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UPB Scientific Bulletin, Series C: Electrical engineering 2008年第1期70卷 95-104页

作者： Azzouzi, Messaouda Halal, F. Dept. of Automatic Control and System Engineering University POLITEHNICA of Bucharest Bucharest Romania

This paper deals with liquid tanks management faced from an automatic control point of view;the motivation for the study is the need for an automated management strategy for two liquid tanks. The problem that is addressed in this paper is the control of liquid level on each tank by using the PD controller [2]. We encountered with an important problem that is the resulting disturbance from the intersection between these two tanks and the second tank drain, this disturbance has a negative effect in our system. We use in both tanks two valves that are controlled by two DC motors for adjusting the inflow of the liquid for each tank. As far as we know, such performance specifications are unattainable with the old existing methods [1].

关键词： Tanks (containers)

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A Neural Networks based variable structure control scheme for induction motors

A Neural Networks based variable structure control scheme fo...

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11th IASTED International Conference on Intelligent systems and control, ISC 2008

作者： Barambones, Oscar Alkorta, Patxi Garrido, Aitor J. Garrido, Izaskun De La Sen, Manuel Maseda, Francisco J. Martija, Itziar Dept. of Automatic Control and System Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain IIDP Facultad de Ciencias University of the Basque Country EUI Nieves cano 12 Vitoria Spain Dept. Mechanical Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain

ISBN: (纸本)9780889867741

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

关键词： Robust control

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QFT control based on zero phase error compensation for flight simulator

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Journal of systems engineering and Electronics 2007年第1期18卷 125-131页

作者： Liu Jinkun He Yuzhu Dept. of Automatic Automatic Control Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China Dept. of Engineering System of Engineering Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China

To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.

关键词： Quantitative feedback theory Zero phase error Feed forward compensation Servo system Flight simulator

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Vector backstepping design for flight control

Vector backstepping design for flight control

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AIAA Guidance, Navigation, and control Conference 2007

作者： Härkegård, Ola Glad, Torkel Saab AB SE-581 88 Linköping Sweden Linköping University SE-581 83 Linköping Sweden Flight Control System Saab Aerosystems Sweden Division of Automatic Control Dept. of Electrical Engineering Sweden

ISBN: (纸本)1563479044

A backstepping design for an aircraft described by rigid body dynamics is proposed. The system states are the unit velocity vector and the angular velocity in a body-fixed coordinate system. The result can be viewed as a multi-variable controller for angle of attack, sideslip angle, and velocity vector roll rate. The backstepping design is performed on the rigid body dynamics described on vector form. The resulting controller achieves convergence to a desired state from almost all starting points. Guidelines are given for tuning the controller to affect the characteristics of the short period mode, the roll mode and the dutch roll mode. A coupled high angle of attack, high roll rate maneuver is simulated using a simplified aircraft model to illustrate the design.

关键词： Flight control systems

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control system DESIGN CONSIDERING A TRADEOFF BETWEEN EVALUATED UNCERTAINTY RANGES AND control PERFORMANCE

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Asian Journal of control 2008年第1期1卷

作者： Y. Wakasa Y. Yamamoto Dept. of Applied Analysis and Complex Dynamical Systems Graduate School of Informatics Kyoto University Kyoto Japan. Yuji Wakasa was born in Okayama Japan in 1968. He received the B.S. and M.S. degrees in engineering from Kyoto university Japan in 1992 and 1994 respectively. From 1994 to 1998 he was a Research Associate in the Department of Information Technology Okayama University. Since April 1998 he has been a Research Associate in the Graduate School of Informatics Kyoto University. His current research interests include robust control and control system design via mathematical programming. Yutaka Yamamoto received his B.S. and M.S. degrees in engineering from Kyoto University Kyoto Japan in 1972 and 1974 respectively and the M.S. and Ph.D. degree in mathematics from the University of Florida in 1976 and 1978 respectively. From 1978 to 1987 he was with Department of Applied Mathematics and Physics Kyoto University and from 1987 to 1997 with Department of Applied System Science. Since 1998 he is a professor at the current position. His current research interests include realization and robust control of distributed parameter systems learning control sampled-data systems and digital signal processing. Dr. Yamamoto is a receipient of the Sawaragi memorial paper award (1985) the Outstanding Paper Award of SICE (1987) Best Author Award of SICE (1990) the George Axelby Outstanding Paper Award of IEEE CSS in 1996 Takeda Paper Prize of SICE in 1997. He is a Fellow of IEEE. He was an associate editor of Automatica. He is currently an associate editor of IEEE Transactions on Automatic Control Systems and Control Letters and Mathematics of Control Signals and Systems. He is a member of the IEEE the Society of Instrument and Control Engineers (SICE) and the Institute of Systems Control and Information Engineers.

This paper presents a design method of control systems such that a designer can flexibly take account of tradeoffs between evaluated uncertainty ranges and the level of control performance. The problem is reduced to a BMI problem and approximately solved by LMIs. The convergence of the proposed approximation is proved in a modified sense. A numerical example shows the effectiveness of the proposed method in comparison with the standard robust control.

关键词： control system design LMI BMI tradeoff curves

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Advanced predictive control based on multimodel learning techniques

Advanced predictive control based on multimodel learning tec...

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作者： Constantin, Nicolae Dumitrache, Ioan Automatic Control and System Engineering Dept. Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)008045108X

in this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification, since it requires less structural decisions to be made by the user. It represents a hybrid between local and global modeling. This estimation procedure is combined with a predictive control algorithm with a modification cost function for efficient control. Simulation results are provided to show the results of the proposed approach. Copyright © 2005 IFAC.

关键词： Cost functions

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Force and acceleration sensor fusion for compliant robot motion control

Force and acceleration sensor fusion for compliant robot mot...

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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors - that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer - whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Motion control

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automatic calibration procedure for a robotic manipulator force observer

Automatic calibration procedure for a robotic manipulator fo...

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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gömez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Force and Acceleration Sensor Fusion for Compliant Robot Motion control

Force and Acceleration Sensor Fusion for Compliant Robot Mot...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Dept Jaen University Jaen Spain Dept. of Automatic Control Lund University Lund Sweden

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Acceleration Sensor fusion Robot motion Force control Motion control Robot control Robot sensing systems Manipulator dynamics Force measurement

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