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Practical Considerations in the Use of Distributed Parameter Systems in Modeling: A control Point of View

Practical Considerations in the Use of Distributed Parameter...

引用

American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical Computer and Systems Engineering Raneselaer Poytechiic Institute Troy NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are investigated. In particular, it is argued here that certain common distributed parameter systems exhibit properties which make them unsuitable for use as plant models in the design of feedback compensation. Classes of distributed parameter systems exhibiting these properties are defined and are said to be ill-posed for use in feedback compensator design. The structure of these classes is investigated within an extremely general mathematical framework which imposes no a priori restrictions on the class of distributed parameter systems under consideration. Within this framework necessary and sufficient conditions are given which completely characterise the classes of ill-posed models and establish their equivalence. These conditions are concretely illustrated by way of applications to several well-known flexible structure models. Surprisingly, several of these models are determined to be ill-posed for use in feedback compensator design.

关键词： Distributed parameter systems Feedback control systems Integral equations Distributed computing control system synthesis Jacobian matrices Flexible structures Frequency Linearity

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The coordination of intelligent robots: a case study

The coordination of intelligent robots: a case study

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IEEE International Symposium on Intelligent control (ISIC)

作者： F.-Y. Wang G.N. Saridis NASA Center for Intelligent Robotic Systems for Space Exploration Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

A case study of modeling the coordination level of an intelligent robotic system by the coordination theory of intelligent machines is presented. The coordination structure designed for the coordination level of the system consists of a dispatcher, a vision coordinator, a sensor coordinator, a path planning coordinator, an arm coordinator, and a gripper coordinator. Petri net transducers for the dispatcher and the coordinators are described. The coordination structure is constructed by integrating the dispatcher and coordinators through the specification of their connection and cooperation procedures. Task simulation based on the coordination structure is conducted with various task plans for the system to investigate and evaluate the coordination processing in the system during task execution.< >

关键词： Intelligent robots Intelligent sensors Machine intelligence Intelligent systems Robot sensing systems Robot kinematics Sensor systems Path planning Grippers Transducers

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Limitations of vibration suppression in flexible space structures

Limitations of vibration suppression in flexible space struc...

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IEEE Conference on Decision and control

作者： T.W.C. Williams P.J. Antsaklis Spacecraft Dynamics Branch NASA-Langley Research Center Hampton VA USA Department of Aerospace Engineering and Engineering Mechanics University of Cincinnati Cincinnati OH USA Department of Electrical & Computer Engineering University of Notre Dame Notre Dame IN USA

The uncertainties inherent in the dynamics of flexible spacecraft make robustness questions very important when designing vibration suppression systems for these vehicles. This often leads to the use of sensors and actuators which are collocated on the structure, so as to avoid the potentially destabilizing problem of unknown modal phase differences between noncollocated sensors and actuators. The closed-loop performance attainable is, of course, reduced if only collocated pairs are considered. The paper investigates whether the special properties of the transmission zeros of such structures can be used to quantify these performance limitations. The approach is based on recent results concerning the transmission zeros of flexible structures.< >

关键词： Actuators Frequency selective surfaces Aerodynamics Vehicle dynamics Filtering theory Extraterrestrial measurements Space vehicles Testing Vibration control Vibration measurement

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An Experiment-based Comparative Study of Fuzzy Logic control

An Experiment-based Comparative Study of Fuzzy Logic Control

引用

American control Conference (ACC)

作者： Hamid R. Berenji Yung-Yaw Chen Chuen-Chein Lee S. Murugesan Jyh-Shing Jang Sterling Software Inc. USA NASA Ames Research Center CA USA Department of Electrical Engineering and Computer Science University of California Berkeley USA

This paper presents an approach to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE and we have successfully built a prototype hardware system to solve the cart-pole -balancing problem in real-time. This approach provides a complementary alternative to the conventional analytical control methodology, and is of substantial use where a precise mathematical model of the process being controlled is not available. This paper also furnishes a set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes.

关键词： Fuzzy logic control systems Hardware Fuzzy set theory Fuzzy control Prototypes Uncertainty Humans Inductors nasa

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Orthogonal Canonical Forms for Second-Order Systems

Orthogonal Canonical Forms for Second-Order Systems

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American control Conference (ACC)

作者： Trevor Williams Alan Laub Spacecraft Dynamics Branch NASA-Langley Research Center Hampton VA USA Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper proves that a linear second-order system with arbitrary damping cannot be reduced to Hessenberg-triangular form by means of orthogonal transformations, while this reduction is always possible for the modal damping commonly assumed for models of flexible structures. In fact, it is shown that such system can be reduced further to a new triangular second-order Schur form.

关键词： Damping Flexible structures Frequency response Frequency selective surfaces Symmetric matrices Space vehicles nasa computer networks Physics computing Finite element methods

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The GE MEAD computer-aided control engineering environment

The GE MEAD computer-aided control engineering environment

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J.H. Taylor D.K. Frederick C.M. Rimvall H.A. Sutherland Control Systems Laboratories GE Corporate Research and Development Center Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The GE multidisciplinary expert-aided analysis and design (MEAD) project, which involves the integration of several computer-aided control engineering (CACE) packages under a supervisor which coordinates the execution of these packages with a database manager, an expert system, and an advanced user interface, is discussed. The principal components are, in functional terms: a supervisor, which integrates the underlying CACE packages and coordinates all activity within the GE MEAD computer program (GMCP); an expert system shell and rule bases for expert aiding of specific procedures to relieve the user from unnecessary low-level detail; a database manager for tracking system models that evolve over time along with associated results; and a user interface that facilitates access to the CACE package capabilities by permitting the user to work in several modalities, i.e. menu/forms style, using GE MEAD commands, the core packages' native commands, or the GE MEAD macro facility. The operation of the GMCP, including the user interface, expert system, and database manager, is illustrated by examples.< >

关键词： control engineering computing control engineering Packaging User interfaces Expert systems computer interfaces control systems Data engineering Design engineering engineering management

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Joint-space adaptive control of a redundant telerobot manipulator

Joint-space adaptive control of a redundant telerobot manipu...

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IEEE International Symposium on Intelligent control (ISIC)

作者： C.C. Nguyen Z.-L. Zhou G.E. Mosier Department of Electrical Engineering Catholic University of America Washington D.C. DC USA Guidance and Control Branch NASA''s Goddard Space Flight Center Greenbelt MD USA

The design of a joint-space adaptive control-scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space is presented. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and the Lyapunov direct method, the authors derive an adaptation algorithm which adjusts the PD (proportional and derivative) controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is noncompliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. A computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramps or sinusoids with negligible position errors.< >

关键词： Adaptive control Motion control control systems PD control Proportional control Programmable control Telerobotics Manipulator dynamics Application software computer simulation

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A power method for the structured singular value

A power method for the structured singular value

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IEEE Conference on Decision and control

作者： A. Packard M.K.H. Fan J. Doyle Systems and Control Sciences Honeywell Systems and Research Center Inc. Minneapolis MN USA Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Department of Electrical Engineering & Systems Research Center University of Maryland College Park MD USA Department of Electrical Engineering Pasadena CA USA

An iterative algorithm is presented to compute lower bounds for the structured singular value ( mu ). The algorithm resembles a mixture of power methods for eigenvalues and singular values, since the structured singular value can be viewed as a generalization of both. If the algorithm converges, a lower bound for mu results. The authors prove that mu is always an equilibrium point of the algorithm. However, since in general there are many equilibrium points, some heuristic ideas to achieve convergence are presented. Extensive numerical experience with the algorithm is discussed.< >

关键词： Iterative algorithms Eigenvalues and eigenfunctions Convergence Upper bound Yield estimation Performance analysis Robustness Uncertainty control systems Educational institutions

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An Integrated Approach to controls and Diagnostics: The 4-Parameter controller

An Integrated Approach to Controls and Diagnostics: The 4-Pa...

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American control Conference (ACC)

作者： C. N. Nett C. A. Jacobson A. T. Miller Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

In this paper we present a theoretical basis for an integrated approach to the design of reliable control systems. 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 control systems 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 control systems, and also to pave the way for the achivement of significant complexity reductions in both the design and implementation of reliable control systems.

关键词： control systems Fault detection Signal processing Research and development Jacobian matrices Reliability theory Monitoring Actuators Uncertainty Intelligent control

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Adaptive stabilization of discrete-time systems using linear periodically time varying controllers

Adaptive stabilization of discrete-time systems using linear...

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IEEE Conference on Decision and control

作者： R. Ortega P. Albertos R. Lozano Department of Electrical and Computer Engineering and Coordinated Science Laboratory University of Illinois Urbana-Champaign Urbana-Champaign IL USA Departamento de Ingeniería de Sistemas Universitatea Politehnica Valencia Spain CIEA-IPN Mexico NASA-Langley Research Center Hampton VA USA

The authors propose a direct adaptive scheme based on this approach which estimates online the periodic coefficients of the controller. It is shown that adaptive stabilization is attained for all possibly nonstably invertible plants of known order but unknown delay. Although no appeal is made to persistency of excitation arguments, a provision is needed to avoid the singularity of an estimated matrix, this property being required only for the analysis and not the control calculations.< >

关键词： Programmable control Adaptive control Time varying systems control systems Delay Periodic structures Design methodology State feedback Parameter estimation nasa

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