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

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Indirect adaptive control for nonlinear robotic systems 非线性机器人系统的间接自适应控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348213
J.S. Yu, P. Muller
{"title":"Indirect adaptive control for nonlinear robotic systems","authors":"J.S. Yu, P. Muller","doi":"10.1109/CCA.1993.348213","DOIUrl":"https://doi.org/10.1109/CCA.1993.348213","url":null,"abstract":"This paper presents an indirect adaptive control scheme for trajectory tracking of robotic manipulators. For each joint, the system parameters are estimated online using a modified recursive least squares algorithm with data normalization. A variable dead zone is incorporated into this estimation algorithm to limit the effects of interconnections and nonlinear dynamics in the system such that the number of the parameters to be estimated is reduced. The adaptive control law consisting of a pole placement PID controller and a nonlinear feedback is calculated based on current system parameter estimates. The nonlinear dynamics of the system is compensated by the adaptive nonlinear feedback. The proposed adaptive control system is shown to be globally stable and is implemented on a transputer network for motion control of a PUMA 560 robot. The simulation results and the performance of both off-line and online parameter identification are presented.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"111 3S 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":"128775235","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
Design and implementation of a fuzzy logic controller for power system stabilization 电力系统稳定模糊控制器的设计与实现
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348305
Juan Shi, J. Herron, A. Kalam
{"title":"Design and implementation of a fuzzy logic controller for power system stabilization","authors":"Juan Shi, J. Herron, A. Kalam","doi":"10.1109/CCA.1993.348305","DOIUrl":"https://doi.org/10.1109/CCA.1993.348305","url":null,"abstract":"A fuzzy controller has been designed and implemented to enhance the overall power system stability. To achieve good damping characteristics over a wide range of operating conditions, speed deviation and acceleration of a synchronous generator are chosen as the input signals to the fuzzy controller. The stabilizing signal is determined according to the nonlinear fuzzy membership functions depending on the speed and acceleration states of the generator. The design and digital simulation studies are carried out on a one-machine infinite bus power system. The design is implemented on a 5 kVA generator in the Power System Laboratory with an IBM-486 computer associated with A/D and D/A converter acting as the real time controller. The implementation study is carried out on both single-machine and two-machine infinite bus power systems respectively. Studies of simulation and implementation show that the proposed fuzzy controller is very effective.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"61 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":"128027492","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
Nonlinear L/sub 1/ and L/sub /spl infin// identifications for continuous systems with applications to class 1 robot manipulator and complex chemical equilibrium computations 连续系统的非线性L/sub /和L/sub /spl //辨识，应用于一类机器人操纵和复杂的化学平衡计算
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348207
C. C. Tan, Albert Y. Zomaya
{"title":"Nonlinear L/sub 1/ and L/sub /spl infin// identifications for continuous systems with applications to class 1 robot manipulator and complex chemical equilibrium computations","authors":"C. C. Tan, Albert Y. Zomaya","doi":"10.1109/CCA.1993.348207","DOIUrl":"https://doi.org/10.1109/CCA.1993.348207","url":null,"abstract":"This paper presents the nonlinear L/sub 1/ and L/sub /spl infin// programming methods in the identifications of nonlinear continuous systems with successful applications in estimating the dynamic parameters of class 1 manipulator and in solving the complex chemical equilibrium problems. Reaction by injecting methane gas at 300/spl deg/K into air surroundings at 700/spl deg/K is used to illustrate the applicability of the nonlinear L/sub /spl infin//-simplex identification in complex chemical equilibrium problems. The nonlinear L/sub /spl infin//-simplex minimization technique is proposed to determine a good approximated set of moles of dominant species by minimizing the maximum error of linear and nonlinear physical constraints due to equilibrium reaction. Eight dynamic parameters of the three-link class 1 robot manipulator are estimated by using the nonlinear L/sub /spl infin//-simplex optimization method with observation data obtained by simulating the robot dynamics motion due to zero applied torques on all three joints. The estimated dynamic parameters agree extremely well with the true nominal values provided the parameters are fully or at least identifiable in nature.<<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":"129683129","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
Optimal control of a steel strip rinsing process 钢带漂洗过程的优化控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348358
B. Sohlberg
{"title":"Optimal control of a steel strip rinsing process","authors":"B. Sohlberg","doi":"10.1109/CCA.1993.348358","DOIUrl":"https://doi.org/10.1109/CCA.1993.348358","url":null,"abstract":"Deals with optimal control of a steel strip rinsing process. The rinsing process is a dynamic nonlinear process. Modelling and identification of the process is based on a priori knowledge about the process and measured data from the process. Some parts of the process wear out. In the model, the worn parts are modelled explicitly and estimated on-line by an extended Kalman filter. The process is influenced by changing production variables, which are measurable but not controllable. The process is also influenced by disturbances. The optimal controller is based on a mathematical model of the process which includes on-line estimation of unknown parameters. The model is expressed in a discrete state space form, which makes the model suitable for optimal control. The physical limits of the process consist of the limits of the control signal. The optimal control signal is achieved by minimization of a quadratic loss function.<<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":"129781731","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
Nonlinear analysis of the control problem in a continuous copolymerization reactor 连续共聚反应器控制问题的非线性分析
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348216
S. Padilla, Juan Ramón González Álvarez, J. Alvarez, R. Suárez
{"title":"Nonlinear analysis of the control problem in a continuous copolymerization reactor","authors":"S. Padilla, Juan Ramón González Álvarez, J. Alvarez, R. Suárez","doi":"10.1109/CCA.1993.348216","DOIUrl":"https://doi.org/10.1109/CCA.1993.348216","url":null,"abstract":"In this work we study the multi-input multi-output nonlinear control regulation of production composition, volume and temperature in a continuous copolymerization reactor with nonlinear tools and with suitable election of inputs and outputs, solvability by dynamic state feedback is established. A basic characterization of control structure and of required information on measured signals, the results are interpreted in physical forms. Numerical simulations are used to test the control scheme.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"65 11 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":"126394939","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
Automatic coking control system 自动焦化控制系统
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348348
J. Sadaki, K. Tanaka, Y. Naganuma
{"title":"Automatic coking control system","authors":"J. Sadaki, K. Tanaka, Y. Naganuma","doi":"10.1109/CCA.1993.348348","DOIUrl":"https://doi.org/10.1109/CCA.1993.348348","url":null,"abstract":"An automatic coking control system has been developed and commercialized. The system is aimed at the stabilization and optimization of coke-oven operation. For this purpose, a control algorithm has been developed to calculate an optimum heat pattern based on optimum control theory, and the experimentation has been run to test the algorithm by using a temperature field simulator. The system has already been installed at coke-oven batteries of Nippon Steel's works.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"15 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":"127563360","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
PID adaptive control of exothermic stirred tank reactors 放热搅拌槽式反应器的PID自适应控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348296
M. M'Saad, M. Bouslimani, M. Latifi
{"title":"PID adaptive control of exothermic stirred tank reactors","authors":"M. M'Saad, M. Bouslimani, M. Latifi","doi":"10.1109/CCA.1993.348296","DOIUrl":"https://doi.org/10.1109/CCA.1993.348296","url":null,"abstract":"Two digital PID controllers are evaluated by application to realistic simulators involving physical models of exothermic stirred tank reactors. The first one is derived in the spirit of the partial state reference model adaptive control approach within the delta operator formulation. The second one consists in a smart PID controller which effectiveness has been already demonstrated.<<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":"121184794","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
Model algorithmic control for paper machines 纸机的模型算法控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348281
Q. Xia, M. Rao, Jixin Qian
{"title":"Model algorithmic control for paper machines","authors":"Q. Xia, M. Rao, Jixin Qian","doi":"10.1109/CCA.1993.348281","DOIUrl":"https://doi.org/10.1109/CCA.1993.348281","url":null,"abstract":"Paper-making processes are multivariable systems with long time delay. Model algorithmic control (MAC) strategy, which is based on impulse response model, is very suitable for such kind of processes. It has the advantages that the impulse response models are easy to obtain, and the control system is robust to model errors and process disturbances. This paper investigates the application of model algorithmic control in paper machines. Feedforward decoupling is employed to eliminate the coupling in the process. Open loop system identification algorithm is applied to obtain process model. Simulation studies have been conducted on a real world paper machine. The results have indicated the satisfactory performance of basis weight and moisture content control using MAC strategy.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"29 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":"121670071","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
Tracking control of permanent magnet brushless DC motors using partial state feedback 基于部分状态反馈的永磁无刷直流电动机跟踪控制
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348290
J. Carroll, D. Dawson
{"title":"Tracking control of permanent magnet brushless DC motors using partial state feedback","authors":"J. Carroll, D. Dawson","doi":"10.1109/CCA.1993.348290","DOIUrl":"https://doi.org/10.1109/CCA.1993.348290","url":null,"abstract":"This paper uses an observed backstepping procedure to design a position and velocity tracking controller for permanent magnet brushless DC motors. A semiglobal exponential stability result is obtained for the motor position and velocity tracking error given an exact nonlinear model of the electromechanical system and measurements of the motor position and velocity.<<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":"123098243","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
Robust optimal digital control synthesis using parameter optimization 基于参数优化的鲁棒最优数字控制综合
Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI: 10.1109/CCA.1993.348239
C. Ha, U. Ly
{"title":"Robust optimal digital control synthesis using parameter optimization","authors":"C. Ha, U. Ly","doi":"10.1109/CCA.1993.348239","DOIUrl":"https://doi.org/10.1109/CCA.1993.348239","url":null,"abstract":"This paper presents a direct synthesis of optimal robust low-order digital controllers using a design procedure called extended optimal W-synthesis (EOW). This method enhances the digital design method developed earlier for dynamic and static output feedback designs, allowing designers to select a controller of a pre-specified order and structure. Furthermore, a multi-objective function is formulated to address design robustness to parameter variations. A set of necessary conditions for optimality have been developed and used in the numerical solutions of the optimum design. The algorithm is applied to the synthesis of a robust control law for a flexible two-link robot arm.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"288 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":"117288321","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
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