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American control Conference (ACC)

作者： A. Ibeas M. de la Sen S. Alonso-Quesada System Engineering and Automatic Control Group ETSE Universidad Autónoma de Barcelona Bellaterra Spain Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of the manuscript is to design a robust control law capable of improving the tracking of each robot to its corresponding reference model in comparison to existing controllers when the slave is interacting with an obstacle while guaranteeing closed-loop stability. In this way, a multiestimation-based adaptive controller is proposed. Thus, the control scheme for each robot is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Hence, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single estimation based controller is used. Finally, some simulation examples showing the working of the multiestimation scheme complete the paper

关键词： Robust control Adaptive control Master-slave Robots Manipulators Reflection Force control control systems Robust stability Programmable control

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Multiestimation based discrete adaptive control of LTI continuous plants with unknown bounded external time delays

Multiestimation based discrete adaptive control of LTI conti...

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American control Conference (ACC)

This paper addresses the problem of controlling an unknown continuous linear time invariant plant with external point delays using a multiestimation scheme. The plant is supposed to be unknown while the delay is also supposed to be unknown but upper-bounded with known upper bound. The control algorithm is based on a multiestimation scheme. The estimation scheme is composed of a bank of estimation algorithms running in parallel, being each one associated to a discretization of the plant with a different value of the discrete time delay. In this way, a conceptually simple control design for unknown plants with external point delays is presented. Furthermore, the scheme has revealed to be potentially capable of estimating an approximation of the actual delay of the plant as simulation examples have pointed out. This is an important novelty since nowadays there are not effective methods to estimate simultaneously the delay of the continuous plant and its parameters

关键词： Adaptive control Delay effects Delay estimation control systems Upper bound automatic control Sampling methods control design Digital control Delay systems

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Adaptive control for Stabilizing Possibly Inversely Unstable Continuous-time Plants by Using Multirate Input and Fractional-order Holds

Adaptive Control for Stabilizing Possibly Inversely Unstable...

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American control Conference

作者： S. Alonso-Quesada M. De la Sen A. Ibeas Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain Institute of Processes Research and Development University of Basque Country (UPV-EHU) Leioa Spain System Engineering and Automatic control Group ETSE. Universidad Autónoma de Barcelona Bellaterra Spain

This paper presents an adaptive control strategy for stabilizing a potentially non-inversely stable, linear and time-invariant plant. Such a strategy consists of a discretization of the plant by means of a fractional-order hold (FROH) with a multirate input in order to place the zeros of the discretized plant into the stability region. In this way, an adaptive controller can be designed so that the discretized plant asymptotically matches a stable reference model without any linking between the reference model zeros and those of the discretized plant Such a controller ensures the matching of the reference model at sampling instants and the boundedness of the plant output for all time. An example is presented to illustrate this control strategy.

关键词： Adaptive control Stability Programmable control Sampling methods controllability automatic control Joining processes Helium State feedback Context modeling

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A New Architecture for Robust Model Reference control

A New Architecture for Robust Model Reference Control

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IEEE Conference on Decision and control

作者： C. Pedret R. Vilanova R. Moreno I. Serra System Engineering and Automatic Control Group ETSE Universitat Authnòma de Barcelona Bellaterra Spain

A new controller configuration for Robust Model Reference control is presented in this paper. The structure is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with a prefilter controller. It is designed first to guarantee stability robustness and some levels of performance in terms of disturbance rejection. This is done by solving a constrained H ∞ optimization problem using the right coprime factorization of the plant in an active way. Secondly, the prefilter controller is designed to guarantee robust open-loop processing of the reference commands. This is done by assuming a Reference Model and by solving a Model Matching Problem.

关键词： Robust control Open loop systems Robust stability Feedback control control systems Uncertainty Adaptive control control system synthesis automatic control Constraint optimization

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Robust tracking performance enhancement through uncertainty division

Robust tracking performance enhancement through uncertainty ...

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2003 European control Conference, ECC 2003

作者： Gil-Martínez, M. García-Sanz, M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa 20 Logroño26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadía s/n Pamplona31006 Spain

ISBN: (纸本)9783952417379

When the process uncertainty size increases, even linear minimum phase systems must sacrifice desirable aggressive feedback control benefits to avoid an excessive 'cost of feedback', while preserving the robust stability. With a suitable uncertainty division and a QFT controller-prefilter to command each uncertainty subset inside a controller-scheduler structure, it is possible to enhance the feedback tracking performance without an excessive bandwidth. To preserve the robust stability from any failure in the switching, each controller is designed to be stable in the whole uncertainty domain, and as accurate in command tracking as desired in its uncertainty subset. © 2003 EUCA.

关键词： Robust control

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Plant uncertainty contribution to QFT Tracking control design 4

Plant uncertainty contribution to QFT Tracking control desig...

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4th IFAC Symposium on Robust control Design, ROCOND 2003

作者： Martínez, G.-M. Sanz, G.-M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa. 20 Logrono26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadia s/n Pamplona31006 Spain

Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process mode!. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the contribution of the plant uncertainty to the tracking QFT bounds through a serious study of tracking bound formulas. From this, a methodology for uncertainty fragmentation is developed. It hopes to loosen the bound toughness, or the control design trade-offs. Better feedback benefits can be achieved while reducing the high-frequency amplification of noises and disturbances at the plant input at the same time. Different QFT controllers in a controller-scheduler structure should drive different uncertainty boundaries. © 2003 IFAC.

关键词： Robust control

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Plant Uncertainty Contribution to QFT Tracking control Design

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IFAC Proceedings Volumes 2003年第11期36卷 517-522页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN. Tf.:+34 941 299496 Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía s/n 31006 Pamplona SPAIN Tf.:+34 948 16938

Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process model. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the contribution of the plant uncertainty to the tracking QFT bounds through a serious study of tracking bound formulas. From this, a methodology for uncertainty fragmentation is developed. It hopes to loosen the bound toughness, or the control design trade-offs. Better feedback benefits can be achieved while reducing the high-frequency amplification of noises and disturbances at the plant input at the same time. Different QFT controllers in a controller-scheduler structure should drive different uncertainty boundaries.

关键词： Quantitative Feedback Theory Robust control Uncertain Dynamical systems

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Robust specification influence on feedback control strategies 15th

Robust specification influence on feedback control strategie...

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15th World Congress of the International Federation of automatic control, 2002

ISBN: (纸本)9783902661746

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design. Copyright © 2002 IFAC.

关键词： controllers

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The response surface methodology for rapid prototyping of real-time control systems

The response surface methodology for rapid prototyping of re...

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American control Conference (ACC)

作者： P. Stewart P.J. Fleming Department of Electrical Engineering Electrical Machines and Drives Group University of Sheffield Sheffield UK Department of Automatic Control and System Engineering University of Sheffield UK

This paper investigates the use of a production control technique known as the Response Surface methodology as a rapid prototyping tool for real time control design. The problem under consideration here is the response of automotive drivetrains to aggressive driver input. The first torsional mode (otherwise known as "shuffle" mode) of automotive drivelines is excited by torque transients and is typically around 2-5 Hz. The effect is particularly severe during step changes from the throttle pedal ("tip in" or "tip out"), manifesting itself as an undesirable low frequency longitudinal acceleration oscillation, leading to driver discomfort. The control of this aspect of "driveability" (the error between expected vehicle response and actual vehicle response to an arbitrary control input) is examined, using feedforward control. The overriding principle to be obtained in this examination is the assessment of electronic throttle control in the context of rapid prototyping. The response surface methodology is adopted to achieve this goal. The potential of the electronic throttle for launch control is analyzed and experimentally verified.

关键词： Response surface methodology Prototypes Real time systems control systems Automotive engineering Vehicle driving Production control control design Torque Frequency

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controllability analysis of multi objective control systems

Controllability analysis of multi objective control systems

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IEEE International Symposium on Computer Aided control system Design (CACSD)

作者： P. Stewart G.W. Jewell R.E. Clark P.J. Fleming The Electrical Machines and Drives Group the Department of Electrical Engineering University of Sheffield Sheffield UK The University of Sheffield Sheffield Sheffield GB The Department of Automatic Control and System Engineering University of Sheffield UK

The performance requirements stated in project specifications often comprise conflicting objectives. These objectives may further be a complex mix of steady state and dynamic performance. control devices such as solenoid actuators are often chosen purely on steady state force characteristics, due to the difficulty of appraising the conflicting and generally non-linear nature of the performance objectives. This can have ramifications in terms not only of the actuator performance, but also in the overall controllability of the system when closed-loop control is implemented. An example automotive application examining the multi objective controllability of electronically actuated valves is presented. Multi objective evolutionary techniques are utilised to derive the optimal force-displacement characteristics and also dynamic characteristics of the desired actuator under the constraint of design performance criteria. The selected actuator is then assessed for its controllability and dynamic performance.

关键词： controllability control system analysis control systems Actuators Vehicle dynamics Steady-state Force control Solenoids Appraisal Automotive applications

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