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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)最新文献

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Smart sensor with dual standard fieldbus interconnection capability 具有双标准现场总线互连能力的智能传感器
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.974032
R. Dobrescu, C. Vasilescu, D. Andone, M. Dobrescu
{"title":"Smart sensor with dual standard fieldbus interconnection capability","authors":"R. Dobrescu, C. Vasilescu, D. Andone, M. Dobrescu","doi":"10.1109/CCA.2001.974032","DOIUrl":"https://doi.org/10.1109/CCA.2001.974032","url":null,"abstract":"We propose a temperature smart sensor (TSS) having the capability of interconnection on fieldbuses compatible both with IEC 61158 and EN 50170 standards. In this aim TSS has a versatile programmable electrical interface corresponding to the TIA/EIA-485-A standard. The communication protocol supports both the IEC 870-5-1 specification of Telecontrol Equipment and Systems and the Fieldbus Foundation specification for isochronous transmission. TSS utilizes thermocouples or thermo resistances as sensitive elements, so several types and ranges are available. The paper presents the hardware and software architecture, with details on the communication interface and software. A dedicated section refers to the local software facilities and insists on the versatility in programming functional parameters. Finally, some of the advantages in industrial control applications of this device are underlined.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134196116","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
Experimental validation of a reduced model based tracking control of parallel robots 基于简化模型的并联机器人跟踪控制的实验验证
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973894
F. Ghorbel, R. Gunawardana, J. Dabney
{"title":"Experimental validation of a reduced model based tracking control of parallel robots","authors":"F. Ghorbel, R. Gunawardana, J. Dabney","doi":"10.1109/CCA.2001.973894","DOIUrl":"https://doi.org/10.1109/CCA.2001.973894","url":null,"abstract":"We present a basis for the development of model-based control of closed kinematic chain robots (parallel robots). The configuration of most parallel robots can be uniquely established only in terms of dependent sets of coordinates which therefore form the basis of most dynamics formulations. In order to establish stability properties for control, a reduced dynamics model in terms of actuated joint positions is preferable. This reduced model depends on a coordinate transformation from the independent (actuated) coordinates to the dependent coordinates. We review a reduced model based on such a transformation and then characterize a domain suitable for tracking control in which the existence of the coordinate transformation can be guaranteed and computed in real time. This provides the basis for devising provably stable control laws. We demonstrate the results with tracking experiments using the Rice Planar Delta Robot.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133947765","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: 7
Adaptive tracking control of underactuated surface vessels 欠驱动水面舰船的自适应跟踪控制
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973940
A. Behal, D. Dawson, B. Xian, P. Setlur
{"title":"Adaptive tracking control of underactuated surface vessels","authors":"A. Behal, D. Dawson, B. Xian, P. Setlur","doi":"10.1109/CCA.2001.973940","DOIUrl":"https://doi.org/10.1109/CCA.2001.973940","url":null,"abstract":"We design a continuous, time-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the position/orientation tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious design of a dynamic oscillator in conjunction with two state transformations. We also illustrate how the proposed tracking controller yields the same stability result for the stabilization problem.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121883070","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: 24
Predictive PID controller design 预测PID控制器设计
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973935
D. Uduehi, A. Ordys, M. Grimble
{"title":"Predictive PID controller design","authors":"D. Uduehi, A. Ordys, M. Grimble","doi":"10.1109/CCA.2001.973935","DOIUrl":"https://doi.org/10.1109/CCA.2001.973935","url":null,"abstract":"A polynomial predictive optimal control problem is discussed for the discrete time system where the structure of the controller is assumed to be limited to a discrete PID controller. The theoretical problem to be considered is to obtain the causal, stabilising, controller of the pre-specified PID form that minimises a generalised predictive control criterion and is equivalent to a GPC control law. The underlying practical problem and aim of the work is to obtain the optimal PID controller coefficients that provide the required closed loop performance over a range of operating conditions and working points.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123871475","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
Robust observer-based monitoring of a hydraulic actuator in a vehicle power transmission control system 基于观测器的车辆动力传动控制系统液压作动器鲁棒监测
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973968
J. Hahn, J. Hur, Y. Cho, Kyo-Il Lee
{"title":"Robust observer-based monitoring of a hydraulic actuator in a vehicle power transmission control system","authors":"J. Hahn, J. Hur, Y. Cho, Kyo-Il Lee","doi":"10.1109/CCA.2001.973968","DOIUrl":"https://doi.org/10.1109/CCA.2001.973968","url":null,"abstract":"The availability of pressure information of a hydraulic actuator makes it possible to improve the quality of vehicle power transmission via precise feedback control and to realize on-board fault diagnosis. However, the high cost of a pressure sensor has not allowed its widespread deployment despite such apparent advantages. The paper presents an observer-based algorithm to estimate the pressure output of a hydraulic actuator in a vehicle power transmission control system. The proposed algorithm builds on more readily available slip velocity and the models of a hydraulic actuator and a mechanical subsystem. The resulting robust observer is guaranteed to be stable against possible parametric variations and torque estimation errors. The hardware-in-the-loop studies demonstrate the viability of the proposed algorithm in the field of advanced vehicle power transmission control and fault diagnosis.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124724474","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
Control of saddle-node bifurcations in a power system 电力系统鞍节点分岔控制
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973878
D. Almeida, J. A. Gallegos, C. Hernández, J. V. Mariscal
{"title":"Control of saddle-node bifurcations in a power system","authors":"D. Almeida, J. A. Gallegos, C. Hernández, J. V. Mariscal","doi":"10.1109/CCA.2001.973878","DOIUrl":"https://doi.org/10.1109/CCA.2001.973878","url":null,"abstract":"A bifurcation analysis and controller for a basic power system are presented. The controller, whose objective is to eliminate the saddle-node bifurcation presented in the system, is based on the internal-model control structure for nonlinear systems.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127414149","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
Combining IMC design with H/sub /spl infin// control and its application to a two-finger robot hand 将IMC设计与H/sub /spl / in//控制相结合，并在双指机械手上应用
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.974014
R. Suzuki, S. Hasegawa, N. Kobayashi
{"title":"Combining IMC design with H/sub /spl infin// control and its application to a two-finger robot hand","authors":"R. Suzuki, S. Hasegawa, N. Kobayashi","doi":"10.1109/CCA.2001.974014","DOIUrl":"https://doi.org/10.1109/CCA.2001.974014","url":null,"abstract":"In this paper, additive effects of a control method derived by combining the internal model control (IMC) and H/sub /spl infin// control are proposed. The proposed method is then applied to tracking control for a two-finger robot hand. The effectiveness of the proposed method is confirmed by comparative experiments. The results obtained show that the proposed method is effective on tracking control and improving the disturbance estimation property.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129717785","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
Time-varying control of a class of nonholonomic systems 一类非完整系统的时变控制
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973996
Yu-Ping Tian, Shihua Li
{"title":"Time-varying control of a class of nonholonomic systems","authors":"Yu-Ping Tian, Shihua Li","doi":"10.1109/CCA.2001.973996","DOIUrl":"https://doi.org/10.1109/CCA.2001.973996","url":null,"abstract":"In this paper we propose a general dynamic model for describing a class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc. We prove that by introducing an assistant state variable(s), this class of nonholonomic systems can be transformed into linear time-varying control systems, and the asymptotic exponential stability is thus achieved by using a smooth time-varying feedback control law.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129882812","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
Modeling and control of a rotating channel 旋转通道的建模与控制
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.973926
Alessandro Gasparetto, S. Miani
{"title":"Modeling and control of a rotating channel","authors":"Alessandro Gasparetto, S. Miani","doi":"10.1109/CCA.2001.973926","DOIUrl":"https://doi.org/10.1109/CCA.2001.973926","url":null,"abstract":"The modeling and control of a rotating channel, used in a steel company to convey steel bars coming out from the last stand of the rolling train to the cooling bed, is described. We deal with the problem of synthesizing a controller in order to satisfy the performance needed for the real application. To this aim a lumped parameters model is first derived and subsequently a time-varying control scheme is presented. The derived control has been successfully tested on an accurate ad-hoc developed simulator of the plant, which captures the major issues arising in the specific problem.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126385470","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
Towards the control of time-critical systems 对时间关键型系统的控制
Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI: 10.1109/CCA.2001.974033
P. Bonhomme, P. Aygalinc, S. Calvez
{"title":"Towards the control of time-critical systems","authors":"P. Bonhomme, P. Aygalinc, S. Calvez","doi":"10.1109/CCA.2001.974033","DOIUrl":"https://doi.org/10.1109/CCA.2001.974033","url":null,"abstract":"Petri nets are a powerful formalism for the specification and analysis of concurrent systems, such as sequential systems, manufacturing systems etc. Adapted to time-critical systems (systems whose time issues become essential), different time Petri nets have been developed in the literature: Merlin's model, p-time Petri-net, Time ER nets etc. The presented approach allows us to determine transitions firing instants in order to ensure functional timing correctness of the modeled system. It uses a p-time Petri-net as the modeling tool. It is based on an enumerative procedure and on the evaluation of transitions firing conditions successively at the first, the second and the q/sup th/ firing instant. Moreover, it provides a performance evaluation and control component.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129003911","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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