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An adaptive control scheme for systems with unknown actuator failures

An adaptive control scheme for systems with unknown actuator...

引用

American control Conference (ACC)

作者： Gang Tao Shuhao Chen S.M. Joshi Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA Mail Stop 161 NASA-Langley Research Center Hampton VA USA

A state feedback output tracking adaptive control scheme is developed for plants with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed values at unknown time instants. This scheme relaxes the conditions on the controlled plant for desired plant-model output matching in the presence of actuator failures. New controller parametrization and adaptive law are developed under less restrictive conditions. All closed-loop signals are bounded and the plant output tracks a given reference output asymptotically, despite the uncertainties in actuator failures and plant parameters. Simulation results verify the desired adaptive control system performance.

关键词： Adaptive control Programmable control control systems nasa State feedback Impedance matching Uncertainty Intelligent actuators Linear feedback control systems Postal services

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments computer science Intelligent systems Intelligent control control system synthesis

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Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode

Nonlinear control of a pneumatic muscle actuator: backsteppi...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Air Force Research Laboratory OH USA

This paper weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.

关键词： Muscles Pneumatic actuators Backstepping Sliding mode control Robust control Programmable control Adaptive control Uncertainty Stability Robustness

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A fuzzy backstepping controller for a pneumatic muscle actuator system

A fuzzy backstepping controller for a pneumatic muscle actua...

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IEEE International Symposium on Intelligent control (ISIC)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Brooklyn Metrotech Center Polytechnic University Brooklyn NY USA HECP Air Force Research Laboratory OH USA

A nonlinear fuzzy backstepping controller is presented for set-point regulation of a pneumatic muscle actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region, are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally and ultimately bounded.

关键词： Fuzzy control Fuzzy systems Backstepping control systems Muscles Pneumatic actuators Sliding mode control Nonlinear control systems Robust control Nonlinear dynamical systems

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Network configuration analysis for formation flying satellites

Network configuration analysis for formation flying satellit...

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IEEE Conference on Aerospace

作者： E.J. Knoblock T.M. Wallett V.K. Konangi K.B. Bhasin Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA Satellite Networks and Architectures Branch NASA Glenn Research Center Cleveland OH USA Space Communications Office NASA Glenn Research Center Cleveland OH USA

ISBN: (纸本)0780365992

The performance of two networks to support autonomous multi-spacecraft formation flying systems is presented. Both systems are comprised of a ten-satellite formation, with one of the satellites designated as the central or "mother ship." All data is routed through the mother ship to the terrestrial network. The first system uses a TCP/IP over ATM protocol architecture within the formation, and the second system uses the IEEE 802.11 protocol architecture within the formation. The simulations consist of file transfers using either the File Transfer Protocol (FTP) or the Simple Automatic File Exchange (SAFE) Protocol. The results compare the IP queuing delay, IP queue size and IP processing delay at the mother ship as well as the end-to-end delay for both systems. In all cases, using IEEE 802.11 within the formation yields less delay. Also, the throughput exhibited by SAFE is better than FTP.

关键词： Protocols Artificial satellites Satellite ground stations Marine vehicles TCPIP Delay Space vehicles Communication system control nasa Throughput

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An application of nonlinear PID control to a class of truck ABS problems

An application of nonlinear PID control to a class of truck ...

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IEEE Conference on Decision and control

作者： F. Jiang Z. Gao Product Development Center Ford Motor Company Limited Dearborn MI USA The Applied Control Research Laboratory Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA

A NPID (nonlinear PID) control algorithm is applied to a class of truck ABS (anti-lock brake system) problems. The NPID algorithm combines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller.

关键词： Three-term control Wheels control systems Stability Velocity control Vehicle dynamics Pressure control Pulse width modulation Friction Nonlinear control systems

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BIFURCATION control AND NONSMOOTH FEEDBACK

BIFURCATION CONTROL AND NONSMOOTH FEEDBACK

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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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Abnormal failure mechanism of the asymmetrical emitter turn-off thyristor in high-frequency converters

Abnormal failure mechanism of the asymmetrical emitter turn-...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Z. Xu K. Motto A.Q. Huang Center for Power Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Power/Control Systems Northrop Grumman Corporation Sykesville MD USA

The emitter turn-off thyristor (ETO) is a new MOS-controlled thyristor that is suitable for use in high-power converters due to its improved switching performance and easy control. This paper analyzes the abnormal failures related to the parasitic diode of the ETO in high-frequency converters for the first time. To prevent this failure, several solutions are proposed and improved ETOs are developed. Experimental results show that the proposed solutions can properly solve this problem.

关键词： Failure analysis Thyristors Anodes P-i-n diodes Switches control systems MOSFETs Tail Switching loss Cathodes

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Characterization of IGCT under zero-current-transition condition

Characterization of IGCT under zero-current-transition condi...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： K. Motto B. Zhang A.Q. Huang Power/Control Systems Northrop Grumman Corporation Sykesville MD USA Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

This paper characterizes the integrated gate commutated thyristor (IGCT) device under the zero-current-transition (ZCT) soft switching condition for the first time. The test results show that ZCT soft switching can dramatically reduce the turn-off loss, turn-on loss of the IGCT switch and also alleviate the reverse recovery stress of the diode. The ZCT circuit is therefore suitable for increasing the current handling capabilities of IGCT devices.

关键词： Switches Switching circuits Thyristors Inverters Circuit testing Resonance Zero voltage switching RLC circuits Fault currents Stress

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Assessing the predictive accuracy of complex simulation models

Assessing the predictive accuracy of complex simulation mode...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： T. Ross V. Kreinovich C. Joslyn Center for Autonomous Control Engineering University of New Mexico Albuquerque NM USA Department of Computer Science University of Texas at El Paso El Paso TX D-Division Los Alamos National Labs Los Alamos NM USA

Predictive accuracy is the sum of two kinds of uncertainty-natural variability and modeling uncertainty. This paper addresses the quantification of predictive accuracy of complex simulation models from two perspectives. First, it recognizes that there is a difference between variability and modeling uncertainty; the former can not be reduced with more test information, while the latter can. We suggest that variability is a natural form of uncertainty that can be quantified with probability theory, but that modeling uncertainty is a form that is better addressed by a theoretical foundation that is not based on random variables, but rather random intervals. We suggest possibility theory as the formalism to address modeling uncertainty. The paper discusses the two different methods, and illustrates the power of their integration to address predictive accuracy with a recent case study involving the crushing load of axially loaded metallic spheres.

关键词： Predictive models Accuracy Uncertainty Computational modeling Possibility theory computer simulation computer science Testing Random variables Power system modeling

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