Proceedings of IEEE International Conference on Control and Applications最新文献_第6页

Dynamic modelling and control of wheeled mobile robots theory and experiment 轮式移动机器人动力学建模与控制理论与实验

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348329

M. Mehrabi, R. Cheng, A. Hemami

引用次数: 5

A synthesis of classical and adaptive control 经典控制与自适应控制的综合

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348212

L. J. Brown, Sean P. Meyn

{"title":"A synthesis of classical and adaptive control","authors":"L. J. Brown, Sean P. Meyn","doi":"10.1109/CCA.1993.348212","DOIUrl":"https://doi.org/10.1109/CCA.1993.348212","url":null,"abstract":"In this paper we describe a new adaptive control algorithm which is specifically designed for for systems which are difficult to control. The models that we consider may exhibit nontrivial time variations; have significant delays; have nonminimum phase characteristics; and may be subject to measurement noise and plant disturbances. Our goal is to obtain robust control laws, and to simultaneously obtain good transient response and small steady state error. A two step procedure is taken. First, we design a linear controller which is based on some a priori knowledge of the plant. This controller incorporates predictions of future outputs which are obtained from online parameter estimates. It is argued that this makes the design of a robust controller easier than when predictions are not used. Secondly, the control law feeds back filtered estimates of the disturbance process, which are also obtained from the parameter estimator online. An optimal design technique is used to design an appropriate filter, thereby tuning the disturbance response of the closed loop system. A robotic welder at the Construction Engineering Research Laboratory in Champaign, Illinois is currently being used as a test bed for these theoretical results. Observations are described and future work is discussed.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"108 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":"123310231","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 force/motion control of constrained robot manipulators 约束机器人机械臂的自适应力/运动控制

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348352

H. Yu, L. Seneviratne, S. Earles

引用次数: 3

An experimental study of flexible joint robots with harmonic gearing 谐波传动柔性关节机器人的实验研究

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348353

M. Bridges, D. Dawson, S. C. Martindale

引用次数: 13

Adaptive inferential control of wood chip refiner 木屑精炼厂的自适应推理控制

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348250

S. Kooi

引用次数: 9

Surge tank control in a cane raw sugar factory 甘蔗原糖厂调压槽控制

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348255

S. Crisafulli, R. D. Peirce

引用次数: 15

An adaptive excitation controller for synchronous generators: studies and experimental results at a power station 同步发电机自适应励磁控制器的研究与实验结果

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348272

C. Brasca, V. Arcidiacono, S. Corsi

{"title":"An adaptive excitation controller for synchronous generators: studies and experimental results at a power station","authors":"C. Brasca, V. Arcidiacono, S. Corsi","doi":"10.1109/CCA.1993.348272","DOIUrl":"https://doi.org/10.1109/CCA.1993.348272","url":null,"abstract":"In order to guarantee a desired value for the electromechanical mode damping of the power station-network system in all the possible operating conditions, a prototype of excitation adaptive controller was developed so as to identify in an explicit way the dynamics of interest and on the basis of this explicit identification to modify the additional feedback gains from power and speed. The dynamics of interest is modelled in an adequate way with a time discrete model autoregressive and exogenous of the third order. To identify the parameters of the model, following the variations in the process dynamics, recursive least square algorithm forgetting factor was used. The system is excited by a persistent random input. This exciting signal must lead to small variations on the output variables, because these variations must be accepted for the plant operation. The estimated parameters are used to adapt the additional feedback gains in order to reach the desired damping value. These gains are computed minimizing a cost function, which represents the control effort. The deterioration of the estimation caused by a large external perturbation is avoided using an opportune blindness mechanism. The global results reached both in laboratory tests and in field trials were very positive.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"20 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":"129336322","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

Control loop performance monitoring 控制回路性能监测

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348237

C. Lynch, G. Dumont

引用次数: 119

Adaptive nonlinear control of a chemical batch reactor 化工间歇反应器的自适应非线性控制

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348215

O. Akhrif, L. Saydy

引用次数: 0

Neural network based controllers for non-linear systems 非线性系统的神经网络控制器

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348269

D. Yan, M. Saif

{"title":"Neural network based controllers for non-linear systems","authors":"D. Yan, M. Saif","doi":"10.1109/CCA.1993.348269","DOIUrl":"https://doi.org/10.1109/CCA.1993.348269","url":null,"abstract":"In this paper, we present two approaches for the control of an inverted pendulum on a cart. First, we use a combination of a neural network and a simple algorithm, where the neural network is responsible for ranking the current states while the algorithm decides the control action (+10N or -10N) applied. Simulation results show that this method converges at a faster rate than previous researchers' schemes. In the next approach, the ability of artificial neural networks (ANN) to generate nonlinear mapping has been utilized to supplement classical control techniques, to perhaps achieve better performance. We present a hybrid controller consisting of a neural network and classical control technique. The neural network was trained to predict nonlinearities in the system. Having this prediction, a two term control law was designed where one term cancels the nonlinear effects: enabling us to use linear control theory (e.g. pole placement, optimal control, etc.) to obtain the second term. To check the applicability of our method, we tested this scheme on the bilinear model of a paper making machine as well. In these cases, our simulation studies revealed that improvements to the behavior of these systems could be achieved.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"28 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":"124975151","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