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Proceedings. ICCON IEEE International Conference on Control and Applications最新文献

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On the design of nonlinear pulse-width-modulation controllers 非线性脉宽调制控制器的设计
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770541
H. Sira-Ramírez
{"title":"On the design of nonlinear pulse-width-modulation controllers","authors":"H. Sira-Ramírez","doi":"10.1109/ICCON.1989.770541","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770541","url":null,"abstract":"In this article a design method is proposed for the specification of a variety of Pulse-Width-Modulation (PWM) feedback controllers acting on plants described by Nonlinear Dynamical Systems. It is shown that an average model of the PWM controlled system, derived by an infinte sampling frequency assumption, is simply obtained by replacing the discontinuous FWM controller by a memoryless nonlineariy completely specified by the feedback duty ratio function. The average model captures the essential qualitative stability properties of the controlled system and, thus, can be used to considerably simplify the PWM controller design task. The case of PWM regulators for linear plants can be systematically treated by traditional input-output design methods. Some examples are provided.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114682066","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: 9
Control of brushless synchronous motor with a digital signal processor 用数字信号处理器控制无刷同步电机
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770546
P. Goureau
{"title":"Control of brushless synchronous motor with a digital signal processor","authors":"P. Goureau","doi":"10.1109/ICCON.1989.770546","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770546","url":null,"abstract":"This paper deals with the development of a complete digital control for an electrical drive with a brushless synchronous motor. This control allows the power switches of the static convertor to work in pulse width modulation in order to have sinusoidal waveform of currents in the windings of the motor. Moreover, it is well adapted for the implementation of speed and position regulation loops. It is also easier to establish a dialogue with a computer which can directly determine references for torque, speed or position. The modularity of this control yields an easy adjustment to various cathegories of motors. The digital control is built round a digital signal processor : the ADSP 2100. This one has a small but sufficient environment to execute the different tasks such as the interface with a common bus with the host computer, the acquisition of phase currents, the measurement of the position and the generation of the different power switches orders. A fine modelisation of the behavior of the vaiatior and machine in addition make it possible to regulate corrctly controls.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":" 30","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120830815","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
Robust stabilizability of linear time varying uncertain dynamical systems via linear feedback control 线性时变不确定动力系统的线性反馈鲁棒镇定
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770534
K. Wei
{"title":"Robust stabilizability of linear time varying uncertain dynamical systems via linear feedback control","authors":"K. Wei","doi":"10.1109/ICCON.1989.770534","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770534","url":null,"abstract":"This paper investigates the problem of designing a linear static feedback control to stabilize a class of uncertain linear dynamical systems. The systems under consideration contain time-varying uncertain parameters whose values are unknown but bounded in given compact sets. The method used to establish asymptotical stability of the closed loop system (obtained when the feedback control is applied) involves the use of a quadratic Lyupunov function. Sufficient conditions are provided under which an uncertain system containing parameters varying in any given arbitrary large ranges can be stabilized by a linear static feedback control.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"36 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860491","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: 9
Detection filters for aircraft sensor and actuator faults 飞机传感器和执行器故障检测滤波器
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770099
D. M. Wilbers, J. Speyer
{"title":"Detection filters for aircraft sensor and actuator faults","authors":"D. M. Wilbers, J. Speyer","doi":"10.1109/ICCON.1989.770099","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770099","url":null,"abstract":"The fault detection and isolation problem is developed for both actuator faults and sensor faults of an aircraft. Pertinent theorems and definitions are presented. The fault detection filter design is treated as an eigensystem assignment problem. A computer algorithm which calculates the detection filters is discussed. Detection filter gains are developed for a linear aircraft model which augments actuator dynamics and a simplified wind gust model. A simulation of various faults and the performance of the detection filters are developed. Results indicate potential for improving fault-tolerant control system designs.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127497865","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: 23
Elasticity and vibration control for manipulators 机械臂的弹性与振动控制
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770090
F. Pfeiffer, U. Kleemann
{"title":"Elasticity and vibration control for manipulators","authors":"F. Pfeiffer, U. Kleemann","doi":"10.1109/ICCON.1989.770090","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770090","url":null,"abstract":"The motion of a robotic system with elastic joints and links practically consists of the nonlinear path tracking movement and a superimposed vibration due to elasticity. Assuming only small elastic deviations the control problem of an elastic manipulator may efficiently be partitioned into three parts, namely into the control of a somehow optimized reference trajectory as performed by the rigid robot, into the control of the elastic deviations from that reference path and into the control of the elasticity-induced vibrations. Modelling the dynamics is performed by applying elastic multibody theory. The concept of nonlinear decoupling extended by a special correction regarding elasticity and the concept of an optimized output control are used for controlling the'robot. Theoretical and experimental results demonstrate the efficiency of the new procedure.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125872065","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
Identification of hammerstein systems by the hermite series estimate with application to flexible robot manipulators control 基于hermite级数估计的hammerstein系统辨识及其在柔性机器人控制中的应用
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770551
A. Krzyżak, J. Sasiadek
{"title":"Identification of hammerstein systems by the hermite series estimate with application to flexible robot manipulators control","authors":"A. Krzyżak, J. Sasiadek","doi":"10.1109/ICCON.1989.770551","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770551","url":null,"abstract":"In this paper we study the identification of single-input, single-output discrete Hammerstein system. Such a system consists of two cascaded subsystems: nonlinear, memoryless subsystem followed by a dynamic, linear subsystem. We identify the parameters of the dynamic, linear subsystem by the correlation and Newton-Gauss method. The main results concern the estimation of the nonlinear, memoryless subsystem. We impose no conditions on the functional form of the nonlinear subsystem, recovering the nonlinearity using the Hermite series regression estimate. We show the density-free pointwise and global convergence of the estimate, that is, convergence is proven for inputs with arbitrary density function and virtually all nonlinearities. The rates of pointwise as well as global convergence are obtained for smooth input densities and for nonlinearities of Lipschitz type. The application of the proposed algorithm to the compensation of a flexible manipulator deflection in robot assembly is presented.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115034386","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
A knowledge-based pattern match algorithm for optimization 一种基于知识的模式匹配优化算法
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770650
D. Qian, Jian-Ping Chen, Zhongqing Zhang
{"title":"A knowledge-based pattern match algorithm for optimization","authors":"D. Qian, Jian-Ping Chen, Zhongqing Zhang","doi":"10.1109/ICCON.1989.770650","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770650","url":null,"abstract":"A KNOWLEIXE-BASED PATTERN MATCH ALCORITHM FOR OPTIMIZATION Da-qun Qian, Jlan-pirug Chen, Zhong-jun Zhang Automatic Cont ro l Department, Shanghai Jiao Tong University, Shanghai, People's Republic of China kkImmdr'y : A knowledge-burud pat-n m9kh algorithm for opt imiza t ion and it. a p p l l c a t i o m are given in t h i 6 prpur . I . INTRODUCTION One of op t imiza t ion problems i r formulated aa fol lows: minxf (X,A) (1 ) where; X = ( x ,,..., xn): a vwiable vector, A = ( ul * . . . ,am ) : I parameter vec tor . Assume thot A-Ak (=(a!, . . . ,am)) k und t h e ccorrwpondimg opt-","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122454388","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
Robust stability of linear perturbed discrete large-scale systems with saturating actuators 具有饱和执行器的线性摄动离散大系统的鲁棒稳定性
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770657
T. Su, Te-son Kuo, York-Yih Sun
{"title":"Robust stability of linear perturbed discrete large-scale systems with saturating actuators","authors":"T. Su, Te-son Kuo, York-Yih Sun","doi":"10.1109/ICCON.1989.770657","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770657","url":null,"abstract":"This paper is concerned with the robust stability conditions for linear perturbed large-scale systems with saturating actuators in discrete-time case. Two types of controllers, a state feedback and a dynamic controller, are introduced for each subsystem to guarantee asymptotic stability of the perturbed large-scale system.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122871215","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: 6
Local navigation and real-time obstacle avoidance system for an autonomous mobile robot. 自主移动机器人局部导航与实时避障系统。
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770580
R. Alimenti, B. Delaunoit, M. Bogaert, P. Gaspart
{"title":"Local navigation and real-time obstacle avoidance system for an autonomous mobile robot.","authors":"R. Alimenti, B. Delaunoit, M. Bogaert, P. Gaspart","doi":"10.1109/ICCON.1989.770580","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770580","url":null,"abstract":"Mobile robot's task execution system can be organized around a 3 components knowledge base. Autonomous navigation, a subsystem of task execution, requires several processes to run concurrently in order to allow continuous vehicle motion. These issues are presented, with emphasis on the local navigation system developped for MORSE (Mobile Robot for Services Execution). On line planning procedures and real time task coordination are described.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"309 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122975043","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
Variable structure observers 变结构观察者
Proceedings. ICCON IEEE International Conference on Control and Applications Pub Date : 1989-04-03 DOI: 10.1109/ICCON.1989.770602
S. Żak, B. Walcott
{"title":"Variable structure observers","authors":"S. Żak, B. Walcott","doi":"10.1109/ICCON.1989.770602","DOIUrl":"https://doi.org/10.1109/ICCON.1989.770602","url":null,"abstract":"I. Introduct ion It is convenient during the design process to assume that the entire state vector of the plant to be controlled is available through measurement. If the state vector cannot be measured then either a new approach to the design must be devised or a suitable estimate of the state vector must be determined that can be utilized in the control law. If an approximate state vector will be utilized for the unaccessible state, then a control design problem can be split into three phases. The first phase is design of the controller assuming availability of all the elements of the state vector. The second phase is the design of a system that generates an estimate of the state vector when provided with the measurements of the plant input and output. The final step consists of combining the control strategy and the estimator. This estimator for time-invariant deterministic continuous-time linear systems is labelled as the Luenberger observer, in honor of D. G. Luenberger who proposed and developed the estimator in 1964 (for a lucid exposition of the early stages of the observer theory consult Luenberger['1). Since then observer theory has been extended and generalized to include a more general classes of systems. In particular, in the design recentlyproposed by Walcott and Zakl'l, only the bounds of the nonlinearities of the plant are used in the observer dynamics. Moreover, these dynamics may easily be implemented in continuous time on an analog computer with comparators, or in discrete time via a microprocessor. However, the drawback of thie approach is that nonlinearities/uncertainties must satisfy the so-called matching condition. A comparative study of the techniques for observing the states of nonlinear systems is the subject of the paper by Walcott et all'l.","PeriodicalId":131568,"journal":{"name":"Proceedings. ICCON IEEE International Conference on Control and Applications","volume":"21 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114124227","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: 20
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