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Proceedings of the 2004 American Control Conference最新文献

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A model reference robust control with unknown high frequency gain sign 具有未知高频增益符号的模型参考鲁棒控制
Proceedings of the 2004 American Control Conference Pub Date : 2009-10-26 DOI: 10.23919/ACC.2004.1384416
Lin Yan, Jiang Xu
{"title":"A model reference robust control with unknown high frequency gain sign","authors":"Lin Yan, Jiang Xu","doi":"10.23919/ACC.2004.1384416","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384416","url":null,"abstract":"In this paper, we discuss the model reference robust control (MRRC) for plants with relative degree one without the knowledge of the sign of the high frequency gain. A switching scheme is proposed so that, after a finite number of switchings, the tracking error converges to zero exponentially. Furthermore, if some initial states of the closed-loop system are zero, we show that only one switching is needed.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132983139","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: 4
Adaptive controller design and disturbance attenuation for SISO linear systems with noisy output measurements and partly measured disturbances 具有噪声输出测量和部分测量扰动的SISO线性系统的自适应控制器设计与扰动衰减
Proceedings of the 2004 American Control Conference Pub Date : 2009-01-22 DOI: 10.1080/00207170802085011
Sheng Zeng, Z. Pan
{"title":"Adaptive controller design and disturbance attenuation for SISO linear systems with noisy output measurements and partly measured disturbances","authors":"Sheng Zeng, Z. Pan","doi":"10.1080/00207170802085011","DOIUrl":"https://doi.org/10.1080/00207170802085011","url":null,"abstract":"We present robust adaptive controller design for SISO linear systems with noisy output measurements and partly measured disturbances. Using the worst-case analysis approach, we formulate the robust adaptive control problem as a nonlinear H/sup /spl infin//-optimal control problem under imperfect state measurements, and solve it using game theory. The design paradigm is the same as that in (Z. Pan et al., July 2000) with the only difference being the treatment of the measured disturbances. The same results as those in (Z. Pan et al., July 200) are achieved. In addition, when the relative degrees from the measured disturbances to the output are no less than that from the control input, the controllers designed achieve the zero disturbance attenuation level with respect to the measured disturbance inputs. The asymptotic tracking objective is achieved even if the measured disturbance is only uniformly bounded, without requiring it to be of finite energy. This strong robustness property is then illustrated by a numerical example.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131217098","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
Modeling and control of a magnetostrictive tool servo system 磁致伸缩刀具伺服系统的建模与控制
Proceedings of the 2004 American Control Conference Pub Date : 2008-05-01 DOI: 10.23919/ACC.2004.1384499
Witoon Panusittikorn, P. I. Ro
{"title":"Modeling and control of a magnetostrictive tool servo system","authors":"Witoon Panusittikorn, P. I. Ro","doi":"10.23919/ACC.2004.1384499","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384499","url":null,"abstract":"This paper addresses the modeling and development of a nonlinear control methodology for a magnetostrictive system. As an application of smart materials, magnetostrictive transducers can generate high mechanical strain with a broadband response and provide accurate positioning. Even though these properties characterize a good tool servo application in precision machining, the actuators contain significant magnetic hysteresis and are highly nonlinear when combined with 2/sup nd/ order dynamics of a tool fixture. Full utilization of these transducers generally requires an advanced controller as well as accurate model of the transducer dynamics in response to various inputs. At moderate to high drives, the magnetostrictive actuator develops highly significant hysteresis on top of the dynamics of a tool fixture. Many sophisticated control schemes have been proposed to deal with this nonlinearity. This paper presents the development of a sliding mode controller to control a tool servo system for various inputs in the presence of highly nonlinear dynamics.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"17 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860276","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: 12
An adaptive observer for fault diagnosis in nonlinear discrete-time systems 非线性离散系统故障诊断的自适应观测器
Proceedings of the 2004 American Control Conference Pub Date : 2008-03-01 DOI: 10.1115/1.2837310
F. Caccavale, L. Villani
{"title":"An adaptive observer for fault diagnosis in nonlinear discrete-time systems","authors":"F. Caccavale, L. Villani","doi":"10.1115/1.2837310","DOIUrl":"https://doi.org/10.1115/1.2837310","url":null,"abstract":"This paper deals with the problem of fault diagnosis (FD) for a class of nonlinear systems in the presence of actuator failures. The scheme is based on a discrete-time diagnostic observer which computes an estimate of the system's state. To cope with the uncertainties and discretization errors, a discrete-time adaptive law is developed, based on a parametric model of the uncertain terms. A stability proof is developed to prove the global exponential stability of the system in the absence of faults. The effectiveness of the proposed approach is experimentally tested on a case study developed for an industrial mechanical manipulator.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123400411","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: 85
Positive /spl mu/-modification for stable adaptation in the presence of input constraints 正/spl mu/-修正，在存在输入约束的情况下稳定适应
Proceedings of the 2004 American Control Conference Pub Date : 2007-11-01 DOI: 10.1016/j.sysconle.2007.05.002
E. Lavretsky, N. Hovakimyan
{"title":"Positive /spl mu/-modification for stable adaptation in the presence of input constraints","authors":"E. Lavretsky, N. Hovakimyan","doi":"10.1016/j.sysconle.2007.05.002","DOIUrl":"https://doi.org/10.1016/j.sysconle.2007.05.002","url":null,"abstract":"","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"29 Suppl 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127850521","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: 101
Target tracking using artificial potentials and sliding mode control 基于人工电位和滑模控制的目标跟踪
Proceedings of the 2004 American Control Conference Pub Date : 2007-10-01 DOI: 10.1080/00207170701455307
V. Gazi, R. Ordóñez
{"title":"Target tracking using artificial potentials and sliding mode control","authors":"V. Gazi, R. Ordóñez","doi":"10.1080/00207170701455307","DOIUrl":"https://doi.org/10.1080/00207170701455307","url":null,"abstract":"In this article, we develop an algorithm for capturing/intercepting a moving target based on the sliding mode control method. First, we consider a \"kinematic\" model (in a sense) for the capture/intercept problem and develop a method for that case. Then, we build on the developed method to include general, fully actuated vehicle dynamics for the pursuer agent. The algorithm is robust with respect to the system uncertainties and additive disturbances. Finally, we also provide a numerical simulation in order to illustrate the procedure.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134509967","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: 51
Closed-loop identification of multivariable processes with part of the inputs controlled 部分输入被控制的多变量过程的闭环辨识
Proceedings of the 2004 American Control Conference Pub Date : 2007-09-18 DOI: 10.1080/00207170701421127
M. Leskens, P. V. D. Hof
{"title":"Closed-loop identification of multivariable processes with part of the inputs controlled","authors":"M. Leskens, P. V. D. Hof","doi":"10.1080/00207170701421127","DOIUrl":"https://doi.org/10.1080/00207170701421127","url":null,"abstract":"In many multivariable industrial processes a subset of the available input signals is being controlled. In this paper it is analyzed in which sense the resulting partial closed-loop identification problem is actually a full closed-loop problem, or whether one can benefit from the presence of noncontrolled inputs to simplify the identification problem. The analysis focuses on the bias properties of the plant estimate when applying the direct method of prediction error identification, and the possibilities to identify (parts of) the plant model without the need of simultaneously estimating full-order noise models.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126535785","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: 12
Setpoint regulation of continuum robots using a fixed camera 使用固定摄像机的连续体机器人设定值调节
Proceedings of the 2004 American Control Conference Pub Date : 2007-09-01 DOI: 10.1017/S0263574707003475
V. Chitrakaran, A. Behal, D. Dawson, I. Walker
{"title":"Setpoint regulation of continuum robots using a fixed camera","authors":"V. Chitrakaran, A. Behal, D. Dawson, I. Walker","doi":"10.1017/S0263574707003475","DOIUrl":"https://doi.org/10.1017/S0263574707003475","url":null,"abstract":"We investigate the problem of measuring the shape of a continuum robot using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the end-effector of the robot to a constant desired position and orientation, while at the same time using its kinematic redundancy to satisfy a subtask objective such as obstacle avoidance.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132893411","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: 51
Closed form minimax time-delay filters for underdamped systems 欠阻尼系统的闭型最大最小时滞滤波器
Proceedings of the 2004 American Control Conference Pub Date : 2007-05-01 DOI: 10.1002/OCA.790
T. Singh, Marco Muenchhof
{"title":"Closed form minimax time-delay filters for underdamped systems","authors":"T. Singh, Marco Muenchhof","doi":"10.1002/OCA.790","DOIUrl":"https://doi.org/10.1002/OCA.790","url":null,"abstract":"This paper derives closed form solutions for the parameters of a time-delay filter designed to be robust to uncertainties in frequencies to be cancelled. It is shown that the slope of the magnitude plot of the two time-delay filter is zero at the nominal frequency indicating that it is a local maximum. This information is used for deriving the solution of the parameters of the time-delay filter in closed form. Three time-delay filters are also designed which force a zero of the filter to be located at the nominal frequency of the system. The applicability of the proposed technique for the control of multi-mode systems is also illustrated.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122115762","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
Bandwidth tilt measurement using low cost sensors 使用低成本传感器测量带宽倾斜
Proceedings of the 2004 American Control Conference Pub Date : 2006-06-19 DOI: 10.23919/ACC.2004.1383785
J. Leavitt, Athanasios Sideris, J. Bobrow
{"title":"Bandwidth tilt measurement using low cost sensors","authors":"J. Leavitt, Athanasios Sideris, J. Bobrow","doi":"10.23919/ACC.2004.1383785","DOIUrl":"https://doi.org/10.23919/ACC.2004.1383785","url":null,"abstract":"A state estimation technique is developed for sensing inclination angles using relatively low cost sensors. A low bandwidth tilt sensor is used along with an inaccurate rate gyro to obtain the measurement. The rate gyro has an inherent bias along with sensor noise. The tilt sensor uses an internal pendulum and therefore has its own slow dynamics. These sensor dynamics were identified experimentally and combined to achieve high bandwidth measurements using an optimal linear state estimator. Potential uses of the measurement technique range from robotics, to rehabilitation, to vehicle control.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"59 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114009807","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
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