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Proceedings of IEEE International Conference on Control and Applications最新文献

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Fuzzy logic control of robot manipulator 机器人机械手的模糊逻辑控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348301
S. Banerjee, P. Woo
{"title":"Fuzzy logic control of robot manipulator","authors":"S. Banerjee, P. Woo","doi":"10.1109/CCA.1993.348301","DOIUrl":"https://doi.org/10.1109/CCA.1993.348301","url":null,"abstract":"Position control of a two-link manipulator can be achieved by using a fuzzy logic controller. A fuzzy logic software, FIDE (Fuzzy Inference Development Environment) is used to design and model the controller. Investigation is described that attempts to demonstrate the benefits of using that software for the design and implementation of the controller. A comparative study about the different methods of controller design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134624644","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: 48
Adaptive linearization for cooperative position control of robotic manipulators 机器人机械手协同位置控制的自适应线性化
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348306
A. Haile, P. Woo
{"title":"Adaptive linearization for cooperative position control of robotic manipulators","authors":"A. Haile, P. Woo","doi":"10.1109/CCA.1993.348306","DOIUrl":"https://doi.org/10.1109/CCA.1993.348306","url":null,"abstract":"Multilink manipulators have nonlinear and strongly coupled dynamics, which can be linearized and decoupled by using nonlinear feedback control schemes. Since the nonlinear feedback law depends on the system's parameters, if the system parameters change, the linearized system will go beck to a nonlinear system. This paper shows how the adaptive control technique can be used to overcome system parameter variation. The steepest descent method is used to adjust the parameters in the nonlinear feedback loop. Once the system is linearized adaptively, the controller for cooperative position control can be designed using linear control techniques.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133838512","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 successful black box design : digital regulation of deposited zinc in hot-dip galvanizing at Sollac Florange 一个成功的黑盒设计:在Sollac Florange热镀锌中沉积锌的数字调节
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348298
C. Fenot, F. Rolland, G. Vigneron, L. D. Landau
{"title":"A successful black box design : digital regulation of deposited zinc in hot-dip galvanizing at Sollac Florange","authors":"C. Fenot, F. Rolland, G. Vigneron, L. D. Landau","doi":"10.1109/CCA.1993.348298","DOIUrl":"https://doi.org/10.1109/CCA.1993.348298","url":null,"abstract":"The paper is focused on the design and implementation of the main control loops : regulation of the deposited zinc, at the new hot-dip galvanizing line of Sollac Florange. The main difficulties for implementing a high-performance feedback control come from the presence of a large and variable time-delay (depending on the steel strip speed) and from the nonlinear character of the plant model. The regulation scheme is implemented on a PC connected to the process through an industrial network. It uses a digital controller designed on the basis of an identified discrete-time black box model. The scheme is open-loop adaptive in the sense that the sampling frequency is related to the steel strip speed, and that the parameters of the controllers for various regions of operation are stored on a table. The results obtained on the site conclude the paper. An improvement of the product quality and a reduction of the zinc consumption have been achieved.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"30 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133720920","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
Control of flexible space station remote manipulator training system 柔性空间站遥控机械手训练系统控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348313
S. Ananthakrishnan, N. M. Wahbah
{"title":"Control of flexible space station remote manipulator training system","authors":"S. Ananthakrishnan, N. M. Wahbah","doi":"10.1109/CCA.1993.348313","DOIUrl":"https://doi.org/10.1109/CCA.1993.348313","url":null,"abstract":"This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124316865","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: 1
An application of qualitative modelling in an intelligent process supervisory system 定性建模在智能过程监控系统中的应用
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348340
R. Corea, M. Tham, A. Morris
{"title":"An application of qualitative modelling in an intelligent process supervisory system","authors":"R. Corea, M. Tham, A. Morris","doi":"10.1109/CCA.1993.348340","DOIUrl":"https://doi.org/10.1109/CCA.1993.348340","url":null,"abstract":"This paper describes the progress that has been made in this area. The ideas of qualitative systems theory are extended to qualitative transfer function (QTF) models, and are then used to analyse the properties of a detailed QTF model of a distillation process. It is shown that these analytical tools can prove extremely useful in developing such models. Results from examples showing how the qualitative model can be used in an intelligent supervisory system are also presented.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"35 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124383662","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: 1
Experimental identification of robot and load dynamic parameters 机器人及负载动态参数的实验辨识
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348238
P. Dutkiewicz, K. Kozlowski, W. Wróblewski
{"title":"Experimental identification of robot and load dynamic parameters","authors":"P. Dutkiewicz, K. Kozlowski, W. Wróblewski","doi":"10.1109/CCA.1993.348238","DOIUrl":"https://doi.org/10.1109/CCA.1993.348238","url":null,"abstract":"Presents an experimental identification of dynamic parameters of a non-direct drive robot and its load, which appear in the integral model, based on the energy theorem formulation. In the robotics literature, there are no experimental results known to the authors concerning the identification of the integral model parameters. In order to satisfy this, an experimental set-up has been built around an industrial ASEA IRp-6 robot. Next the robot dynamic integral model, taking into account friction parameters (viscous and Coulomb), as well as the load dynamic model have been formulated. The experimental results have been presented, including comparison of the results for both integral and differential identification.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129875368","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: 15
A time-domain penalty function approach to mixed H/sub 2//H/sub /spl infin//-control using parameter optimization methods 基于参数优化方法的混合H/sub //H/sub /spl infin//-控制时域罚函数方法
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348205
E. Schomig, M. Sznaier, U. Ly
{"title":"A time-domain penalty function approach to mixed H/sub 2//H/sub /spl infin//-control using parameter optimization methods","authors":"E. Schomig, M. Sznaier, U. Ly","doi":"10.1109/CCA.1993.348205","DOIUrl":"https://doi.org/10.1109/CCA.1993.348205","url":null,"abstract":"In this paper we consider the problem of minimum nominal H/sub 2/-norm with H/sub /spl infin//-constraints for systems with multiple operating points. The performance measure is defined as a weighted sum of the corresponding nominal H/sub 2/-norms while robust stability of the individual closed-loop systems is defined in terms of a H/sub /spl infin//-bound for each plant condition. In this paper we define a new time-domain scalar cost function J/sub /spl infin//(t/sub f/) representing the H/sub /spl infin//-bounds in an overall cost function for the mixed H/sub 2//H/sub /spl infin//-design. J/sub /spl infin//(t/sub f/) is, for finite time t/sub f/, a penalty function and, for t/sub f//spl rarr//spl infin/, a barrier function. Using J/sub /spl infin//(t/sub f/), the mixed H/sub 2//H/sub /spl infin//-design problem results in an unconstrained optimization problem, that, for t/sub f//spl rarr//spl infin/, recovers the original objective of minimizing the performance measure subject to the H/sub /spl infin//-bounds. The resulting optimization problem is smooth and hence standard gradient-based software can be applied. The class of controllers considered includes proper and strictly proper LTI controllers with fixed structure and/or fixed order.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130696400","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: 1
Future neuro mobile robots 未来的神经移动机器人
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348332
A. S. Mohamed
{"title":"Future neuro mobile robots","authors":"A. S. Mohamed","doi":"10.1109/CCA.1993.348332","DOIUrl":"https://doi.org/10.1109/CCA.1993.348332","url":null,"abstract":"Neurocomputing is considered as an approach to robotic processing. Based on transformations, it autonomously develops operational capabilities in adaptive response to information training. The idea of training a mobile robot to carry out a function (instead of programming it) seems to have a great appeal, perhaps because of our familiarity with training in some robotic applications (e.g. teaching trajectory generation) as an easy and natural way to acquire new skill processing capabilities. Even though neural networks mobile robotic applications are still fully undeveloped, this paper tries to show that their promise and potential is evident. We show this by describing which neural networks have been used (or are suitable to be used) for various mobile robot capabilities, and what sort of problems are expected to surface out; if any. We then propose a system of interacting neural networks to be used as a model for future neuro mobile robots. Finally, experiments on Neurobot, a six legged articulated robot testbed, for testing various networks as well as for providing a perspective on the usefulness of integrating various mobile robot capabilities are presented.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133007269","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
Autotuning control of a precision balance for mass and density measurements 用于质量和密度测量的精密天平的自动调谐控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348344
S. Carabelli, C. Greco
{"title":"Autotuning control of a precision balance for mass and density measurements","authors":"S. Carabelli, C. Greco","doi":"10.1109/CCA.1993.348344","DOIUrl":"https://doi.org/10.1109/CCA.1993.348344","url":null,"abstract":"This paper deals with the design and the implementation of several autotuning controllers for the electronic reading device of a mechanical precision balance to be used in an automatic weighing system for mass and density measurements of solid specimens. The severe specifications to be accomplished by the control loop as well as the changing environment require frequent fine retuning of the controller. The control design is based on an identified linear parametric model of the plant. The identification and tuning process is fully automated but can be easily followed and/or modified by a human operator. The achieved repeatibility of the measurements are below 2 /spl mu/g.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132065407","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
The application of force feedback control schemes from studies on robotic systems to analyze a teleoperation system involving humans 从机器人系统的研究中应用力反馈控制方案来分析一个涉及人的遥操作系统
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348309
D. Repperger, C. Phillips, T. Chelette
{"title":"The application of force feedback control schemes from studies on robotic systems to analyze a teleoperation system involving humans","authors":"D. Repperger, C. Phillips, T. Chelette","doi":"10.1109/CCA.1993.348309","DOIUrl":"https://doi.org/10.1109/CCA.1993.348309","url":null,"abstract":"The application of theoretical concepts and other principles from studies of force feedback control systems in robotics can be used to better understand a teleoperative system. Within the context of a robotic system, the teleoperation problem can be viewed as a strictly force control system in which the end-effector must maintain a specified force pattern on the environment. Using this analogy, the environment may be modelled as being subjected to disturbances or an active compliance. Such technical issues as stability, performance, controllability, and other developments in the control systems literature now easily extend to the area of teleoperation involving humans. To illustrate this procedure, an analysis is conducted of a system from an ongoing experiment. This experiment involves handicapped people and normals participating in a study to analyze the effect on performance of different types of force feedback algorithms and target tracking tasks.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"40 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114115986","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: 3
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