1986 American Control Conference最新文献

{"title":"Wideband Linear Quadratic Control of a Gyro Stabilized Electro-Optical Sight System","authors":"W. J. Bigley, V. Rizzo","doi":"10.1109/MCS.1987.1105331","DOIUrl":"https://doi.org/10.1109/MCS.1987.1105331","url":null,"abstract":"This paper describes some of the results obtained in a multiyear research effort to develop wideband, high accuracy tracking, weapon-pointing control systems in state-of-the-art, microprocessor-based, mobile weapon control systems. Linear quadratic (LQ) control laws, a subset of Modern Control Theory, were applied to an existing weapon system at the hardware level to optimize plant performance in the presence of certain non-linearities and mechanical resonance constraints. This hardware approach enabled us to apply a powerful form of optimal control theory to the development of fast response, large scale weapon systems, without the degrading limitations usually associated with the plant hardware. Two different optimal control techniques were developed and demonstrated. One LQ control technique was applied to the weapon-pointing rate loops, and the results are reported in NAECON 1982 (1). The other technique, described in this paper, was used to control the electro-optical target tracking sensor subsystem. This paper also describes a practical design procedure, based on an extensive library of computer programs, which was developed to analyze, simulate, program, and implement deterministic type modern control systems with higher order dynamics.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126768942","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":"Dynamic Analysis and Control of a Roll Bending Process","authors":"M. Hale, D. Hardt","doi":"10.1109/MCS.1987.1105329","DOIUrl":"https://doi.org/10.1109/MCS.1987.1105329","url":null,"abstract":"Recent research has shown that it is possible to automate the roll bending process by adding a closed-loop controller that continuously measures the springback of the metal workpiece. This means that one-pass forming of arbitrary two-dimensional workpiece shapes is now possible, subject to limitations of the physical apparatus and the controller. The identification of these limitations is the subject of this paper. Toward that end, dynamic models are developed for the individual components of the roll bending apparatus and for the process as a whole. These models include the unique nonlinearities of the roll bending system and also reflect the differences in bending applications such as bending and straightening. The process models are the basis for control analysis and design. An experimental roll bending apparatus is used to evaluate the system models and verify the control design. The experimental results show that very good system response is possible using a simple controller. The results also illustrate the main limitation imposed on system response which is due to vibration of the workpiece.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127737744","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":"Multivariable Flight Control for an Attack Helicopter","authors":"D. Enns","doi":"10.1109/MCS.1987.1105269","DOIUrl":"https://doi.org/10.1109/MCS.1987.1105269","url":null,"abstract":"This paper will discuss advanced flight control laws for the Apache YAH-64 helicopter. The control laws have been succesfully flight tested and were extensively evaluated with fixed base piloted simulation as part of the Advanced Rotorcraft Technology Integration Flight Experiment The control laws employ three body rate gyros, and normal and lateral accelerometers as sensors and collective, tail rotor, and lateral and longitudinal cyclic controls. The control laws were developed to provide decoupling, gust attenuation, desensitization, and stability augmentation in the face of aircraft modelling uncertainty. A multivariable proportional plus integral element is the basic ingredient of the control laws. Various analyses including frequency and time responses will be presented. Stability robustness properties of the control laws will be presented using singular value and structured singular value techniques. Responses of the controlled helicopter to pilot and gust inputs will be presented using time histories.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1987-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121028067","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":"Response-Time Optimization of a Class of Servo Systems","authors":"C. Hsiao, C. Y. Lee","doi":"10.23919/ACC.1986.4789248","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789248","url":null,"abstract":"The purpose of this paper is to set up time-optimal control for a class of servo systems of 4th-order with complex poles. At first, a super switch surface for changing the polarity of the input is established in the high-order state-variable space by taking the advantage of the asymptotically stable property of the original system. Then, the number of the needed switches and the correct time too switche are found cut accordingly. Finally, some recorded results from a practical system are presented to illustrate the application of the derived theory.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124413448","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 Simplified Method for Parallelism in Robotics","authors":"J. Ish-Shalom","doi":"10.23919/ACC.1986.4789018","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789018","url":null,"abstract":"A robot system consist of robot mechanics and a programmable contrler normaly a digital computer. Such a coamur is serial by nature, ie. it executes one instuction after another, while the robot mechnics are governed by phyical laws which act multaneousy. It is observed that this parllel-serial system requres an iate iput itrface from the paallel robot to the serial computer conuoler (sensed quanies) and outputirfiace back to the robot (actuator commands). This paper suggests an interface with a paralle representation in \"I/O memory\" of both the input (sensed) q s and output (actuator commands). This I/O nemory is automatically updated in paralel from the sensos iput and loads the outputs into their output representation ultaneou at a predetermined time, if necesary. The update of the I/O memory should accpt asynchronous inputs from both self iniaing input sensors and sensors activated by the control processor. Given this I/O memory representation the robot contro computer can operate intemrly seriay with no tiMing constrat other than it must complete the requred calculations within the allotted time. A robot contoler composed of a set of proceso Ls expected to better match the parallel nature of the robot mechanics than a ingle processor. However, an effcent method has to be used to resolve the couping between the oDmputations on the variu processors. A method to reduce the need of coupling between the comtations of the procesors is to allow the different processor to aces I/O memory in paralel (shared memory). Inho case the shared memory needs to support muliple readers but only sin writers, Le. each I/O memory location has only a single authorized writer. This sipified shared 1/0 memory can be implemented as either a centralized single shared memory or a ditrbuted shared I/O memory. Usually the shired memory is partitioned and the parts distributed between the preors where the interconnect is done by a bus. Now when each processor requires all the data in all the other procesrs' shared memory then the bus traffic is proportional to the number of processors, O(n). To solve this problem it is proposed to distribute the shared memory by providing a copy of the entire I/O memory to each processor and to update all these memories simultaneously by broadcast. Now the traffc on the required broadcast bus is a constant independent of the number of procesors, ie. O(l), and the bus itself is simpler to construct. The design problem of the shared I/O memory raises many questions regarding the way it should be implemented to ensu vabd data, short latency of I/O data transfers and reliable operation of the robot system.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125238792","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 Note on Parametric and Nonparametric Uncertainties in Control Systems","authors":"Stephen P. Boyd","doi":"10.1109/ACC.1986.4172260","DOIUrl":"https://doi.org/10.1109/ACC.1986.4172260","url":null,"abstract":"It is shown that robust stability and robust performance questions for control systems with nonparametric uncertainties can be turned into those with a particularly simple parametric description. It is pointed out that there exist Routh-like procedures which determine whether a system containing uncertain subsystems is robustly stable (or robustly meets performance requirements).","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121270764","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":"Frequency-Domain Criteria for Controllability and Observability of Multivariable Systems","authors":"M. Tarokh","doi":"10.23919/ACC.1986.4789041","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789041","url":null,"abstract":"The paper investigates the controllability and observability of multivariable systems in the frequency-domain. A criterion involving pole-zero cancellations determines controllability and observability of multivariable systems. The results are extended to composite systems where necessary and sufficient conditions for the controllability and observability of tandom, feedback and parallel connections of two systems are obtained in terms of the pole and zero polynomials of individual systems. The connection between controllability/ observability and fixed modes in decentralized systems is also discussed.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124987732","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":"Two-time Scale Sliding Control of Manipulators with Flexible Joints","authors":"J. Slotine, S. Hong","doi":"10.23919/ACC.1986.4789045","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789045","url":null,"abstract":"This paper applies a two-time scale sliding control approach to the control of robot manipulators with flexible joints in the presence of model uncertainty. A singular perturbation model is used to decompose the manipulator dynamics into a slow and a fast submodel, using the concept of slow manifold. A slow sliding controller is designed in order to account for parametric uncertainty on the slow manifold. Further, a fast sliding controller guarantees that the slow manifold is attractive (i.e. all fast system trajectories converge to the slow manifold) despite parametric uncertainty.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126134687","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 Ball-Balancing Demonstration of Distrubance-Accommodating Control","authors":"N. Loh, K. Cheok","doi":"10.23919/ACC.1986.4788998","DOIUrl":"https://doi.org/10.23919/ACC.1986.4788998","url":null,"abstract":"The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The controller design is based on the theory of disturbance-accommodating control, optimal control and digital delayed-data observer. Experimental results presented are useful for demonstrating the practicalilty aspects of the above theory.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115021502","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":"Multiplicative approximation of linear multivariable systems with L∞ error bounds","authors":"K. Glover","doi":"10.23919/ACC.1986.4789204","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789204","url":null,"abstract":"It is shown that a p^xm transfer function G(s) with p⩾m can be decomposed as G = (I-ν_NΔ_N)^-1...(I-ν_r+2Δ_r+2)^-1 (I-ν_r=1Δ_r=1)^-1G_O where Δ_i are stable all-pass transfer functions, 1=ν₁..=ν_r≫ν_r=1..≫ν_N≫0 are the Hankel-singular-values of GW*^-1 where G*G=WW* with W stable and minimum phase. Results on the McMillan degree of G^Λ:=(I-ν_iΔ_i)..(I-ν_NΔ_N)G then show that G^Λ gives a good low order approximation to G in the sense of relative error.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115518760","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}