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Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)最新文献

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Current feedback for shock disturbance attenuation in a compact disc player 激光唱机中冲击干扰衰减的电流反馈
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897554
J. Stoustrup, E. Vidal, P. Andersen, T. S. Pedersen, H. F. Mikkelsen
{"title":"Current feedback for shock disturbance attenuation in a compact disc player","authors":"J. Stoustrup, E. Vidal, P. Andersen, T. S. Pedersen, H. F. Mikkelsen","doi":"10.1109/CCA.2000.897554","DOIUrl":"https://doi.org/10.1109/CCA.2000.897554","url":null,"abstract":"Control of compact disc mechanisms is highly challenging not least due to the many conflicting control objectives arising from a large number of disturbances of rather different physical natures. A method is proposed which enables the control system to distinguish between some of the disturbance classes. A significant robustness problem is solved by a simple adaptive scheme which takes real-time constraints into consideration. The results show a significant attenuation of mechanical shocks for the compact disc mechanism.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122236096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Trajectory synthesis based on different fuzzy modeling network pruning algorithms 基于不同模糊建模网络修剪算法的轨迹综合
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897443
J. Juang
{"title":"Trajectory synthesis based on different fuzzy modeling network pruning algorithms","authors":"J. Juang","doi":"10.1109/CCA.2000.897443","DOIUrl":"https://doi.org/10.1109/CCA.2000.897443","url":null,"abstract":"In this paper, trajectory synthesis based on different fuzzy modeling network pruning algorithms is investigated. The learning scheme uses a fuzzy neural network as the controller. Simulations focus on refinement and a thorough understanding of the pruned fuzzy modeling network. The learning scheme can control a biped robot that satisfies prespecified constraints such as the steplength, crossing clearance, and walking speed. Different issues regarding the scheme have been examined. They include the effects of using weight truncation and the effects of using weight decay. The proposed scheme is tested with simulations of the BLR-G1 walking robot.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114056447","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Time-efficient input shaping control of container crane systems 集装箱起重机系统的时效性输入成形控制
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897403
Bae-Jeong Park, K. Hong, C. Huh
{"title":"Time-efficient input shaping control of container crane systems","authors":"Bae-Jeong Park, K. Hong, C. Huh","doi":"10.1109/CCA.2000.897403","DOIUrl":"https://doi.org/10.1109/CCA.2000.897403","url":null,"abstract":"Time-efficient feedforward controls of input shaping are proposed for reducing the residual vibrations for container crane systems. Considering the change of rope length by the hoist, several versions of input shaping control are evaluated and compared over a wide range of parameters. As a result, the proposed time-efficient input shapers for container cranes are more effective than conventional shapers in maneuver time and insensitivity range. Also, the time-efficient input shapers relax the tradeoff relationship in maneuver time and insensitivity range. The proposed input shaping control for container cranes modeled as linear time-varying (LTV) systems does not yield exactly zero residual vibration; however, when the change of rope length by the hoist is small, the method yields essentially zero residual vibration. Simulation results are provided.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122518830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 42
Switched Kalman filter in a high frequency series loaded resonant converter 高频串联负载谐振变换器中的开关卡尔曼滤波器
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897475
A. Hultgren, W. Kulesza, M. Lenells
{"title":"Switched Kalman filter in a high frequency series loaded resonant converter","authors":"A. Hultgren, W. Kulesza, M. Lenells","doi":"10.1109/CCA.2000.897475","DOIUrl":"https://doi.org/10.1109/CCA.2000.897475","url":null,"abstract":"A switched power converter is a hybrid system and can be modelled by a switched linear model consisting of a set of linear differential equations and connected logic conditions. If the time instants of the switching are known the system can be viewed as a linear time varying system. A switched Kalman filter is developed to meet the switched property and enable a state feedback control. The filter is tested in a high frequency resonant power converter. The filter is developed in a system for rapid prototyping of filter and control algorithms.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122523720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
The control of the hovercraft system: a flatness based approach 气垫船系统的控制:一种基于平整度的方法
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897513
H. Sira-Ramírez, C. Ibáñez
{"title":"The control of the hovercraft system: a flatness based approach","authors":"H. Sira-Ramírez, C. Ibáñez","doi":"10.1109/CCA.2000.897513","DOIUrl":"https://doi.org/10.1109/CCA.2000.897513","url":null,"abstract":"A simplified model of the hovercraft system, used in the literature to illustrate nonlinear control options in underactuated systems, is shown to be differentially flat. The flat outputs are given by the position coordinates with respect to the fixed earth frame. This fact is exploited for the design of a dynamic feedback controller for the global asymptotic stabilization of the system's trajectory tracking error with respect to off-line planned position trajectories.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131447448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 22
Exact model matching with limiting properties of LQR and its application to cooperative transportation by two vehicles 基于LQR限制特性的精确模型匹配及其在两车协同运输中的应用
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897439
R. Suzuki, S. Furuya, S. Kawashima, N. Kobayashi, H. Yamada
{"title":"Exact model matching with limiting properties of LQR and its application to cooperative transportation by two vehicles","authors":"R. Suzuki, S. Furuya, S. Kawashima, N. Kobayashi, H. Yamada","doi":"10.1109/CCA.2000.897439","DOIUrl":"https://doi.org/10.1109/CCA.2000.897439","url":null,"abstract":"A new control method by combining exact model matching and limiting properties of linear quadratic regulators (LQR) are proposed in this paper. The method is applied to cooperative transportation control by two vehicles without explicit communication. By combining limiting properties of LQR and exact model matching achieves good tracking performance against disturbance and modeling error on LQ control framework. Effectiveness of the proposed method is confirmed by comparative experiments.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132294914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Necessary and sufficient conditions for a polytope of real polynomials to contain a Hurwitz polynomial 实多项式多边形包含Hurwitz多项式的充分必要条件
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897411
L. Pujara
{"title":"Necessary and sufficient conditions for a polytope of real polynomials to contain a Hurwitz polynomial","authors":"L. Pujara","doi":"10.1109/CCA.2000.897411","DOIUrl":"https://doi.org/10.1109/CCA.2000.897411","url":null,"abstract":"Necessary and sufficient conditions for a polytope of real polynomials to contain a Hurwitz polynomial are established. More specifically, it is proved that a polytope of real polynomials contains a stable polynomial if and only if a certain semipolytope of the polytope contains a stable polynomial. The existence theorem is followed by an algorithm to determine a stable polynomial in the polytope, if one exists. The polytope problem for discrete polynomials is also solved. Two illustrative examples are included.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131960077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Modeling for control of a Steckel hot rolling mill Steckel热轧机控制建模
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897538
E. Scholtz, I. Craig, P. Pistorius
{"title":"Modeling for control of a Steckel hot rolling mill","authors":"E. Scholtz, I. Craig, P. Pistorius","doi":"10.1109/CCA.2000.897538","DOIUrl":"https://doi.org/10.1109/CCA.2000.897538","url":null,"abstract":"Shows the derivation of a nonlinear plant simulator, which reflects the thickness crown and tension of a hot rolled strip. The simulator is used for the identification of a linear model using system identification techniques. An initial control problem is formulated.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132350788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Model-based PID control of constrained robot in a dynamic environment with uncertainty 动态不确定环境下约束机器人基于模型的PID控制
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897402
Yimin Li, Yeong-Khing Ho, C. Chua
{"title":"Model-based PID control of constrained robot in a dynamic environment with uncertainty","authors":"Yimin Li, Yeong-Khing Ho, C. Chua","doi":"10.1109/CCA.2000.897402","DOIUrl":"https://doi.org/10.1109/CCA.2000.897402","url":null,"abstract":"This paper investigates a model-based method for robot manipulator control by describing the kinematics and dynamics of constrained robot when contacting a dynamic environment. Parameters which concern kinematic constraints of robot end effector, dynamic interactions and uncertainty of environment are represented from the environment side. By using Lagrangian formula, the whole dynamic expressions of the robot-environment system can be derived by the variables representing the joint angles. This modeling method is suitable for hybrid control laws to fulfil the manipulation task. The simulation results obtained from PID regulators are presented. Those results suggest that in practice, fixed PID parameters may not perform well because of the strong nonlinearity of the system and this will lead to further modified PID method such as a fuzzy logic self-tuning PID controller to achieve the time-varying tracking control of the robot manipulator.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122237435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Neural network based manipulator control with time-optimal robot path tracking 基于神经网络的机械臂控制与时间最优机器人路径跟踪
Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) Pub Date : 2000-09-25 DOI: 10.1109/CCA.2000.897527
Y.B. Veryha, L. Kourtch
{"title":"Neural network based manipulator control with time-optimal robot path tracking","authors":"Y.B. Veryha, L. Kourtch","doi":"10.1109/CCA.2000.897527","DOIUrl":"https://doi.org/10.1109/CCA.2000.897527","url":null,"abstract":"A time-optimal control method is described to enable robots, under predictive neural network based control, to track paths to a prescribed tolerance. The paper considers the predictive control method for controlling robotic manipulators. A multilayered neural network is provided as an identification model for the object to be controlled. The proposed method and a system for adaptive robot control provide connection to the tracking accuracy. Simulation results confirm the theories and suggest that the scheme can be applied in a robust fashion to achieve time-optimal path-tracking that is accurate to a prescribed tolerance and achieves good torque utilization most of the time.","PeriodicalId":108537,"journal":{"name":"Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121978912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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