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1993 American Control Conference最新文献

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Continuous-time Adaptive Control of Systems with Unknown Backlash 未知间隙系统的连续时间自适应控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793090
G. Tao, P. Kokotovic
{"title":"Continuous-time Adaptive Control of Systems with Unknown Backlash","authors":"G. Tao, P. Kokotovic","doi":"10.23919/ACC.1993.4793090","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793090","url":null,"abstract":"This paper addresses one of the nondifferentiable nonlinearities which appear very often in industrial control applications: backlash. We first present a right inverse of backlash and then give one of its possible numerical implementations. Characteristics like backlash are seldom known, so an adaptive version of our backlash inverse is more suitable for applications. We develop an adaptive backlash inverse scheme and apply it to feedback control of a known linear plant with an unknown backlash at its input. We use simulation results to illustrate the achieved performance improvements.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124623317","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: 158
A New Method for Identifying Orders of Input-Output Models for Nonlinear Dynamic Systems 非线性动态系统输入输出模型阶数辨识的新方法
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793346
Xiangdong He, H. Asada
{"title":"A New Method for Identifying Orders of Input-Output Models for Nonlinear Dynamic Systems","authors":"Xiangdong He, H. Asada","doi":"10.23919/ACC.1993.4793346","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793346","url":null,"abstract":"The paper proposes a new method for identifying orders of input-output models for unknown nonlinear dynamic systems. The approach is based on the continuity property of the nonlinear functions which represent input-output models of continuous dynamic systems. The approach does not depend on any nonlinear function approximation methods and solely depends on the system's input-output data measured in experiments. By evaluating the modification of an index which is defined as Lipschitz number with the successive modification of model orders, the appropriate model orders can be determined simply and reliably. Theoretical background of the present approach is discussed. Several examples from chaotic dynamic systems, nonlinear plant models are presented to demonstrate the effectiveness of the present method.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124854263","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: 238
Design of A Control Panel Using a Sensory Engineering Approach 基于传感工程方法的控制面板设计
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792866
Kuang Wei, Shou Fujimoto, M. Ikeda
{"title":"Design of A Control Panel Using a Sensory Engineering Approach","authors":"Kuang Wei, Shou Fujimoto, M. Ikeda","doi":"10.23919/ACC.1993.4792866","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792866","url":null,"abstract":"This paper reports the design of an excavator's control panel with a sensory engineering approach. Nine panel designs were evaluated using the semantic differential method. Results showed the strength and weakness of each design, which can be incorporated by the designers into the final design.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129463936","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
Closed-Loop System Identification of Restricted Complexity Models Using Iterative Refinement 基于迭代优化的受限复杂度模型闭环辨识
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793226
D. Rivera, S. Bhatnagar
{"title":"Closed-Loop System Identification of Restricted Complexity Models Using Iterative Refinement","authors":"D. Rivera, S. Bhatnagar","doi":"10.23919/ACC.1993.4793226","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793226","url":null,"abstract":"A novel technique for identifying reduced-order models in the closed-loop is presented. The method arrives at a process model and its corresponding compensator in an iterative fashion by introducing a series of step chan at the manipulated variable. The bias introduced into the identification data set by the closed-loop system, coupled with a control-relevant prefilter, yields a model whose corresponding control system improves its performance at every step. The method is appealing to chemical engineering practitioners because it combines the tasks of system identification with controller commissioning to produce a simple-to-use yet reliable autotuning procedure.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128914282","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: 8
Nonlinear Differential-Geometric Techniques for Control of a Series DC Motor 串联直流电动机的非线性几何微分控制技术
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4175938
J. Chiasson
{"title":"Nonlinear Differential-Geometric Techniques for Control of a Series DC Motor","authors":"J. Chiasson","doi":"10.1109/ACC.1993.4175938","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175938","url":null,"abstract":"The problem of controlling a Series DC motor using only current measurements is considered. It is shown that both speed and load-torque may be estimated from the current measurements for use in two proposed nonlinear controllers. The two proposed feedback laws are based on feedback linearization and input-output linearization. Further, both the speed/torque estimation scheme and the control schemes are valid in the prescence of magnetic saturation in the field circuit and when high-speed field-weakening is employed. The estimation is accomplished by using nonlinear state-space and output-space transformations to construct an observer with linear error-dynamics whose rate of convergence may be arbitrarily specified. (Such an observer could provide reliability to existing systems in the event of a speed sensor failure.) The feedback-linearization controller involves a non-trivial state-space transformation allowing control of the full state trajectory. It is then shown that a simpler input-output linearization controller with stable internal dynamics exists and is explicitly constructed.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128966512","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: 103
On the Discrete-Time Nonlinear Servomechanism Problem 离散时间非线性伺服机构问题
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792982
J. Huang, C. Lin
{"title":"On the Discrete-Time Nonlinear Servomechanism Problem","authors":"J. Huang, C. Lin","doi":"10.23919/ACC.1993.4792982","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792982","url":null,"abstract":"The servomechanism problem for discrete-time nonlinear systems is investigated.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123739872","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: 10
Tracking Controller for Output Feedback Linear Time Delay Systems 输出反馈线性时滞系统的跟踪控制器
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792910
D. Chyung
{"title":"Tracking Controller for Output Feedback Linear Time Delay Systems","authors":"D. Chyung","doi":"10.23919/ACC.1993.4792910","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792910","url":null,"abstract":"Some preliminary results are presented on a tracking controller design for observable vector feedback linear time delay systems. The design is carried out in two steps. The first is to find the output feedback controller which stabilizes the given system and also satisfies the transient requirements. This is accomplished by finding a control which minimizes a cost function for a particular initial condition. Then a feedforward controller is derived for tracking a polynomial reference input. An example is given to illustrate the proposed controller.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132031560","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
On Equations of Motion and Control for Systems with Nonholonomic Equality Constraints 非完整等式约束系统的运动与控制方程
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4175968
J. Chen, Y.H. Chen
{"title":"On Equations of Motion and Control for Systems with Nonholonomic Equality Constraints","authors":"J. Chen, Y.H. Chen","doi":"10.1109/ACC.1993.4175968","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175968","url":null,"abstract":"A procedure to derive the equation of motion for a class of systems under nonholonomic equality constraints is discussed in detail. Two approaches, namely, adjoining and embedding, to derive equations of motion without Lagrange multiplier are introduced. The equations of motion for systems with nonholonomic constraints are then transformed into a format used in non-constrained problems. The final formulation is suitable for control design. We also address a new robust control design.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132329248","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 new technique for identification of MISO Hammerstein model MISO Hammerstein模型识别的新技术
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793225
M. Boutayeb, M. Darouach, H. Rafaralahy, G. Krzakala
{"title":"A new technique for identification of MISO Hammerstein model","authors":"M. Boutayeb, M. Darouach, H. Rafaralahy, G. Krzakala","doi":"10.23919/ACC.1993.4793225","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793225","url":null,"abstract":"A recursive method for identfication of nonlinear multi-input single-output Hammerstein model is presented This is developed along the lines of the basic Kalman filter and has the advantage to esimate recursively parameters of each submodel of the nonlinear system without transformation, which is obtained by the use of a new formulation of the input output difference equation. Parameters number to be estimated is minimal and then computational requirements are considerbly reduced. Efficiency of this algorithm is shown by mean of a numerical example.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"320 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130605154","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: 11
A Study on Sliding Mode State Estimation 滑模状态估计的研究
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793358
Jin-Seob Choi, E. Misawa, G. Young
{"title":"A Study on Sliding Mode State Estimation","authors":"Jin-Seob Choi, E. Misawa, G. Young","doi":"10.23919/ACC.1993.4793358","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793358","url":null,"abstract":"Sliding Observers were suggested in the previous literature as an alternative and interesting technique for state estimation for uncertain nonlinear systems. Even though previous results guaranteed robust convergence properties, some of the underlining assumptions were verified to be too conservative for some application. This study explores the properties of a specialized sliding observer for uncertain nonlinear systems described in the phase variable canonical form with absolutely bounded uncertainties. Transient analysis associated with Lyapunov-like stability theory for switched systems were used to develop a design methodology that proved to be less conservative than the previous design techniques. The resulting sliding observer design technique was illustrated using two numerical examples.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131011259","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: 24
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