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Reduced Order Robust Controllers for an Experimental Flexible Grid 实验柔性网格的降阶鲁棒控制器
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4790759
S. Rao, M. Westerheide, A. Das
{"title":"Reduced Order Robust Controllers for an Experimental Flexible Grid","authors":"S. Rao, M. Westerheide, A. Das","doi":"10.23919/ACC.1990.4790759","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790759","url":null,"abstract":"The design and implementation of control strategies for large, flexible structures presents challenging problems. One of the difficulties in controller design arises from the incorrect knowledge of the structural parameters. This paper describes a procedure for designing and actual implementation of reduced order robust controllers for active vibration control on an experimental flexible grid structure. The experimental structure consists of a 5¿ × 5¿ grid made up of 2\" wide, 1/8\" thick aluminum strips. The grid hangs vertically down, being cantilevered at the top to a large I-beam anchored to a cinder block wall. The grid structure is represented by 75 degrees of freedom, finite element model and the controller uses three piezoelectric accelerometer sensors to command three non-collocated DC motor torquers. The modified balance-truncation model reduction method is used to derve a control synthesis model. These reduced order models preserve stability, controllability, observability and have a good frequency response match at low frequences. A 10-mode mathematical representation of the experimental grid structure has non-minimal phase zeros. The effects of non-minimum phase zeros on the performance of a closed loop LOG/LTR controller are investigated. The reduced order controllers are implemented on the structure using an ISI Max 100 computer. Experimental closed loop performance of the grid is obtained for various parameter variatons.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776251","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
Dynamic Output Feedback by Robust Observer and Variable Structure Control 鲁棒观测器与变结构控制的动态输出反馈
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.1109/ACC.1990.4174213
R. Cristi, A. Healey, F. Papouias
{"title":"Dynamic Output Feedback by Robust Observer and Variable Structure Control","authors":"R. Cristi, A. Healey, F. Papouias","doi":"10.1109/ACC.1990.4174213","DOIUrl":"https://doi.org/10.1109/ACC.1990.4174213","url":null,"abstract":"Variable structure controllers for systems with nonlinearities can be designed in conjunction with robust observers to obtain regulation. The robust observer (of the Doyle Stein class) is designed on the basis of the nominal plant dynamics (assumed linear and minimum phase), and the estimated state is used in the variable structure controller. It is shown that the closed loop system is globally asymptoticvally stable and the desired regulation is obtained provided the nonlinear perturbation is expressed by an operator with bounded L2 and L¿ norms. Applications to the control of underwater vehicles in diving maneuvers show the effectiveness of the technique.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114942364","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
A Textured Decomposition based Algorithm for Large-Scale Multicommodity Network Flow Problems 基于纹理分解的大规模多商品网络流问题算法
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4790766
S. Lin
{"title":"A Textured Decomposition based Algorithm for Large-Scale Multicommodity Network Flow Problems","authors":"S. Lin","doi":"10.23919/ACC.1990.4790766","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790766","url":null,"abstract":"In this paper, we propose a textured decomposition based algorithm with parallel processing capability for solving large scale multicommodity network flow problem (MFP), which is popular in communication networks and transportation systems. We show that the algorithm will always converge to one of the stationary points characterized by the textured decomposition. Moreover, a modification over the MFP and sufficient conditions are developed to guarantee that the convergent stationary point is the unique minimum solution of the modified MFP; and it is the global minimum solution of the MFP in its limit. To avoid ill-condition, a practical two-stage textured decomposition based algorithm is proposed to get a more elaborate approximate global minimum solution. A simulation example for this two-stage algorithm was given in which only few iterations are needed to converge. Assume two processors available, a speed up ratio around 10:1 is estimated based on a projected Newton method if it is incorporated with this two-stage algorithm.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"315 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115222549","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: 5
Structurally Impulsive Controllablity for Descriptor Systems 广义系统的结构脉冲可控性
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4791122
Qingling Zhang
{"title":"Structurally Impulsive Controllablity for Descriptor Systems","authors":"Qingling Zhang","doi":"10.23919/ACC.1990.4791122","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791122","url":null,"abstract":"In this paper, the concept of structurally impulsive controllablity is defined for descriptor systems of the form E<inf>p</inf>¿ = A<inf>q</inf>x + B<inf>r</inf>u, where E<inf>p</inf>, A<inf>q</inf> and B<inf>r</inf> are parameterized matrices, which is an extended form of structured descriptor systems [1]. Some necessary and sufficient conditions for the system to be structurally impulsive controllable are formulated algebraically. Consequently, we give an answer for structurally strong controllablity. These may be thought of as a counterpart of structurally complete (reachable) controllablity.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115348221","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
Suboptimal Strong Stabilization Using Fixed-Order Dynamic Compensation 基于定阶动态补偿的次优强镇定
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4791205
M. Jacobus, M. Jamshidi, C. Abdallah, P. Dorato, D. Bernstein
{"title":"Suboptimal Strong Stabilization Using Fixed-Order Dynamic Compensation","authors":"M. Jacobus, M. Jamshidi, C. Abdallah, P. Dorato, D. Bernstein","doi":"10.23919/ACC.1990.4791205","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791205","url":null,"abstract":"This paper considers the problem of stabilizing a plant using a suboptimal stable compensator of fixed order. The resulting equations are a modified form of the optimal projection equations, with the separation principle not holding in either the full- or reduced-order case.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"874 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116157650","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: 40
Nonlinear Stabilization of High Angle-of-Attack Flight Dynamics using Bifurcation Control 基于分岔控制的大迎角飞行动力学非线性镇定
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4791129
E. Abed, Hsien-Chiarn Lee
{"title":"Nonlinear Stabilization of High Angle-of-Attack Flight Dynamics using Bifurcation Control","authors":"E. Abed, Hsien-Chiarn Lee","doi":"10.23919/ACC.1990.4791129","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791129","url":null,"abstract":"We consider the problem of designing stabilizing control laws for flight over a broad range of angles-of-attack which also serve to signal the pilot of impending stall. The paper employs bifurcation stabilization coupled with more traditional linear control system design. To focus the discussion, a detailed analysis is given for a model of the longitudinal dynamics of an F-8 Crusader.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122393574","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: 21
Titration Curve Estimation for Adaptive pH Control 自适应pH控制的滴定曲线估计
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.23919/ACC.1990.4790971
Martin Gullaian, J. Lane
{"title":"Titration Curve Estimation for Adaptive pH Control","authors":"Martin Gullaian, J. Lane","doi":"10.23919/ACC.1990.4790971","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790971","url":null,"abstract":"High performance pH control requires a good model of the titration curve, whih the described the nonlinear gain of the process. In many applications, the titration curve changes significantly over short periods of time, and some form of online titration curve estimation is essential. Unfortunately, the titration curve is a complex nonlinear function of process composition, and direct estimation of its parameters is difficult. This paper presents an estimation technique which uses as parameters a basis set of entire titration curves. The parameter choice linearizes the estimation problem, and has proven flexible and robust. An adaptive pH controller is described that uses the estimation technique to identify a process model online, and uses the model to provide a gain schedule for a PI controller. Results of pilot plant testing of this controller are presented.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122760582","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: 16
An Observer-Based Design for Robust Control of Robot Manipulators 基于观测器的机械臂鲁棒控制设计
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.1109/ACC.1990.4173840
W. Grossman, F. Khorrami, B. Friedland
{"title":"An Observer-Based Design for Robust Control of Robot Manipulators","authors":"W. Grossman, F. Khorrami, B. Friedland","doi":"10.1109/ACC.1990.4173840","DOIUrl":"https://doi.org/10.1109/ACC.1990.4173840","url":null,"abstract":"In this paper, we describe a feedback linearization design for a class of nonlinear systems. The control system is an observer-based (full or reduced-order) design that utilizes estimates of some of the states both for the exact feedback linearization and the linear outer-loop controller. In particular, the approach advocated is applied to the dynamics of multi-link robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the proposed feedback control algorithms are also presented.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"283 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122957718","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
Control System Sensor Failure Detection via Networks of Localized Receptive Fields 基于局部感受域网络的控制系统传感器故障检测
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.1109/ACC.1990.4174182
Sam Chuan Yao, E. Zafiriou
{"title":"Control System Sensor Failure Detection via Networks of Localized Receptive Fields","authors":"Sam Chuan Yao, E. Zafiriou","doi":"10.1109/ACC.1990.4174182","DOIUrl":"https://doi.org/10.1109/ACC.1990.4174182","url":null,"abstract":"This paper investigates the use of local receptive field networks (LRFN) in detecting sensor failures of a control system in the presence of model-plant mismatch. Simulation results indicate that LRFNs hold significant promise in sensor failure detection. Another issue discussed in this paper is a method to prune redundant nodes. A simple scheme which uses singular value decomposition (SVD) is developed to identify and remove excess nodes. Comparable classification performance is obtained using reduced and standard LRFN.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114278966","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: 20
An Approach to Optimal Guidance of an Advanced Lauch Vehicle Concept 一种先进发射飞行器概念的最优制导方法
1990 American Control Conference Pub Date : 1990-05-23 DOI: 10.1109/ACC.1990.4174055
Martin S. K. Leung, A. Calise
{"title":"An Approach to Optimal Guidance of an Advanced Lauch Vehicle Concept","authors":"Martin S. K. Leung, A. Calise","doi":"10.1109/ACC.1990.4174055","DOIUrl":"https://doi.org/10.1109/ACC.1990.4174055","url":null,"abstract":"This paper presents an approximate solution for the maximum payload trajectory of a 2-stage launch vehicle using a regular perturbation technique. A zero-order solution for a two stage vehicle based on a flat Earth approximation and negligible atmospheric effect is obtained in closed form. High order correction terms are obtained from the solution of non-homogeneous, first-order linear differential equations by quadrature. This promises a capability for an on-board optimal guidance law implementation.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122035117","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
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