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DISCRETE-TIME QUANTIZED DATA CONTROLLERS

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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A COMPUTER VISION TECHNIQUE FOR SURFACE CURVATURE GAUGING WITH PROJECTED GRATING

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1986年第2期33卷 158-161页

作者： HUNG, YY CHENG, SK LOH, NK Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

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... 详细信息

关键词： Computer vision Gratings Surface topography Digital images Shape Inspection Data mining robotics and automation Computational modeling Productivity

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A Ball-Balancing Demonstration of Distrubance-Accommodating Control

A Ball-Balancing Demonstration of Distrubance-Accommodating ...

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American Control Conference (ACC)

作者： N.K. Loh K.C. Cheok 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 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.

关键词： Optimal control Control systems Automatic control Switches Control system synthesis robotics and automation Delay estimation Design automation Design engineering Computer science

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Optimal Control with Exact Linearization of Robotic Manipulators

Optimal Control with Exact Linearization of Robotic Manipula...

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American Control Conference (ACC)

作者： N. Coleman Nan K. Loh You-Liang Gu U.S. Army Armament R and D Center Dover NJ USA School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI

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.

关键词： Optimal control Robot sensing systems Noise robustness Manipulator dynamics Nonlinear control systems Robot control Control systems Time varying systems Couplings Nonlinear dynamical systems

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DYNAMICS OF NONRIGID ARTICULATED ROBOT LINKAGES

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1985年第5期30卷 499-502页

作者： JUDD, RP FALKENBURG, DR Center of Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

关键词： Robots Couplings Performance analysis Automatic control Manipulator dynamics Linear systems Control systems robotics and automation Kinematics Transient response

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AN ADAPTIVE-CONTROL SCHEME FOR OSCILLATORY SERVO SYSTEMS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1985年第1期32卷 37-40页

作者： HONG, ZD ZOHDY, MA Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

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.

关键词： Adaptive control Servomechanisms Resonance Resonant frequency Filters Shafts Transfer functions Stability Torque Linear systems

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