In this paper we present a theoretical basis for an integrated approach to the design of reliable controlsystems. In this approach, the control and diagnostic modules of a reliable control system are designed togethe...
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In this paper we present a theoretical basis for an integrated approach to the design of reliable controlsystems. In this approach, the control and diagnostic modules of a reliable control system are designed together, instead of independently, thereby accounting for the interactions which occur between these two modules in a functioning reliable control system. The approach makes use of a significant generalisation of the familiar 2-parameter controller known as the 4-parameter controller. This controller has two vector inputs and not one, but two vector outputs; correspondingly, this controller is comprised of not two, but four matrix parameters. The additional controller output is monitored to detect and isolate sensor and actuator faults, thereby providing the controller with diagnostic capabilities, or "intelligence," in addition to its control capabilities. Using a parameterization of all stabilising 4-parameter controllers, the fundamental limitations and inherent tradeoffs governing the design of reliable controlsystems are clarly delineated, with special attention given the issues of uncertainty and control/diagnostic interaction. Several means for resolving these desig tradeoffs are proposed, and illustrated by way of non-trivial examples. These results are expected to pave the way for the achievement of improved overall control/dignostic performance in reliable controlsystems, and also to pave the way for the achivement of significant complexity reductions in both the design and implementation of reliable controlsystems.
Real-time expert system techniques and applications to robot manipulator controlsystems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning ...
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Real-time expert system techniques and applications to robot manipulator controlsystems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning controller), is developed for the trajectory tracking control in repeat operations. ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like manner using the experience of previous operations in order to force the system output to converge to the prespecified desired trajectory. ELEC does not require the knowledge of system models, so it can be used in a fairly wide range of control problems. A numerical example for a two-link robot manipulator is given which shows the satisfactory performance of ELEC.< >
A paradigm for optimum estimation of fused multiple sensor data is developed in order to best use the sensor information in the time evolving environment. Two basic approaches have been developed: dynamic moving quadr...
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A paradigm for optimum estimation of fused multiple sensor data is developed in order to best use the sensor information in the time evolving environment. Two basic approaches have been developed: dynamic moving quadratic curve fitting and weighted least mean square error. These two approaches are shown to be advantageous in terms of accuracy, speed, and versatility. The theoretical frameworks presented are supported by sets of simulation data.< >
A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive c...
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A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >
This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of...
This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of the linear state regulator problem. The effectiveness of the proposed method is verified by simulation results for a two-link planar robot.
The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring ...
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The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring minimum number of interconnection gains for the elimination of fixed modes are characterized.
Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic system...
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Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy
computer-aided design (CAD) has found a hew home in the controlsystems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD pac...
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computer-aided design (CAD) has found a hew home in the controlsystems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for controlsystems problems. In this paper a CAD language for control and Kalman filtering will be presented. The language, called control. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
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