Gives an analysis and provides implementable solutions for constrained control problems of stabilization and maneuver control of two nano-satellites. The methodology provides solutions under various constraints of propulsion and differential drag control: magnitude constraints, disturbances and measurement errors are taken into account. The methods are illustrated in simulation of a realistic nano-satellite pair.
{"title":"Analysis of formation flying control of a pair of nano-satellites","authors":"S. Veres, Stephen B. Gabriel, E. Rogers, D. Mayne","doi":"10.1109/CDC.2001.981031","DOIUrl":"https://doi.org/10.1109/CDC.2001.981031","url":null,"abstract":"Gives an analysis and provides implementable solutions for constrained control problems of stabilization and maneuver control of two nano-satellites. The methodology provides solutions under various constraints of propulsion and differential drag control: magnitude constraints, disturbances and measurement errors are taken into account. The methods are illustrated in simulation of a realistic nano-satellite pair.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133152030","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}
Deals with the design of a nonlinear fault tolerant controller for an induction motor. We show how an indirect field oriented controller can be modified in order to compensate the side-effects arising in presence of electrical and mechanical faults and, so doing, also to detect the occurrence of the fault. To this end we follow the nonlinear regulation theory, namely we design a nonlinear controller embedding an internal model of the fault which automatically activates when spurious harmonic currents arise.
{"title":"A fault-tolerant strategy for induction motors","authors":"Andrea Paoli, L. Marconi, C. Bonivento","doi":"10.1109/CDC.2001.980094","DOIUrl":"https://doi.org/10.1109/CDC.2001.980094","url":null,"abstract":"Deals with the design of a nonlinear fault tolerant controller for an induction motor. We show how an indirect field oriented controller can be modified in order to compensate the side-effects arising in presence of electrical and mechanical faults and, so doing, also to detect the occurrence of the fault. To this end we follow the nonlinear regulation theory, namely we design a nonlinear controller embedding an internal model of the fault which automatically activates when spurious harmonic currents arise.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128834704","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}
This paper proposes a general framework for the analysis and the synthesis of multicriteria visual-based servocontrol schemes. The approach allows to consider position-based or feature-based controllers which can be static, dynamic or gain-scheduled. The visual servoing problem is stated under a state-space representation which is further turned into a rational system and then embedded in a Structured Norm-bounded Linear Differential Inclusion. Many visual servoing requirements may be dealt with, e.g. global stability, avoidance of actuators' saturation, 3 D and image constraints. They often lead to Linear Matrix Inequalities.
{"title":"Handling visual servoing schemes through rational systems and LMIs","authors":"D. Bellot, P. Danès","doi":"10.1109/CDC.2001.980419","DOIUrl":"https://doi.org/10.1109/CDC.2001.980419","url":null,"abstract":"This paper proposes a general framework for the analysis and the synthesis of multicriteria visual-based servocontrol schemes. The approach allows to consider position-based or feature-based controllers which can be static, dynamic or gain-scheduled. The visual servoing problem is stated under a state-space representation which is further turned into a rational system and then embedded in a Structured Norm-bounded Linear Differential Inclusion. Many visual servoing requirements may be dealt with, e.g. global stability, avoidance of actuators' saturation, 3 D and image constraints. They often lead to Linear Matrix Inequalities.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128875735","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}
In this paper we develop results for analysis and synthesis of networked control systems. Specifically, we consider distributed control in a so-called linear parameter-varying setting. Operator theoretic tools for working with these systems are developed, and lead to sufficient convex conditions for analysis and synthesis with respect to the l/sub 2/-induced norm.
{"title":"Networked control of distributed systems","authors":"A. Stubbs, G. Dullerud","doi":"10.1109/CDC.2001.980098","DOIUrl":"https://doi.org/10.1109/CDC.2001.980098","url":null,"abstract":"In this paper we develop results for analysis and synthesis of networked control systems. Specifically, we consider distributed control in a so-called linear parameter-varying setting. Operator theoretic tools for working with these systems are developed, and lead to sufficient convex conditions for analysis and synthesis with respect to the l/sub 2/-induced norm.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127870985","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}
Describes the realization of a remote laboratory of automatic control developed at the University of Siena. The Automatic Control Telelab (ACT) allows the on-line interaction between remote users and a set of remote physical processes through the Internet. The key feature of this project is the user-defined controller facility. The remote user can design his/her own controller through the well-known Simulink environment. The overall architecture of the Automatic Control Telelaboratory has been designed with the goal of simplifying the upgrading procedure and the procedures to add new experiments.
{"title":"The Automatic Control Telelab: a remote control engineering laboratory","authors":"M. Casini, D. Prattichizzo, A. Vicino","doi":"10.1109/CDC.2001.980319","DOIUrl":"https://doi.org/10.1109/CDC.2001.980319","url":null,"abstract":"Describes the realization of a remote laboratory of automatic control developed at the University of Siena. The Automatic Control Telelab (ACT) allows the on-line interaction between remote users and a set of remote physical processes through the Internet. The key feature of this project is the user-defined controller facility. The remote user can design his/her own controller through the well-known Simulink environment. The overall architecture of the Automatic Control Telelaboratory has been designed with the goal of simplifying the upgrading procedure and the procedures to add new experiments.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"439 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131675629","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}
An alternative framework for control design is presented in this paper. It compliments the existing theory in that: 1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; 2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity. An overview of this design philosophy and associated algorithms are first introduced, followed by the summaries of preliminary analysis results and practical applications. It is evident that the proposed framework lends itself well in providing innovative solutions to practical problems while maintaining the simplicity and the intuitiveness of the existing technology, namely PID.
{"title":"An alternative paradigm for control system design","authors":"Zhiqiang Gao, Yi Huang, Jingqing Han","doi":"10.1109/CDC.2001.980926","DOIUrl":"https://doi.org/10.1109/CDC.2001.980926","url":null,"abstract":"An alternative framework for control design is presented in this paper. It compliments the existing theory in that: 1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; 2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity. An overview of this design philosophy and associated algorithms are first introduced, followed by the summaries of preliminary analysis results and practical applications. It is evident that the proposed framework lends itself well in providing innovative solutions to practical problems while maintaining the simplicity and the intuitiveness of the existing technology, namely PID.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115344727","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}
Self-excited vibration, so called chatter, is known to cause detrimental effects on the machined surface finish and to decrease the machining efficiency. In this paper, in order for chatter suppression, a piezoactuator is introduced for the regulation of the machine tool displacement. In order for the ultra-precision control in turning via piezoactuator, a model with hysteretic nonlinearity accounting for the dynamics of turning process, cutting tool and piezoactuator is presented. With this model, a robust adaptive controller for the metal cutting system of ultra-precision is proposed and the simulation results shows that the proposed adaptive controller significantly eliminates the chatter phenomena.
{"title":"Chatter suppression with adaptive control in turning metal via application of piezoactuator","authors":"Jingchuan Pan, C. Su","doi":"10.1109/CDC.2001.980628","DOIUrl":"https://doi.org/10.1109/CDC.2001.980628","url":null,"abstract":"Self-excited vibration, so called chatter, is known to cause detrimental effects on the machined surface finish and to decrease the machining efficiency. In this paper, in order for chatter suppression, a piezoactuator is introduced for the regulation of the machine tool displacement. In order for the ultra-precision control in turning via piezoactuator, a model with hysteretic nonlinearity accounting for the dynamics of turning process, cutting tool and piezoactuator is presented. With this model, a robust adaptive controller for the metal cutting system of ultra-precision is proposed and the simulation results shows that the proposed adaptive controller significantly eliminates the chatter phenomena.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115383890","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}
Actuator failure compensation for nonlinear systems which can be transformed into parametric strict-feedback form with zero dynamics is investigated. Direct adaptive compensation control schemes are developed to ensure asymptotic output tracking and stabilize the system despite the uncertainties in actuator failures as well as in system parameters. Two main cases are studied for adaptive actuator failure compensation: systems with stable zero dynamics, and systems with extra controls for stabilization. Design conditions on systems suitable for actuator failure compensation are clarified.
{"title":"Adaptive actuator failure compensation control of parametric strict-feedback systems with zero dynamics","authors":"Xidong Tang, G. Tao, S. Joshi","doi":"10.1109/CDC.2001.980550","DOIUrl":"https://doi.org/10.1109/CDC.2001.980550","url":null,"abstract":"Actuator failure compensation for nonlinear systems which can be transformed into parametric strict-feedback form with zero dynamics is investigated. Direct adaptive compensation control schemes are developed to ensure asymptotic output tracking and stabilize the system despite the uncertainties in actuator failures as well as in system parameters. Two main cases are studied for adaptive actuator failure compensation: systems with stable zero dynamics, and systems with extra controls for stabilization. Design conditions on systems suitable for actuator failure compensation are clarified.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124162581","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}
Autonomous robotic systems are often tasked in the role of actively searching to find a target or set of targets which are to be either rescued, observed, or destroyed. In carrying out these missions, the vehicle must be capable of dealing with dynamic and possibly adversarial environments, which tend to foil or disrupt its intentions. As a step in this direction, the paper describes the application of a path planning technique rooted in simulated evolution to a number of scenarios of increasing complexity, which attempt to model various aspects of such an environment. The results presented illustrate the ability of this algorithmic approach to efficiently search simultaneously in space and time to deliver feasible, near-optimal solutions to problems involving varying terrain, dynamic obstacles, and moving targets. In doing so, we highlight the features of the evolution-based approach which make it particularly attractive for handling environments of arbitrary complexity.
{"title":"Navigating annoying environments through evolution","authors":"B. Capozzi, J. Vagners","doi":"10.1109/CDC.2001.980177","DOIUrl":"https://doi.org/10.1109/CDC.2001.980177","url":null,"abstract":"Autonomous robotic systems are often tasked in the role of actively searching to find a target or set of targets which are to be either rescued, observed, or destroyed. In carrying out these missions, the vehicle must be capable of dealing with dynamic and possibly adversarial environments, which tend to foil or disrupt its intentions. As a step in this direction, the paper describes the application of a path planning technique rooted in simulated evolution to a number of scenarios of increasing complexity, which attempt to model various aspects of such an environment. The results presented illustrate the ability of this algorithmic approach to efficiently search simultaneously in space and time to deliver feasible, near-optimal solutions to problems involving varying terrain, dynamic obstacles, and moving targets. In doing so, we highlight the features of the evolution-based approach which make it particularly attractive for handling environments of arbitrary complexity.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124547617","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}
An alternative method for gain scheduling is considered, based on so called affine linear parameter varying systems (LPV) and an /spl Hscr//sub /spl infin//-like method. It is shown that the necessary constraints for existence of such a controller can be reduced. This decreases the computational burden, in the process of finding a controller. The method is illustrated by application to a 3-state Moore-Greitzer compressor model. The nonlinear model is rewritten as a so called quasi-LPV system which the control synthesis is based on, and the derived controller is simulated with the nonlinear model.
{"title":"Gain scheduling via affine linear parameter-varying systems and /spl Hscr//sub /spl infin// synthesis","authors":"F. Bruzelius, C. Breitholtz","doi":"10.1109/CDC.2001.980619","DOIUrl":"https://doi.org/10.1109/CDC.2001.980619","url":null,"abstract":"An alternative method for gain scheduling is considered, based on so called affine linear parameter varying systems (LPV) and an /spl Hscr//sub /spl infin//-like method. It is shown that the necessary constraints for existence of such a controller can be reduced. This decreases the computational burden, in the process of finding a controller. The method is illustrated by application to a 3-state Moore-Greitzer compressor model. The nonlinear model is rewritten as a so called quasi-LPV system which the control synthesis is based on, and the derived controller is simulated with the nonlinear model.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114308194","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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