CePROP) and a higher prediction probability of the state of the patient. Furthermore, when compared to the reference indexes, the CPSI shows similar performances in terms of correlation and presents a higher prediction probability than two of them (BIS and CePROP).

关键词： Anesthesia Electroencephalography Frequency Patient monitoring Databases Hospitals Drugs Biomedical monitoring Entropy Surgery

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Observer-based control of differential linear repetitive processes 9

Observer-based control of differential linear repetitive pro...

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2007 9th European control Conference, ECC 2007

作者： Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Góra65-246 Poland Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Faculty of Electrical Information and Media Engineering University of Wuppertal Rainer-Gruenter-Strasse 21 D-42119 Germany

ISBN: (纸本)9783952417386

Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or two-dimensional (2D) systems theory. Here we give significant new results on the design of mixed state feedback/output (or pass profile) control schemes incorporating a state observer. These results are for the sub-class of so-called differential linear repetitive processes which arise in applications areas such as iterative learning control. © 2007 EUCA.

关键词： State feedback

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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Solving Commutative Relaxations of Word Problems

Solving Commutative Relaxations of Word Problems

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 5971-6447

作者： Danielle C. Tarraf Pablo A. Parrilo Division of Control and Dynamical Systems Cambridge Analog Technologies Inc. Bedford MA USA Electrical Engineering and Computer Science Department MIT Cambridge MA USA

ISBN: (纸本)9781424414970;1424414970

We present an algebraic characterization of the standard commutative relaxation of the word problem in terms of a polynomial equality. We then consider a variant of the commutative word problem, referred to as the "Zero-to-All reachability" problem. We show that this problem is equivalent to a finite number of commutative word problems, and we use this insight to derive necessary conditions for Zero-to-All reachability. We conclude with a set of illustrative examples.

关键词： Word problem Commutative Word Relaxation Insight Equivalent

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Design and Simulation of Ultrasonic Linear Motor using Multilayer Ceramic Actuator

Design and Simulation of Ultrasonic Linear Motor using Multi...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Juhyun Yoo Sangho Lee Jaeil Hong Hyunsun Song Durkwon Park Eunsang Hwang Department of Electrical Engineering Semyung University Chungbuk South Korea Department of Computer Science Semyung University Chungbuk South Korea Dept. of Electrical Information Control Dongseoul College Seongnam Gyeonggi 461-714 Korea Semyung University Department of Computer Science Jechon Chungbuk 390-711 Korea

In comparison with conventional electromagnetic motors, ultrasonic motors have many advantages such as a large torque at the low velocity, good controllability, rapid response, quiet operation, simple structure and non electromagnetic field induction, etc. These features have led to the development of various ultrasonic motors in many industrial fields. Hence, in this study, ultrasonic linear motor using multilayer structured ceramic actuator was designed and simulated using ANSYS of finite element method(FEM) simulator for investigating the optimum conditions of it. The ultrasonic linear motor studied in this paper was designed using the 1st longitudinal (L 1 ) and 4th bending (B 4 ) vibration. The size of ceramic actuator is 15 mm long and 5 mm wide. And one-layer thickness of actuator is 60 mu m. The dimension of linear motor is 61 times 5 times 3 mm. The sectional size of projection is 1.5 times 5 mm. The driving voltage of the motor was very low as 5 Vrms. With the increase of the number of piezoelectric ceramic layers, displacement of node was increased up to 21 layered ceramic actuator and then decreased. Maximum z displacement of node was about 7.02 mum at the 21 layered ultrasonic motor.

关键词： Nonhomogeneous media Ceramics Hydraulic actuators Electromagnetic fields Induction motors Electromagnetic induction controllability Finite element methods Voltage Piezoelectric actuators

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