Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099331
D. W. Berns, J. Moiola, Guanrong Chen
A quasi-analytical approach is developed in this paper for detecting the period-doubling bifurcation emerging near a Hopf bifurcation point. The new algorithm employs higher-order harmonic balance approximations (HBAs) to compute the monodromy matrix, which is useful for the study of bifurcations. Prediction of the period-doubling bifurcation is accomplished very accurately by using this computational procedure. An example is given to illustrate the main results, with an application to the delay control of the period-doubling bifurcation.
{"title":"A quasi-analytical approach to period-doubling bifurcation computation and prediction","authors":"D. W. Berns, J. Moiola, Guanrong Chen","doi":"10.23919/ECC.1999.7099331","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099331","url":null,"abstract":"A quasi-analytical approach is developed in this paper for detecting the period-doubling bifurcation emerging near a Hopf bifurcation point. The new algorithm employs higher-order harmonic balance approximations (HBAs) to compute the monodromy matrix, which is useful for the study of bifurcations. Prediction of the period-doubling bifurcation is accomplished very accurately by using this computational procedure. An example is given to illustrate the main results, with an application to the delay control of the period-doubling bifurcation.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126341770","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099862
O. Tomchina, K. V. Nechaev
The problem of suppression of oscillations in mechanical systems by means of control is considered. The method of passing through resonances in rotatory motion is proposed based on speed-gradient control and averaging. The method is applied to control of benchmark translational oscillator-rotational actuator (TORA) example.
{"title":"Controlling passage through resonances in vibratory actuators","authors":"O. Tomchina, K. V. Nechaev","doi":"10.23919/ECC.1999.7099862","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099862","url":null,"abstract":"The problem of suppression of oscillations in mechanical systems by means of control is considered. The method of passing through resonances in rotatory motion is proposed based on speed-gradient control and averaging. The method is applied to control of benchmark translational oscillator-rotational actuator (TORA) example.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126390988","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099595
E. Carpanzano, L. Ferrarini
In the present paper a modular technique for hybrid control systems modelling is presented. Such a framework has been developed to encompass the main phenomena characterising real-world hybrid control systems. In particular, thermo-idraulic hybrid systems are discussed as an illustrative example.
{"title":"Modular modelling of hybrid phenomena","authors":"E. Carpanzano, L. Ferrarini","doi":"10.23919/ECC.1999.7099595","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099595","url":null,"abstract":"In the present paper a modular technique for hybrid control systems modelling is presented. Such a framework has been developed to encompass the main phenomena characterising real-world hybrid control systems. In particular, thermo-idraulic hybrid systems are discussed as an illustrative example.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115971980","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7100050
F. Lange, J. Langwald, G. Hirzinger
Industrial robots often have to move with an accuracy of less than 1 mm at a speed of more than 1 m/s. Servoing of arbitrary paths therefore requires feedforward control using predictions of future timesteps of the desired motion. These predictions are obtained by camera images which allow the definition of current and future timesteps of the desired path. This is integrated in an architecture which allows learning of the feedforward controller without any knowledge of the dynamical model of the robot. Experiments are presented in which a robot with an endeffector mounted camera is servoed along a curved line.
{"title":"Predictive feedforward control for high speed tracking tasks","authors":"F. Lange, J. Langwald, G. Hirzinger","doi":"10.23919/ECC.1999.7100050","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100050","url":null,"abstract":"Industrial robots often have to move with an accuracy of less than 1 mm at a speed of more than 1 m/s. Servoing of arbitrary paths therefore requires feedforward control using predictions of future timesteps of the desired motion. These predictions are obtained by camera images which allow the definition of current and future timesteps of the desired path. This is integrated in an architecture which allows learning of the feedforward controller without any knowledge of the dynamical model of the robot. Experiments are presented in which a robot with an endeffector mounted camera is servoed along a curved line.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115982667","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7100066
M. Hasler, O. Popovych, Y. Maistrenko
The notions of strong and weak synchronization of chaotic systems are reviewed in the context of three coupled identical one-dimensional maps. Two possibilities exist. Either all three systems synchronize (total synchronization), or only two out of three systems synchronize (partial synchronization, or clustering). In either case, strong and weak synchronization is possible.
{"title":"Different synchronization regimes in a system of three coupled 1-D maps","authors":"M. Hasler, O. Popovych, Y. Maistrenko","doi":"10.23919/ECC.1999.7100066","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100066","url":null,"abstract":"The notions of strong and weak synchronization of chaotic systems are reviewed in the context of three coupled identical one-dimensional maps. Two possibilities exist. Either all three systems synchronize (total synchronization), or only two out of three systems synchronize (partial synchronization, or clustering). In either case, strong and weak synchronization is possible.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131358618","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7100016
Jinglu Hu, K. Hirasawa, K. Kumamaru
This paper proposes a general nonlinear adaptive predictor using a class of neurofuzzy models. The obtained predictor may be seen as a linear predictor network consisting of a global linear predictor and several local linear predictors with interpolation. It has distinctive features as well as good prediction ability: its parameters have explicit meanings useful for initial values setting: it may be transformed into a form linear for the variables synthesized in control systems, making deriving a control law straightforward.
{"title":"Adaptive predictor for control of nonlinear systems based on neurofuzzy models","authors":"Jinglu Hu, K. Hirasawa, K. Kumamaru","doi":"10.23919/ECC.1999.7100016","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100016","url":null,"abstract":"This paper proposes a general nonlinear adaptive predictor using a class of neurofuzzy models. The obtained predictor may be seen as a linear predictor network consisting of a global linear predictor and several local linear predictors with interpolation. It has distinctive features as well as good prediction ability: its parameters have explicit meanings useful for initial values setting: it may be transformed into a form linear for the variables synthesized in control systems, making deriving a control law straightforward.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132120479","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099697
P. Dupraz, O. Sename, L. Dugard
This paper presents a new approach for internal combustion engine torque estimation from instantaneous crankshaft speed measurement, in presence of unknown load torque. The design of the estimator is based on a detailed crankshaft dynamic equation and on a simple in-cylinder pressure model. Some preliminary validation results are provided, based on a high-resolution thermodynamical engine model. This estimator may be used later for closed-loop engine torque control.
{"title":"Engine torque estimation for DI diesel engines","authors":"P. Dupraz, O. Sename, L. Dugard","doi":"10.23919/ECC.1999.7099697","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099697","url":null,"abstract":"This paper presents a new approach for internal combustion engine torque estimation from instantaneous crankshaft speed measurement, in presence of unknown load torque. The design of the estimator is based on a detailed crankshaft dynamic equation and on a simple in-cylinder pressure model. Some preliminary validation results are provided, based on a high-resolution thermodynamical engine model. This estimator may be used later for closed-loop engine torque control.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132239109","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7098748
Alex Bernaden
Air terminals are an important component of most variable air volume air conditioning systems. Most air terminal controllers share the same continuous closed feedback loop control of the room loop whether the controller is pneumatic, analog electronic or digital electronic or other. Unfortunately, the controllers also share the same inability to provide good hybrid control. The use of split range control for hybrid control, or the sequencing of the continuous loops for the controlled devices, may cause cycling between heating and cooling, simultaneous heating and cooling, and does not provide useful diagnostics. Improper VAV terminal unit control is a significant problem because sales exceed half a million new units each year and are increasing by at least 10% per year. An innovative and simple control method called a finite state machine was applied to this problem. A finite state machine is an abstract representation of a reactive system, a classification which includes most controllers. The finite state diagram fully describes the controller's behavior and can be mechanistically implemented. Performance of the air terminal improved significantly, including better temperature control and diagnostics with reduced energy usage. The concepts presented in this paper can probably be applied with equal or greater success to almost any other controller in the HVAC&R industry.
{"title":"Variable air volume control using a finite state machine","authors":"Alex Bernaden","doi":"10.23919/ECC.1999.7098748","DOIUrl":"https://doi.org/10.23919/ECC.1999.7098748","url":null,"abstract":"Air terminals are an important component of most variable air volume air conditioning systems. Most air terminal controllers share the same continuous closed feedback loop control of the room loop whether the controller is pneumatic, analog electronic or digital electronic or other. Unfortunately, the controllers also share the same inability to provide good hybrid control. The use of split range control for hybrid control, or the sequencing of the continuous loops for the controlled devices, may cause cycling between heating and cooling, simultaneous heating and cooling, and does not provide useful diagnostics. Improper VAV terminal unit control is a significant problem because sales exceed half a million new units each year and are increasing by at least 10% per year. An innovative and simple control method called a finite state machine was applied to this problem. A finite state machine is an abstract representation of a reactive system, a classification which includes most controllers. The finite state diagram fully describes the controller's behavior and can be mechanistically implemented. Performance of the air terminal improved significantly, including better temperature control and diagnostics with reduced energy usage. The concepts presented in this paper can probably be applied with equal or greater success to almost any other controller in the HVAC&R industry.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134455669","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099575
R. Haber, R. Bars, O. Lengyel
Extended horizon one-step-ahead predictive control algorithm is given for the parametric Volterra model (which includes also the generalized Hammerstein model). A quadratic cost function is minimized which considers the quadratic deviation of the reference signal and the output signal in a future point beyond the dead time and also punishes big control signal increments. For prediction of the output signal, a prediction equation is applied which uses information about the input and output signals up to the current time. It is advantageous to use the control increments instead of the control signal in the prediction equation, since the cost function contains the control increment and not the control signal itself. Assuming a functional relation between the subsequent control increments in the control horizon leads to a one-dimension minimization of the control cost function. This sub-optimal solution of the nonlinear predictive control approximates the optimal solution with few computational efforts. Three adaptive schemes are presented and compared: estimation of the parameters of the process model, estimation of the parameters of the prediction equation using the control signal, and estimation of the parameters of the prediction equation using the control increments.
{"title":"Three extended horizon adaptive nonlinear predictive control schemes based on the parametric Volterra model","authors":"R. Haber, R. Bars, O. Lengyel","doi":"10.23919/ECC.1999.7099575","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099575","url":null,"abstract":"Extended horizon one-step-ahead predictive control algorithm is given for the parametric Volterra model (which includes also the generalized Hammerstein model). A quadratic cost function is minimized which considers the quadratic deviation of the reference signal and the output signal in a future point beyond the dead time and also punishes big control signal increments. For prediction of the output signal, a prediction equation is applied which uses information about the input and output signals up to the current time. It is advantageous to use the control increments instead of the control signal in the prediction equation, since the cost function contains the control increment and not the control signal itself. Assuming a functional relation between the subsequent control increments in the control horizon leads to a one-dimension minimization of the control cost function. This sub-optimal solution of the nonlinear predictive control approximates the optimal solution with few computational efforts. Three adaptive schemes are presented and compared: estimation of the parameters of the process model, estimation of the parameters of the prediction equation using the control signal, and estimation of the parameters of the prediction equation using the control increments.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133887212","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}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099517
H. Yousef
This paper presents a design technique for fuzzy-logic control (FLC) of a moving vehicle in order to avoid collision with obstacles in an unknown environment. The fuzzy system consists of ultrasonic sensors, fuzzy control algorithm, and a battery-driven car. A visual simulation program is constructed to facilitate the development of the linguistic fuzzy rules and to tune the shape of the membership functions. The software is implemented using a PIC microcontroller.
{"title":"Fuzzy-logic obstacle avoidance control: Software simulation and hardware implementation","authors":"H. Yousef","doi":"10.23919/ECC.1999.7099517","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099517","url":null,"abstract":"This paper presents a design technique for fuzzy-logic control (FLC) of a moving vehicle in order to avoid collision with obstacles in an unknown environment. The fuzzy system consists of ultrasonic sensors, fuzzy control algorithm, and a battery-driven car. A visual simulation program is constructed to facilitate the development of the linguistic fuzzy rules and to tune the shape of the membership functions. The software is implemented using a PIC microcontroller.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131646353","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}
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