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Improving Tracking Performance on Disturbance-Rejection controllers

IFAC Proceedings Volumes 2003年第18期36卷 41-46页

作者： Damir Vrančić Stanko Strmčnik Mikulas Huba J. Stefan Institute Department of Systems and Control Jamova 39 SI-1000 Ljubljana Slovenia FAX: +386-1-4257-009 Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak Technical University SK-812 19 Bratislava Slovakia

Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on reference tracking. The only way to decrease overshoot is to use two-degrees-of-freedom (2-DOF) controllers. Unfortunately, reducing the overshoot usually results in slower tracking response when using some of the most common 2-DOF controller structures. This paper suggests using additional first-order filter on the set-point of the PI controller in order to improve tracking performance. The calculation of compensator's parameters is straightforward and can be easily performed in practice. Several examples confirmed the efficiency of the proposed approach.

关键词： PID control Magnitude Optimum controller Tuning Disturbance Rejection Tracking

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Optimization of PM brushless DC motor drive

Optimization of PM brushless DC motor drive

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IEEE International Conference on Industrial Technology (ICIT)

作者： P. Crnosija T. Bjazic R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

Traditional approaches to controller designs that guarantee fast compensation of load torque and reference variations result in design iterations and most of the time in poorer response for load torque variations. In this paper a reference model for desired drive behavior generation and optimization methods has been applied to achieve controller integral time constant lower than the maximum time constant of the PM brushless DC motor drive. Presented simulation results show that using reference model for desired drive behavior generation, it is possible to determine optimal controller parameters for faster (10 time) and better (2 time) load torque compensation than in the case of traditional design of speed controller parameters. Response due to reference input with constrained overshoot has been achieved using a filter in the servosystem input. Thereby, the proposed method demonstrates the design of a speed controller that is optimal for both load torque and reference variations and its verification with simulation are accomplished for a permanent magnet brushless dc motor drive.

关键词： Brushless DC motors Torque control Optimal control Time factors DC generators Optimization methods Magnetic separation Filters Servosystems Design methodology

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Auto-tuning PID controller for robotic manipulators

Auto-tuning PID controller for robotic manipulators

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American control Conference (ACC)

作者： Youngjin Choi Yonghwan Oh Sang Rok Oh Wan Kyun Chung Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Department of Mechanical Engineering Pohang University of Science and Technology South Korea

ISBN: (纸本)0780378962

This paper suggests an auto-tuning method of PID trajectory tracking controller for robotic manipulators. In general, the PID trajectory tracking controller for mechanical systems shows the performance limitation. Since the control system including performance limitation can not have equilibrium points, we define newly the quasi-equilibrium region as an alternative for equilibrium point. Also, the quasi-equilibrium region is used as the target performance of the auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability. Finally, experimental results show that the control performance is enhanced by an auto-tuning method assisting the achievement of target performance.

关键词： Three-term control Robot control Manipulators control systems Trajectory Adaptive control Optimal control Target tracking Mechanical systems Stability

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A new measure for evaluating level of service for traffic operational systems

A new measure for evaluating level of service for traffic op...

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International Conference on Intelligent Transportation

作者： Shuming Tang Fei-Yue Wang Key Laboratory Complex System and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Department of System and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory Complex Systems and Intelligence Science Istitute of Automation Chinese Academy and Sciences China

ISBN: (纸本)0780381254

This paper proposes a new measure to evaluate level of service for traffic operation based on the process capability indices (PCIs). A brief introduction to the concepts of PCIs and the characteristics of traffic flow is presented and followed by a discussion on the appropriateness of applying PCIs to measure the quality of traffic flow. Several case studies have conducted to investigate the effectiveness of the proposed new measure for traffic LOS and the results indicate that the speed and density are the most appropriate parameters for this purpose. The paper concludes with directions for future works.

关键词： Communication system traffic control Delay effects Intelligent systems automation Road vehicles Intelligent transportation systems Fluid flow measurement Density measurement Velocity measurement Road transportation

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Design of reduced dimension explicit model predictive controller for a gas-liquid separation plant

Design of reduced dimension explicit model predictive contro...

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Eurocon

作者： A. Grancharova T.A. Johansen J. Kocijan D. Vrancic Bulgarian Academy of Sciences Institute of Control and System Research Sofia Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Department of Systems and Control Jozef Stefan Institute Ljubljana Slovenia Nova Gorica Polytechnic Nova Gorica Slovenia

Exact or approximate solutions to constrained linear model predictive control (MPC) problems can be precomputed offline in an explicit form as a piecewise linear state feedback defined on a polyhedral partition of the state phase. However, the complexity of the polyhedral partition often increases rapidly with the dimension of the state vector, and the number of constraints. Recently, several approaches for reducing the dimension of the explicit solution to constraint MPC problems have been developed. This paper considers the design of a reduced dimension explicit model predictive controller for a gas-liquid separation plant.

关键词： Predictive models Piecewise linear approximation State feedback Partitioning algorithms Predictive control Piecewise linear techniques State-space methods Electronic mail Linear feedback control systems Vectors

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Plant Uncertainty Contribution to QFT Tracking control Design

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IFAC Proceedings Volumes 2003年第11期36卷 517-522页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN. Tf.:+34 941 299496 Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía s/n 31006 Pamplona SPAIN Tf.:+34 948 16938

Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process model. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the contribution of the plant uncertainty to the tracking QFT bounds through a serious study of tracking bound formulas. From this, a methodology for uncertainty fragmentation is developed. It hopes to loosen the bound toughness, or the control design trade-offs. Better feedback benefits can be achieved while reducing the high-frequency amplification of noises and disturbances at the plant input at the same time. Different QFT controllers in a controller-scheduler structure should drive different uncertainty boundaries.

关键词： Quantitative Feedback Theory Robust control Uncertain Dynamical systems

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A simulator for line-of-sight missile control and guidance systems: object-oriented design

A simulator for line-of-sight missile control and guidance s...

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IEEE Conference on Aerospace

作者： G.M. Dimirovski D.D. Mohenski S.M. Deskovski Institute of Automation & Systems Engineering at FEE Saints Cyril and Methodius University슠of슠Skopje Skopje Macedonia Department of Computer Engineering & Information Technologies Dogus University Istanbul Turkey Department of Information & Control Systems Military Academy Skopje Macedonia

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An integrated design framework for driver/passenger-oriented trajectory planning

An integrated design framework for driver/passenger-oriented...

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International Conference on Intelligent Transportation

作者： L. Li F.-Y. Wang Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Department of System and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper presents an integrated trajectory planning framework for the front wheel steering vehicles that are equipped with digital map systems. It first addresses the importance of the driver and the passengers' requirement for automatic driving. After introducing the concept of optimal driver/passenger-oriented driving performance, several driving performance indices are introduced as following in order to provide a measurement of the automatic driving process. Based on these indices, the whole optimal trajectory planning problem is divided into two incorporated sub problems: the longitudinal trajectory planning problem and the lateral steering trajectory generation problem. Since the driving performance indices are primarily determined by the longitudinal driving procedure of the vehicle, the desired optimal longitudinal trajectory is formulated first. With the obtained velocity setting of the longitudinal trajectory planning problem, the lateral steering trajectory generation problem is solved based on cell mapping method then.

关键词： Trajectory Vehicle driving Road vehicles Road transportation Path planning Wheels Intelligent vehicles Tracking Automotive engineering systems engineering and theory

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Design and implementation of a behavior-based control and learning architecture for mobile robots

Design and implementation of a behavior-based control and le...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Il Hong Suh Sanghoon Lee Bong Oh Kim Byung Ju Yi Sang Rok Oh Department of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780377362

A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memory and Long Term Memory. In particular, to cope with delayed-reward problem, a knowledge-propagation (KP) method is proposed, where well-designed or well-trained S-R(stimulus-response) associations for low-level sensors are utilized to learn new S-R associations for high-level sensors, in case that those S-R associations require same objective such as obstacle avoidance. To show the validity of our proposed KP method, comparative experiments are performed for the cases that:(1) only a delayed reward is used, (2) some of S-R pairs are preprogrammed, (3) immediate reward is possible, and (4) our KP method is applied.

关键词： Mobile robots Intelligent robots Learning Delay Animals control systems Computer architecture Intelligent systems Cognitive robotics Robot sensing systems

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Fault detection of non-linear systems based on multi-form quasi-armax modeling and its application to the ship benchmark

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IFAC Proceedings Volumes 2003年第16期36卷 1047-1052页

作者： K. Kumamaru K. Inoue Y. Hosoyamada T. Söerström Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Fukuoka Japan Department of Automatic Control and System Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper is concerned with an application study of model-based fault detection method to a ship propulsion system. When modeling the object system, Quasi-ARMAX model with multi-model form is used. In this model, the system non-linearity is incorporated into model parameters by using non-linear non-parametric models (NNMs). Kullback discrimination Information (KDI) is introduced as fault detection index to evaluate the distortion in identified model, which is caused by a fault. The effectiveness of the method is verified through simulation studies on the ship propulsion system.

关键词： Fault detection Kullback discrimination information non-linear system parameter estimation quasi-ARMAX model

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