{"title":"Trajectory planning and control for a five-degree-of-freedom biped locomotion system","authors":"Jiann-Shiou Yang, A. Shahabuddin","doi":"10.1109/ACC.1994.735142","DOIUrl":"https://doi.org/10.1109/ACC.1994.735142","url":null,"abstract":"In this paper, a study on a five-degree-of-freedom biped locomotion system is performed. The angles of the hip and knee joints for the biped walking gait were generated. Based on the dynamic model and joint trajectories of the walking gait, an adaptive inverse dynamics control scheme consisting of a control law and an adaptation law was used to control the biped motion. To improve the convergence of the estimated parameters, we modify the timing of applying the adaptation by incorporating a dead zone operation. Our simulation results show that the adaptive control technique can be effectively used for the biped locomotion system.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123159098","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}
{"title":"Adaptive control of linearizable discrete-time systems","authors":"Fu-Chuang Chen, Wen-Chung Tsao","doi":"10.1109/ACC.1994.751869","DOIUrl":"https://doi.org/10.1109/ACC.1994.751869","url":null,"abstract":"The adaptive control of feedback linearizable discrete-time systems is studied. The nonlinearities in the system are linear combinations of known nonlinear functions. Although the unknown parameters appear linearly, the convergence result obtained is not global. The maximum allowable parameter error depends on the system characteristics and on the initial system states. Simulations show that the system diverges when the initial parameter error is too large.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134274434","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}
{"title":"A new iteration scheme for robust performance problem: E-M iteration","authors":"C. Chang, C. Yang, C.E. Lin","doi":"10.1109/ACC.1994.735080","DOIUrl":"https://doi.org/10.1109/ACC.1994.735080","url":null,"abstract":"In this paper, we show that the robust performance problem can be converted into an pure H/sub /spl infin// optimization problem via scaling the original system with an equivalent weighting function, E(s). A new algorithm, we call E-K iteration, is then proposed to solve for E(s) and the equivalent robust performance problem, simultaneously. Comparing with other algorithms such as /spl mu/-K iteration, our approach to achieve robust performance is less sensitive to computation accuracy. Under the condition of the same iteration times and of the same order of scaling functions, the present algorithm provides the optimal controller with the degree less than that obtained by D-K iteration.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121167286","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}
{"title":"Digital implementation of robust /spl mu/-control for a robot manipulator","authors":"M. Fujita, T. Namerikawa, K. Uchida","doi":"10.1109/ACC.1994.734999","DOIUrl":"https://doi.org/10.1109/ACC.1994.734999","url":null,"abstract":"In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value /spl mu/. Then the /spl mu/-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121068955","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}
{"title":"Control of the fabrication of long slender workpieces of arbitrary shape. I. Open-loop control of the multi-axis bending process","authors":"J. Luo, D.L. Joynt, K. Stelson","doi":"10.1109/ACC.1994.751750","DOIUrl":"https://doi.org/10.1109/ACC.1994.751750","url":null,"abstract":"Computer numerically controlled (CNC) multi-axis bending is a new metal forming technology used to fabricate long slender structural workpieces of arbitrary shape and cross section. Although this process can achieve high levels of flexibility and productivity over conventional forming processes, generating a control program to produce a desired shape is a laborious process involving the trial-and-error by a skilled engineer. A systematic method was developed to replace the manual control method. Since multi-axis bending is inherently a local deformation process, the concept of intrinsic part representation from differential geometry is applied as a basis to develop the part geometric model and process model. After being compensated for springback and die offset, the model is used to compute a set of initial control commands. The effectiveness of the model is demonstrated experimentally.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"356 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131399632","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}
{"title":"Robust controller design for batch polymerization reactors","authors":"T. Yumotot, T. Ohtani, H. Ohmori, A. Sano","doi":"10.1109/ACC.1994.752494","DOIUrl":"https://doi.org/10.1109/ACC.1994.752494","url":null,"abstract":"This paper discusses several robust controller design methods for the batch polymerization reactors. The dynamic characteristics of batch polymerization reactors considerably change according to the progress of reaction because the reactors have strong nonlinearity. The reactor models have parameter uncertainty. On the other hand, both reactor temperature control and polymer quality control are important specifications for batch polymerization. In this paper we propose robust controllers which are designed to satisfy the above specifications. The controllers are composed of a feedforward controller based on a nonlinear process model and a H/sup /spl infin// feedback controller based on linearized models along optimal trajectories. Moreover, the H/sup /spl infin// controller is designed to be robust to the dynamics change caused by both nonlinearity and parameter uncertainty. The effectiveness of our control strategy is illustrated by simulation study.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130174756","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}
{"title":"A simple algorithm for adaptive decision fusion","authors":"Qiang Zhu, Xiaoxun Zhu, M. Kam","doi":"10.1109/ACC.1994.752270","DOIUrl":"https://doi.org/10.1109/ACC.1994.752270","url":null,"abstract":"Design of parallel binary decision fusion systems is often performed under the assumption that the decision integrator (the data fusion center, DFC) possesses perfect knowledge of the local-detector (LD) statistics. In most studies, other statistical parameters are also assumed to be known, namely the a priori probabilities of the hypotheses, and the transition probabilities of DFC-LD channels. Under these circumstances, the DFC's sufficient statistic is a weighted sum of the local decisions. When these statistics are unknown, the authors propose to tune the weights on-line, guided by correct examples or by past experience. The authors develop a supervised training scheme that employs correct input-output examples to train the DFC. This scheme is then made into an unsupervised learning technique by replacing the examples with a self-assessment of the DFC, based on its own past decisions. In both cases the DFC minimizes the squared error between the actual and the desired values of its discriminant function. When supervised, the DFC obtains the desirable value from the supervisor. When unsupervised, the DFC estimates the desirable value from its last decision. This estimation includes rejection of data that is deemed unreliable.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127112277","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}
{"title":"Application of least squares lattice algorithm to active noise control for automobile","authors":"H. Sano, S. Adachi, H. Kasuya","doi":"10.1109/ACC.1994.751857","DOIUrl":"https://doi.org/10.1109/ACC.1994.751857","url":null,"abstract":"The paper proposes an algorithm for active noise control (ANC) using the least squares lattice (LSL) algorithm. As a main algorithm for ANC, the LMS algorithm has been used for its simplicity. However, the LMS algorithm has problems of both convergence speed and estimation accuracy in the case of the broadband noise such as road noise which is one of the passenger compartment noises in a car running on rough roads. In order to solve these problems, the LSL algorithm for ANC is considered. By computer simulations, the LSL algorithm turns out to be more effective than the LMS algorithm in both convergence speed and estimation accuracy, especially for the colored input signal used in ANC of road noise.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122115607","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}
R. Watanabe, M. Kurosaki, K. Uchida, E. Shimemura, M. Fujita
{"title":"Robust control of reheat-fan engine","authors":"R. Watanabe, M. Kurosaki, K. Uchida, E. Shimemura, M. Fujita","doi":"10.1109/ACC.1994.751850","DOIUrl":"https://doi.org/10.1109/ACC.1994.751850","url":null,"abstract":"In this paper, reheat-fan engine is described as class of models constructed from nominal and uncertainty model for robust control. In this class of models, uncertainty model consists of structured and unstructured uncertainty, and each model is identified from nonlinear simulation using FFT and ML technique. Then, control requirements and an augmented plant are specified. H/sub /spl infin// controller satisfying the control requirements is designed by using constant scaling matrix. Finally, efficacy of the H/sub /spl infin// controller is shown by computer simulation.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124587369","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}
A. Harnoy, B. Friedland, R. Semenock, H. Rachoor, A. Aly
{"title":"Apparatus for empirical determination of dynamic friction","authors":"A. Harnoy, B. Friedland, R. Semenock, H. Rachoor, A. Aly","doi":"10.1109/ACC.1994.751797","DOIUrl":"https://doi.org/10.1109/ACC.1994.751797","url":null,"abstract":"An apparatus for measuring dynamic friction in a lubricated journal bearing is described. This apparatus has been designed, constructed and used to measure friction in the presence of sinusoidally-varying velocity at various frequencies. Experimental results tend to confirm theoretical predictions which are based on the hydrodynamic lubrication theory.","PeriodicalId":147838,"journal":{"name":"Proceedings of 1994 American Control Conference - ACC '94","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124248913","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}