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Proceedings of the 2004 American Control Conference最新文献

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Adaptive output force tracking control of hydraulic cylinders 液压缸输出力自适应跟踪控制
Proceedings of the 2004 American Control Conference Pub Date : 2005-06-01 DOI: 10.23919/ACC.2004.1384654
Wen-Hong Zhu, E. Dupuis, J. Piedboeuf
{"title":"Adaptive output force tracking control of hydraulic cylinders","authors":"Wen-Hong Zhu, E. Dupuis, J. Piedboeuf","doi":"10.23919/ACC.2004.1384654","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384654","url":null,"abstract":"With respect to the output force control problem of the hydraulic cylinders, an adaptive control scheme is proposed by using direct output force measurements through loadcells. Due to the large and somewhat uncertain piston friction force, cylinder chamber pressure control with Coulombviscous friction compensation may not he sufficient enough to achieve a precise output force control. In the proposed approach, the output force error resulting from direct measurement is used to update the parameters of a novel friction model which includes not only the Coulomb-viscous friction force in sliding motion, hut also the output force dependent friction force in presliding motion. The experimental results achieved on a hydraulic setup comprised of two hydraulic cylinders in pull-pull configuration demonstrate a frequency response of ±ldB up to 20Hz. The excellent output force (joint torque) control performance implies the dynamic equivalency between the hydraulic actuation and the electrical actuation up to 10 ~ 20Hz.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133275737","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: 84
On the stability of the Kuramoto model of coupled nonlinear oscillators 耦合非线性振子的Kuramoto模型的稳定性
Proceedings of the 2004 American Control Conference Pub Date : 2005-04-20 DOI: 10.23919/ACC.2004.1383983
A. Jadbabaie, N. Motee, Mauricio Barahona
{"title":"On the stability of the Kuramoto model of coupled nonlinear oscillators","authors":"A. Jadbabaie, N. Motee, Mauricio Barahona","doi":"10.23919/ACC.2004.1383983","DOIUrl":"https://doi.org/10.23919/ACC.2004.1383983","url":null,"abstract":"We provide an analysis of the classic Kuramoto model of coupled nonlinear oscillators that goes beyond the existing results for all-to-all networks of identical oscillators. Our work is applicable to oscillator networks of arbitrary interconnection topology with uncertain natural frequencies. Using tools from spectral graph theory and control theory, we prove that for couplings above a critical value all the oscillators synchronize, resulting in convergence of all phase differences to a constant value, both in the case of identical natural frequencies as well as uncertain ones. We also provide a series of bounds for the critical values of the coupling strength.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114970625","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: 482
Output feedback stabilization of uncertain non-minimum phase nonlinear systems 不确定非最小相位非线性系统的输出反馈镇定
Proceedings of the 2004 American Control Conference Pub Date : 2005-03-24 DOI: 10.23919/ACC.2004.1384482
Lili Diao, M. Guay
{"title":"Output feedback stabilization of uncertain non-minimum phase nonlinear systems","authors":"Lili Diao, M. Guay","doi":"10.23919/ACC.2004.1384482","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384482","url":null,"abstract":"An output feedback design technique is presented, by means of which it is possible to achieve semi-global practical stabilization for a class of non-minimum phase nonlinear systems, subject to parameter uncertainties. This work is an extension of the result by (Isidori, 2000). It provides a constructive controller design method for an auxiliary system, whose existence is crucial, but is assumed in (Isidori, 2000). Simulation results demonstrate satisfactory stabilization performances.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114227748","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
A decentralized output feedback controller for a class of large-scale interconnected nonlinear systems 一类大型互联非线性系统的分散输出反馈控制器
Proceedings of the 2004 American Control Conference Pub Date : 2005-03-01 DOI: 10.23919/ACC.2004.1384489
P. Pagilla, Yongliang Zhu
{"title":"A decentralized output feedback controller for a class of large-scale interconnected nonlinear systems","authors":"P. Pagilla, Yongliang Zhu","doi":"10.23919/ACC.2004.1384489","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384489","url":null,"abstract":"The decentralized output feedback control problem for a class of large-scale interconnected nonlinear systems is considered. The nonlinear interconnection function of each subsystem is assumed to satisfy a quadratic constraint on the entire state of the large-scale system. A decentralized estimated state feedback controller and a decentralized observer are designed for each subsystem. Sufficient conditions, for each subsystem, under which the proposed controller and observer can achieve exponential stabilization of the overall large-scale system are developed. Simulation results on a numerical example are given to verify the proposed design.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128647679","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: 54
Variable structure adaptive fuzzy control for a class of nonlinear time delay systems
Proceedings of the 2004 American Control Conference Pub Date : 2004-12-16 DOI: 10.1016/j.fss.2003.10.026
C. Hua, X. Guan, G. Duan
{"title":"Variable structure adaptive fuzzy control for a class of nonlinear time delay systems","authors":"C. Hua, X. Guan, G. Duan","doi":"10.1016/j.fss.2003.10.026","DOIUrl":"https://doi.org/10.1016/j.fss.2003.10.026","url":null,"abstract":"","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124936118","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: 67
Feedback control of surface roughness of GaAs [001] thin films using kinetic Monte-Carlo models 基于动力学蒙特卡罗模型的GaAs[001]薄膜表面粗糙度反馈控制
Proceedings of the 2004 American Control Conference Pub Date : 2004-12-15 DOI: 10.23919/ACC.2004.1383728
Yiming Lou, P. Christofides
{"title":"Feedback control of surface roughness of GaAs [001] thin films using kinetic Monte-Carlo models","authors":"Yiming Lou, P. Christofides","doi":"10.23919/ACC.2004.1383728","DOIUrl":"https://doi.org/10.23919/ACC.2004.1383728","url":null,"abstract":"We follow the methodology presented in Y. Lou and P.D. Christofides (2003) to study estimation and control of surface roughness of gallium arsenide (GaAs) [001] thin films during deposition in a horizontal-flow quartz reactor using triisobutylgallium (TIBGa) and tertiarybutylarsine (TBAs) as precursors and H/sub 2/ as the carrier gas. The adsorption of TIBGa onto the surface and the migration of Ga atoms on the surface are considered as the two rate-limiting steps in the film growth and are explicitly modelled within a kinetic Monte-Carlo simulation framework. The energy barriers and the pre-exponential factor of the migration rates of Ga atoms on the surface used in the simulations are initially determined by fitting the simulation results to experimental data reported in D.C. Law, et al, (2000). Then, a roughness estimator is constructed that allows computing estimates of the surface roughness of the GaAs thin films at a time-scale comparable to the real-time evolution of the process using discrete on-line roughness measurements. The roughness estimates are fed to a proportional-integral (PI) feedback controller, which is used to control the surface roughness to a desired level by manipulating the substrate temperature. Application of the proposed estimator/controller structure to the process model based on a large-lattice kinetic Monte-Carlo simulator demonstrates successful regulation of the surface roughness to the desired level. The proposed approach is shown to be superior to PI control with direct use of the discrete roughness measurements. The reason is that the available measurement techniques do not provide measurements at a frequency that is comparable to the time-scale of evolution of the dominant film growth dynamics.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124582922","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: 41
On robust stability of linear neutral systems with nonlinear parameter perturbations 非线性参数扰动下线性中立型系统的鲁棒稳定性
Proceedings of the 2004 American Control Conference Pub Date : 2004-12-06 DOI: 10.1049/ip-cta:20040785
Q. Han, Li Yu
{"title":"On robust stability of linear neutral systems with nonlinear parameter perturbations","authors":"Q. Han, Li Yu","doi":"10.1049/ip-cta:20040785","DOIUrl":"https://doi.org/10.1049/ip-cta:20040785","url":null,"abstract":"The robust stability of uncertain linear neutral systems with time-varying discrete and neutral delays is investigated. The uncertainties under consideration are nonlinear time-varying parameter perturbations and norm-bounded uncertainties, respectively. Both delay-dependent and delay-derivative-dependent stability criteria are proposed and are formulated in the form of linear matrix inequalities (LMIs). The results in this paper contain some existing results as their special cases. A numerical example is also given to indicate significant improvements over some existing results.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129135705","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: 97
A LuGre tire friction model with exact aggregate dynamics 具有精确聚集动力学的LuGre摩擦模型
Proceedings of the 2004 American Control Conference Pub Date : 2004-12-01 DOI: 10.1080/00423110412331289835
P. Tsiotras, E. Velenis, M. Sorine
{"title":"A LuGre tire friction model with exact aggregate dynamics","authors":"P. Tsiotras, E. Velenis, M. Sorine","doi":"10.1080/00423110412331289835","DOIUrl":"https://doi.org/10.1080/00423110412331289835","url":null,"abstract":"The LuGre dynamic point contact friction model for the two-dimensional translation of a body on a surface has been used in the past to derive a model for the friction forces and moments at the contact patch of a tire. The resulting tire friction model is distributed, described by a set of partial differential equations. Several approximations have been used in the literature to approximate this distributed model using a set of ordinary differential equations, making the model appropriate for control design and on-line estimation. In this paper, the method of moments is used to derive a set of ordinary differential equations to describe the exact average dynamics of the distributed model. Three cases of normal load distribution are considered and compared: uniform, trapezoidal and cubic load distribution. Simulations are also presented to compare with existing approximate steady-state lumped models.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114351405","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: 46
Power distribution control coordinating ultracapacitors and batteries for electric vehicles 电动汽车用超级电容器与电池的配电网控制
Proceedings of the 2004 American Control Conference Pub Date : 2004-11-30 DOI: 10.23919/ACC.2004.1384057
E. Ozatay, Ben Zile, J. Anstrom, S. Brennan
{"title":"Power distribution control coordinating ultracapacitors and batteries for electric vehicles","authors":"E. Ozatay, Ben Zile, J. Anstrom, S. Brennan","doi":"10.23919/ACC.2004.1384057","DOIUrl":"https://doi.org/10.23919/ACC.2004.1384057","url":null,"abstract":"Electrical energy storage is a central element to any electric-drivetrain technology - whether hybrid-electric, fuel-cell, or all-electric. A particularly cost-sensitive issue with energy storage is the high replacement cost of depleted battery banks. One possibility to ease the power burden on batteries and fuel cells is to use ultra-capacitors as load-leveling devices. The high power density of ultra-capacitors allows a significant reduction in the power fluctuations imposed on the remaining electrical system; however, the same ultra-capacitors have a very low energy density and therefore must be used sparingly and with coordination. A control strategy for coordinated power distribution is a central issue for ultracapacitor-supported systems. Toward this end, several control methods are implemented on an electric vehicle equipped with a battery/ultracapacitor system with the goal of improving battery life and overall vehicle efficiency. A particular goal is to obtain both a peaking load control and a frequency-weighted coordination between capacitor and battery in order to mitigate transients in the battery current demand. A key control design issue is that the control objectives vary with respect to vehicle velocity, driver's power demand, and state-of-charge of both the batteries and ultracapacitors.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122591642","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: 74
Vision-based lane detection for passenger cars: configuration aspects 基于视觉的乘用车车道检测:配置方面
Proceedings of the 2004 American Control Conference Pub Date : 2004-11-30 DOI: 10.23919/ACC.2004.1383702
K. Huh, Jaehak Park, D. Hong, D. Cho, Jahng-Hyon Park
{"title":"Vision-based lane detection for passenger cars: configuration aspects","authors":"K. Huh, Jaehak Park, D. Hong, D. Cho, Jahng-Hyon Park","doi":"10.23919/ACC.2004.1383702","DOIUrl":"https://doi.org/10.23919/ACC.2004.1383702","url":null,"abstract":"Vision-based lane sensing systems require accurate and robust sensing performance in lane detection. Besides, there exists a trade-off between the computational burden and processor cost, which should be considered for implementing the systems in passenger cars. A stereo vision-based lane detection system is developed considering sensor configuration aspects. An inverse perspective mapping method is formulated based on the relative correspondence between the left and right cameras so that the 3-dimensional road geometry can be reconstructed in a robust manner. A new monitoring model for estimating the road geometry parameters is constructed to reduce the number of the measured signals. The selection of the sensor configuration and specifications is investigated by utilizing the characteristics of standard highways. Based on the sensor configurations, it is shown that appropriate sensing region on the camera image coordinate can be determined. The proposed system is implemented on a passenger car and verified experimentally.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116849101","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
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