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IEEE Conference on Decision and control

作者： S. Sankaranarayanan F. Khorrami Dept. of Electr. Eng. Polytech. Univ. Brooklyn NY USA Control Robotics Research Laboratory (CRRL) Department of Electrical Engineering Polytechnic University Brooklyn NY USA

A smooth adaptive control methodology combining the results of a variable structure control scheme and backstepping is proposed for the class of systems in the special strict feedback form. The controller ensures the global asymptotic tracking and regulation of the first /spl kappa/ states which are in a chain of integrators form and globally uniformly bounded tracking for the remaining states. An application of this methodology for the case of friction compensation in drives containing a compliant transmission between the load and the actuator is presented. The friction model considered is a six parameter dynamic model. This problem is significant because the load side friction is mismatched with the control. The advocated controller does not require knowledge of any of the parameters of friction and is shown to give global asymptotic tracking of the load angle and velocity in the presence of dynamic uncertainties. Simulation results indicate the efficacy of the proposed approach.

关键词： Programmable control Adaptive control Friction Uncertainty Electric variables control control systems Nonlinear systems Nonlinear dynamical systems Backstepping Feedback

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Teaching Discrete Event control of Manufacturing Systems

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IFAC Proceedings Volumes 1997年第12期30卷 261-266页

作者： O.C. Pastravanu A. Gürel F.L. Lewis Dept. of Automatic Control and Industrial Informatics Technical University of Iasi Str. Horia 7-9 6600 Iasi Romania Dept. of Electrical and Electronic Engineering Eastern Mediterranean University P.O. Box 95 Gazi Magosa Mersin 10 Turkish Republic of Northern Cyprus Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth Texas 76118-7115 USA

controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and the controller (consisting of the decision-making scheduler). This point of view is particularly profitable for teaching FMS design to control engineering students, who are familiar with the feedback control principles. The design algorithm uses standard manufacturing engineering tools to produce a rule-based controller that is described mathematically in terms of matrix equations, yielding the Petri net and max/plus representations of the closed-loop FMS. This matrix approach is exploited to develop a MATLAB software which implements new functions for idempotent calculus in the semiring (R∪{-∞},max,+), and offers a large flexibility in changing the operating conditions and design specifications.

关键词： flexible manufacturing systems discrete-event systems Petri-net models max/plus models MATLAB simulation control education

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Decentralized Adaptive control of Mismatched Large Scale Interconnected Nonlinear Systems *

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IFAC Proceedings Volumes 1995年第14期28卷 293-298页

作者： Sandeep Jain Farshad Khorrami Control/Robotics Research Laboratory Dept. of Electrical Engineering Polytechnic University Brooklyn New York 11201 USA

We consider decentralized adaptive control design for a class of large-scale interconnected nonlinear systems with unknown interconnections, which do not satisfy the matching condition requirement. Large-scale nonlinear systems transformable to the decentralized strict feedback form are considered. Coordinate free geometric conditions under which any general interconnected nonlinear system can be transformed to this form are derived. The interconnections are assumed to be bounded by unknown polynomials in states. Global stability and asymptotic regulation are established using classical Lyapunov techniques. The controller is robust to a wide class of systems obtained by perturbations in the dynamics of the original system. Furthermore, appending additional subsystems does not require controller redesign for the original subsystems.

关键词： Large-scale systems nonlinear decentralized control parametric and dynamic uncertainties adaptation global regulation

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Line moments and invariants for real time processing of vectorized contour data 8th

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8th International Conference on Image Analysis and Processing, ICIAP 1995

作者： Lambert, Georg Gao, Hua Control System Theory and Robotics Dept. Technical University of Darmstadt Landgraf-Georg-Str.4 Darmstadt Germany Institute of Production Engineering and Machine Tools Technical University of Darmstadt Petersenstr. 30 Darmstadt64287 Germany

ISBN: (纸本)3540602984

In this article a new concept for real time analysis of images based on the vectorized contours is presented. Given the polygone approximation of contours the geometric moments can be formulated for line contours. The resulting line moments (LM’s) can be calculated for an arbitrary collection of contour fragments. Neither the existence of an area nor a closed contour is prerequisite to characterize an object by line moments. Due to these properties of the LM’s time consuming preprocessing of noisy object contours is not required. Even objects with structured surfaces can be characterized by LM’s. The formalism to apply the geometric moments to contour patterns is derived. A direct and a recursive algorithm to efficiently compute the LM’s is given. As an application of the LM’s an analysis system for structured textures is presented and results are discussed. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Computers

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Dvelopments in the Field of control Libraries and their Impact on control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： control libraries computer aided system design numerical control software education educational aids

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Genetic-based minimum-time trajectory planning of articulated manipulators with torque constraints

Genetic-based minimum-time trajectory planning of articulate...

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IEE Colloquium on Genetic Algorithms for control Systems engineering

作者： K.K. Chan A.M.S. Zalzala Dept. of Automatic Control & Syst. Eng. Sheffield Univ. UK Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper is concerned with introducing a genetic-based algorithm for the minimum-time trajectory planning of articulated robotic manipulators. The planning procedure is performed in the configuration space and respects all physical constraints imposed on the manipulator design, including the limits on the torque values applied to the motor of each joint of the arm; consequently, the complete nonlinear dynamic robot model is incorporated in the formulation.< >

关键词： Genetic algorithms Nonlinear systems Motion-planning Robots

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A smooth variable structure position control of PCB motor

A smooth variable structure position control of PCB motor

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1992 Singapore International Conference on Intelligent control and Instrumentation

作者： Paul, A.K. Bandyopadhyay, B. Srisailam, M.C. Divn. of Remote Handling and Robotics Bhabha Atomic Research Center Bombay400085 India Systems and Control Engg. Dept. of Electrical Engineering Indian Institute of Technology Bombay Bombay400076 India

ISBN: (纸本)0780306325

This paper presents a mew algorithm for variable structure control systems. In the proposed algorithm a VEViable strnctnre controller for low moment of inertia systems has been discnssed. The concept nses the position and velocity loop independently at different instants of time. Switching from position loop to velocity loop generates sliding mode motion. The proposed method requires only one switching. Chattering is totally absent. The algorithm has been tested successfully in printed circuit DC motor throngh computer simulation aa well as practical implementation. The practical controller is a hybrid one where adog, digital and au IBM PC has been used to verify the concept. © 1992 by IEEE Singapore Section.

关键词： controllers

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Harmonic insertion in PWM inverter drive schemes

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European Transactions on Electrical Power 1992年第3期2卷 143-151页

作者： Theocharis, J. Petridis, V. Dr.-Ing. John Theocharis (1956) graduated as an Electrical Engineer from Aristotelian University of Thessaloniki.Greece in 1980. From 1980 to 1985 he has been with the scientific staff of the Department of Electrical Engineering at the Aristotelian University where he received the Ph.D. degree in 1985. Since 1986 he is working as a lecturer and in 1990 he became assistant professor at the Department of Electronics and Computer Engineering in the m e university. His research activities include control power electronics and electrical motor drives. Recently he is working with the Neural Network Systems with applications to field oriented control problems. Aristotelian University of Thessaloniki School of Engineering Faculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438 GR-Thessalonikil/Greece.T+3131/219784Fax + 3031/274868) Prof. Dr.-Ing. Vasilis Petridis (1946) graduated from National Technical University of Athens Greece in 1969.He obtained the M.Sc. and the Ph.D. in electronics and systems from the University of London in 1970 and 1974. respectively. H i s interests include applied automatic control neural networks drives dynamic systems robotics etc. He is currently professor in the Department of Electronics and Computer Engineering of the University of Thessaloniki. (Aristotelian University of Thessaloniki. School of EngineeringFaculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438. GR-ThessaloniW Greece T+3031/219784.Fax+3031/274868)

The procedure of harmonic insertion is generalized in this paper. Analytical expressions of the voltage spectra are derived. The insertion of the 3rd harmonic to the modulating signal, which is of particular interest, is considered as a special case. It is demonstrated in this case that the fundamental harmonic component of the phase and the line‐to‐line voltage is not affected by the insertion of the 3rd harmonic for sufficiently high values of the chopping ratio. However it has been shown that the higher harmonic spectrum is significantly improved as compared to the case of pure sinusoidal modulation. For different values of the fundamental component the optimal values of the amplitude of the third harmonic to be inserted have been calculated so that the distortion factor of the higher harmonic spectrum is minimized. Other cases of harmonic insertion are also considered which provide spectrum efficiency improvement. Experimental results are given which have been obtained by means of a microcomputer controlled PWM generator constructed for this purpose. Copyright © 1992 John Wiley & Sons, Ltd.

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Expert Systems in engineering Applications 1

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1000年

作者： Spyros Tzafestas

ISBN: (数字)9783642840487

ISBN: (纸本)9783642840500

Expert system technology is receiving increasing popularity and acceptance in the engineering community. This is due to the fact that there actually exists a close match between the capabilities of the current generation expert systems and the requirements of engineering practice. Prepared by a distinguished team of experts, this book provides a balanced state-of-the-art presentation of the design principles of engineering expert systems, and a representative picture of their capabilities to assist efficiently the design, diagnosis and operation of complex industrial plants. Among the application areas covered are the following: hardware synthesis, industrial plant layout design, fault diagnosis, process control, image analysis, computer communication, electric power systems, intelligent control, robotics, and manufacturing systems. The book is appropriate for the researcher and the professional. The researcher can save considerable time in searching the scattered technical information on engineering expert systems. The professional can have readily available a rich set of guidelines and techniques that are applicable to a wide class of engineering domains.

关键词： Artificial Intelligence control, robotics, Mechatronics engineering Economics, Organization, Logistics, Marketing

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Fault Diagnosis 1

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1000年

作者： Józef Korbicz Zdzisław Kowalczuk Jan M. Kościelny Wojciech Cholewa

ISBN: (数字)9783642186158

ISBN: (纸本)9783540407676;9783642621994

All real systems in nature - physical, biological and engineering ones - can malfunction and fail due to faults in their components. Logically,the chances for malfunctions increase with the systems' complexity. The complexity of engineering systems is permanently growing due to their growing size and the degree of automation, and accordingly increasing is the danger of fail ing and aggravating their impact for man and the environment. Therefore, in the design and operation of engineering systems, increased attention has to be paid to reliability, safety and fault tolerance. But it is obvious that, compared to the high standard of perfection that nature has achieved with its self-healing and self-repairing capabilities in complex biological organisms, fault management in engineering systems is far behind the standards of their technological achievements; it is still in its infancy, and tremendous work is left to be done. In technical control systems, defects may happen in sensors, actuators, components of the controlled object - the plant, or in the hardware or soft ware of the control framework. Such defects in the components may develop into a failure of the whole system. This effect can easily be amplified by the closed loop, but the closed loop may also hide an incipient fault from be ing observed until a situation has occurred in which the failing of the whole system has become unavoidable.

关键词： Artificial Intelligence Mathematical and Computational engineering Vibration, Dynamical Systems, control control, robotics, Mechatronics

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