In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing...
详细信息
In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.
Several geometric modelling methods are compared for use within real-time flight simulation systems. Algorithms are presented which give a rapid solution for simplified versions of the models. The algorithms are robus...
详细信息
Several geometric modelling methods are compared for use within real-time flight simulation systems. Algorithms are presented which give a rapid solution for simplified versions of the models. The algorithms are robust and are suitable for flight simulator applications. The aircraft geometric structure is modelled as connected cylinders and the range of motion and the position of the aircraft is quantised. The programs take account of geometric and obstacle constraints. Although the solutions are suboptimal due to the simplified models used, the calculation time is short. The static model of the aircraft environment is held in computer memory as solid polyhedra. This model may be updated as new objects enter or leave the area of the aircraft. Overlapping spheres are used to model flying objects or moving objects on the ground. In this form the model data can be accessed efficiently by flight planning algorithms. The approach is global and uses a 3D or 6D graph of quantised configuration space. The method can also be applied to the planning of automatic low-level flight path.< >
Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' Laboratory. The ad...
详细信息
Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' Laboratory. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.< >
作者：
VINROOT, CAORNER, JGUSNCapt. Charles A. Vinroot
USN (Ret.)retired from the U.S. Navy in September 1991 following over 27 years of active duty as an engineering duty officer. He holds a BSEE from North Carolina State University and a MSEE and professional degree from the U.S. Naval Postgraduate School. During his naval career he served on USSIndependence (CVA-62) and USSLuce (DLC-7/DDC-38). He also served at Supship Quincy Mass. and Hunters Point Naval Shipyard. He was stationed in Washington D.C. with assignments at CNO (OP 98) ASN (S&L) and the Naval Sea Systems Command. Captain Vinroot was technical director of the Battleship Reactivation Program (PMS 378) technical director of the Destroyer Acquisition Program (PMS 389) and deputy program manager of the Amphibious Warfare and Strategic Sealift Program (PMS 377). Most recently he served as program manager for Gas Turbine Surface Combatants (PMS 314) and Surface Combatants (PMS 330). Captain Vinroot is now employed by PRC Inc. and serves as technical director for the Advanced Technology Division in Crystal City Va. Jeffery G. Ornergraduated from Wittenberg University in Springfield
Ohio in 1979 with a bachelor of arts degree in political science and earned a master's of science degree in business from The American University in Washington D.C. in 1982. He has ten years of professional experience with the Naval Sea Systems Command in positions with responsibilities for logistic support planning policy and delivery computer-aided acquisition and logistic support and Fleet Modernization Program (FMP) and ship construction issues. He was a key player in establishing the current FMP integrated logistic support (ILS) process and in implementing of the Ships' Configuration and Logistic Support Information System (SCLSIS). His current position as Fleet Logistic Support Branch head for the Surface Combatant Program includes responsibility for logistic support and management of ship configuration and logistic data for all surface combatant ships (except for Aegis ships). In
USS Ingraham (FFG-61) is the prototype ship for NavSea's Advanced Technical Information System (ATIS). ATIS is a digital technical library, which holds on optical disks the ship's 2,000 technical manuals and 7...
详细信息
USS Ingraham (FFG-61) is the prototype ship for NavSea's Advanced Technical Information System (ATIS). ATIS is a digital technical library, which holds on optical disks the ship's 2,000 technical manuals and 73,000 drawing sheets. It contains a detailed ship's configuration index (derived from SCLSIS) to lead the user to the proper drawing or manual, and it replaces the ship's aperture cards and the second (library) copy of the technical manuals. ATIS, and the data standards established and tested through ATIS development, will be the technical library portion of micro-SNAP and SNAP III. It also forms an important part of NavSea's plans to utilize EDMICS data. This paper describes the goals and technical concepts behind the development of ATIS. Problems encountered, solutions developed, and lessons learned are detailed. Special attention was paid to the application of the computer Aided Acquisition and Logistic Support (CALS) standards, problems caused by conflicts and ambiguities in those standards, the standards. Original program goals are compared with actual operational experiences. Plans for future expansion are outlined, including applications of this technology in the availability planning and execution process. A comparison is developed among the various methods of optical imaging and their costs and benefits.
The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observabilit...
The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observability) matrix, this paper generalizes the results of Shieh et al. [3] and provides systematic and straightforward algorithms for obtaining block companion canonical forms. An example is provided to illustrate this transformation technique.
The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho ...
详细信息
The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of 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.
This paper proposes an alternate approach for adaptive robust control of linear systems with structured, wide-ranging parametric uncertainties. The overall scheme consists of two steps; namely, off-line design of a ro...
详细信息
This paper proposes an alternate approach for adaptive robust control of linear systems with structured, wide-ranging parametric uncertainties. The overall scheme consists of two steps; namely, off-line design of a robust observer for the partial states of the system, and design of an on-line adaptive pole placement scheme. It is shown that by using this approach, both direct as well as indirect adaptive pole placement can be achieved. Proofs of stability of the schemes are also given.
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible struct...
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered
A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor i...
详细信息
A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >
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...
详细信息
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.< >
暂无评论