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IEEE Conference on Decision and Control

作者： K. Gu M.A. Zohdy N.K. Loh Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition for quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.< >

关键词： Sufficient conditions Linear systems Symmetric matrices Uncertain systems Stability analysis robotics and automation Time varying systems Uncertainty Feedback control Stability criteria

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Uncertain systems: new uncertainty characterization for linear control design

Uncertain systems: new uncertainty characterization for line...

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IEEE Conference on Decision and Control

作者： K. Gu Y.H. Chen Center of Robotics and Advanced Automation School of Electrical Engineering and Computer Science Oakland University Rochester MI USA The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >

关键词： Uncertain systems Uncertainty Control design Riccati equations Feedback control robotics and automation Time varying systems Magnetic levitation Design automation Computer science

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DYNAMIC MODELING AND CONTROL BY UTILIZING AN IMAGINARY ROBOT MODEL

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IEEE JOURNAL OF robotics AND automation 1988年第5期4卷 532-540页

作者： GU, YL LOH, NK School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.

关键词： dynamic models nonlinear feedback control systems design Robot

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APPLICATION OF DISCRETE-TIME QUANTIZED DATA CONTROLLERS TO SYSTEMS WITH DISTURBANCES

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INTERNATIONAL JOURNAL OF CONTROL 1988年第6期48卷 2201-2207页

作者： JUDD, RP VANTIL, RP Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI 48309-4401 United States

In a recent paper, a new method for the digital control of a continuous-time system based on a table look-up technique was presented. This digital controller is called a discrete-time quantized data (DTQD) controller. In order to minimize the number of table entries, a grid embedding process is proposed. This control technique proved successful when applied to the regulator problem. However, when a DTQD controller using the grid embedding process is applied to a continuous-time system with additive disturbances, the performance of the DTQD controller degraded, causing oscillations and possible limit cycle phenomena. In this paper, the grid embedding process is replaced with a continuous scaling process. The continuous scaling process retains the advantages of the grid embedding process in reducing the number of table entries. In addition, it reduces the amount of oscillation in the system response when disturbances are present.

关键词： Control Systems, Digital

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Variable Structure System for Electric Arc Furnace Control

Variable Structure System for Electric Arc Furnace Control

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American Control Conference (ACC)

作者： M.A. Zohdy Jun Liu School of Engineering & Computer Science Center for Robotics & Advance Automation Oakland University Rochester MI USA

Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is presented together with some guidlines for the choice of a suitable model following. A state space reduction method is applied to reduce the dominant dynamic order and hence simplify the design process. The effects of switching surface, modelling, gain polarity and magnitude are discussed.

关键词： Variable structure systems Furnaces Electric variables control Control systems Automatic control Steel robotics and automation Switches Nonlinear control systems Computer science

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DISCRETE-TIME QUANTIZED DATA CONTROLLERS

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INTERNATIONAL JOURNAL OF CONTROL 1987年第4期46卷 1225-1233页

作者： JUDD, RP VANTIL, RP STUCKMAN, PL Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI 48063 United States

A new technique for the digital control of continuous time systems is presented. This technique is based on a table look-up algorithm. To minimize the number of entries in the table, a grid embedding process is proposed. Using this process, an accurate, fast, and low-cost controller can be constructed using a table of a few thousand entries. The paper derives the control strategy and proposes a digital circuit to implement the controller. An example is presented in which the performance of a closed-loop digital controller is compared with that of an optimal regulator. The comparison shows that the performance of the new controller is very close to that of an equivalent optimal controller

关键词： CONTROL SYSTEMS, DIGITAL

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A ball balancing demonstration of optimal and disturbance-accomodating control

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IEEE Control Systems Magazine 1987年第1期7卷 54-57页

作者： Ka Cheok Nan Loh School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

The modeling, analysis, and design of a ball-balancing control system are considered. An optimal linear regulator control system is constructed, and an optimal hybrid controller capable of absorbing external disturbance is implemented. The controller design is based on the theory of disturbance-accommodating control, optimal linear quadratic regulator control, and a digital delayed-data observer. Experimental results presented are useful for demonstrating practical aspects of the analysis. Furthermore, the ball-balancing control system developed is ideal for demonstrating the design and hardware implementation of optimal controllers based on modern control theory.

关键词： Optimal control Control systems Regulators Control system synthesis Automatic control robotics and automation Delay estimation Hardware Modems Control theory

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Control system modeling for robot manipulators by use of a canonical transformation

Control system modeling for robot manipulators by use of a c...

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IEEE International Conference on robotics and automation (ICRA)

作者： You-Liang Gu Nan Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Michigan

A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be embodied in a special decomposition of the total inertia matrix. In simplification by using this canonical transformation, the dynamic system is not only transformed to a linear model with the Brunovsky canonical form, the input formulation is also reduced to a simple recovery form. By taking advantage of the linearity of the robot dynamic equation with respect to the total inertia matrix, a detailed procedure of the realization is then described. A 3-D robot example illustrates the feasibility and computational efficiency of this procedure. And it also shows that the realization procedure for the canonical transformation can be summed up in two major steps: seek an imaginary robot and solve a reduced equation.

关键词： Control system synthesis Modeling Robots Nonlinear dynamical systems Equations Manipulator dynamics Nonlinear control systems Matrix decomposition Linearity Computational efficiency

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Model Reference Variable Structure Switched-Mode Regulators

Model Reference Variable Structure Switched-Mode Regulators

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American Control Conference (ACC)

作者： M. A. Zohdy Jun Liu N. K. Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

Model reference variable structure controllers are applied to switched-mode circuits, and their performance robustness is investigated. A generalized formulation together with its solution is presented for a class of problems, in variable structure control, involving state-space analysis of inherently time-varying regulators. The effects of the design averaging model and its description on tracking error dynamics and convergence rates are also discussed.

关键词： Regulators Control systems robotics and automation Automatic control Switching circuits Convergence Variable structure systems Difference equations Computer science Robust control

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COST SENSITIVITY ANALYSIS FOR DISCRETE-TIME OPTIMAL FEEDBACK CONTROLLERS WITH TIME-MULTIPLIED PERFORMANCE INDEXES

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1986年第3期31卷 262-263页

作者： CHEOK, KC LOH, NK ZOHDY, MA Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The sensitivity of a class of N th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.

关键词： Cost function Sensitivity analysis Adaptive control Performance analysis Output feedback Optimal control Performance gain Lagrangian functions Control systems Regulators

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