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 ...
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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.
This paper reports on the development of an on-line automated medical record system suitable for nursing homes. The software was written in standard MUMPS (Massachusetts General Hospital Utilities Multi-programming Sy...
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 variat...
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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.
A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image p...
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A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image processor is used to implement the proposed technique. Both simulation and experimental results are presented.
The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The contr...
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The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The controller design is based on the theory of disturbance-accommodating control, optimal control and digital delayed-data observer. Experimental results presented are useful for demonstrating the practicalilty aspects of the above theory.
This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work spa...
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This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work space and simultaneously avoid the kinematically singular configurations throughout the trajectory.
Biomedical workstations of the future will incorporate three-dimensional interactive capabilities which provide realtime response to most common operator requests. Such systems will find application in many areas of m...
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Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such...
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Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such as multi-input and multi-output characteristics, nonlinearity, time-varying parameters, and highly coupled system dynamics. Furthermore, they require consideration of such issues as robustness to external disturbances, parameter uncertainty, sensor noise, payload changes and computational errors. Thus the development of a real-time optimal control scheme with high reliability, high robustness, high accuracy and acceptable computational burden becomes an urgent and important problem for research and development. This paper presents an optimal control scheme which involves a nice combination of self-adaptive control strategy, exact linearization with output decoupling, and the computational procedure for solving the robotic dynamic equations based on a compact Lagrangian formulation. It is found from the simulation studies on the PUMA 560 robot that the actual trajectories of the robot arm converge quickly to the desired trajectories under large initial errors and robotic parameter deviations.
作者：
STIMSON, WAMARSH, MTUTTICH, RMWilliam A. Stimsonreceived his B.S. degree in mathematics from the University of Texas at El Paso in 1964
and his M.S. degree in engineering from the University of Santa Clara in 1971. He served in the U.S. Army Artillery during the Korean Conflict and subsequently was employed at IBM Huntsville Alabama until 1968 where he worked in the design of automatic control systems of the Saturn vehicle. From 1968 until 1971 he was employed at Ames Research Center Moffett Field in the design of nonlinear control systems for sounding rockets and pencil-shaped spacecraft. Following this Mr. Stimson worked at Hewlett Packard Sunnyvale California as a test engineer in automatic test systems. Since 1973 Mr. Stimson has been employed at the Naval Ship Weapon Systems Engineering Station Port Hueneme. He was a ship qualification trials project supervisor for many years and is now serving as master ordnance repair deputy program manager. Mr. Stimson is a member of the American Society of Naval Engineers and is program chairman of the Channel Islands Section. Cdr. Michael T. Marsh
USNreceived a B.S. in mathematics from the University of Nebraska and was commissioned via the NESEP program in 1970. He holds an M.S. in computer science from the U.S. Navy Postgraduate School and an MBA from the State University of New York. Cdr. Marsh has served in the weapons department of USSFrancis Hammond (FF-1067) and of USSJohn S. McCain (DDG-36). He was weapons officer aboard USSSampson (DDG-10). As an engineering duty officer Cdr. Marsh was the technical design officer for PMS-399 at the FFG-7 Class Combat System Test Center from 1978 to 1982. He is presently combat system officer at SupShip Jacksonville and has been active in the MOR program since its inception. Cdr. Marsh is also the vice chairman of the Jacksonville Section of ASNE. LCdr. Richard M. Uttich
USNholds B.S. and M.S. degrees in mechanical engineering from Stanford University. He enlisted in the Navy in 1965 serving as an electronics technician aboard USSNereus (A
The 600-ship United States Navy offers private shipyards an unprecedented opportunity for overhaul of surface combatants with complex combat systems. Recognizing the new challenge associated with the overhaul of high ...
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The 600-ship United States Navy offers private shipyards an unprecedented opportunity for overhaul of surface combatants with complex combat systems. Recognizing the new challenge associated with the overhaul of high technology combat systems in the private sector, the Navy in 1983 established the master ordnance repair (MOR) program. This program, a joint effort of the Naval Sea Systems Command (NAVSEA) and the Shipbuilders Council of America (SCA), was designed to identify and qualify those companies and private shipyards technically capable of managing combat systems work and conducting combat system testing. Standard Item 009–67 describes the role of the MOR company in combat system overhaul. It defines terms that are important to understanding the item itself, and imposes upon the prime contractor an obligation to utilize the MOR subcontractor in a managerial capacity. Specific tasks are assigned to the MOR company in planning, production, and testing. Finally, this standard item describes to the Navy planner how to estimate the size of the MOR team appropriate to the work package, a feature that will ensure that combat system bids are tailored to a specific availability.
The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a specia...
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The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.
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