Pub Date : 1993-06-02DOI: 10.23919/ACC.1993.4793046
S. Sundaramoorthy, N. R. Neelakantan, C. D. Rao
This paper deals with the real time implementation of Fuzzy logic controllers on a liquid level control system. By applying fuzzy logic controller based on two different rule sets, it is shown that the selection of proper rules is critical for acheiving good system performance. The ability of the Self-organising fuzzy logic controller(SOFLC) to learn and modify a crude set of rules to acheive a good performance is demonstrated. The SOFLC algorithm used in this work needs less computation time and hence suitable for real time control applications.
{"title":"Self-Organising Fuzzy Logic Control of a Liquid Level Process","authors":"S. Sundaramoorthy, N. R. Neelakantan, C. D. Rao","doi":"10.23919/ACC.1993.4793046","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793046","url":null,"abstract":"This paper deals with the real time implementation of Fuzzy logic controllers on a liquid level control system. By applying fuzzy logic controller based on two different rule sets, it is shown that the selection of proper rules is critical for acheiving good system performance. The ability of the Self-organising fuzzy logic controller(SOFLC) to learn and modify a crude set of rules to acheive a good performance is demonstrated. The SOFLC algorithm used in this work needs less computation time and hence suitable for real time control applications.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123202677","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793002
M. Saif
In this article, an approach for designing a reduced order estimator for a class of nonlinear systems driven by external completely unknown and time varying disturbances is presented. The estimator's error dynamics in this case is completely independent of the input. Necessary and sufficient conditions for existence of the estimator along with numerical examples are presented.
{"title":"A Disturbance Accommodating Estimator for Bilinear Systems","authors":"M. Saif","doi":"10.23919/ACC.1993.4793002","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793002","url":null,"abstract":"In this article, an approach for designing a reduced order estimator for a class of nonlinear systems driven by external completely unknown and time varying disturbances is presented. The estimator's error dynamics in this case is completely independent of the input. Necessary and sufficient conditions for existence of the estimator along with numerical examples are presented.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123732736","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 : 1993-06-02DOI: 10.1109/ACC.1993.4176160
J. A. Gutierrez, M. Rabins
An automated method for loopshaping a controller for linear, minimum-phase, uncertain systems in the frequency domain is presented. The method assumes the existence of lower bounds on the open loop transfer function as well as a stability robustness bound. For the example presented, the bounds on the open loop transfer function were generated using Quantitative Feedback Theory (QFT) techniques. The first part of the algorithm describes the search for points on the nominal open loop transfer function based on Bode's Theorems [2] and assumes that a rational transfer function can be made to pass through (or close to) the lower right corner of the stability robustness bound. After points for the nominal transfer function are found, points for the controller transfer function can be extracted from these. The second part of the algorithm, based again on Bode's Theorems, describes an iterative procedure to curve fit the controller data into a rational transfer function. Maintaining a low order for the compensator structure and assuring the rationality of the transfer function were the main concerns of the authors when developing the algorithm. Furthermore, because the decisions confronting the designer at any given time are of a very simple nature, the procedure can be extended into an automated computer algorithm. The computer package is developed in programming language "c" and its use is best illustrated with an example.
{"title":"A Computer Loopshaping Algorithm for Controllers for Minimum-Phase, Uncertain Systems Starting from QFT Type Bounds","authors":"J. A. Gutierrez, M. Rabins","doi":"10.1109/ACC.1993.4176160","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176160","url":null,"abstract":"An automated method for loopshaping a controller for linear, minimum-phase, uncertain systems in the frequency domain is presented. The method assumes the existence of lower bounds on the open loop transfer function as well as a stability robustness bound. For the example presented, the bounds on the open loop transfer function were generated using Quantitative Feedback Theory (QFT) techniques. The first part of the algorithm describes the search for points on the nominal open loop transfer function based on Bode's Theorems [2] and assumes that a rational transfer function can be made to pass through (or close to) the lower right corner of the stability robustness bound. After points for the nominal transfer function are found, points for the controller transfer function can be extracted from these. The second part of the algorithm, based again on Bode's Theorems, describes an iterative procedure to curve fit the controller data into a rational transfer function. Maintaining a low order for the compensator structure and assuring the rationality of the transfer function were the main concerns of the authors when developing the algorithm. Furthermore, because the decisions confronting the designer at any given time are of a very simple nature, the procedure can be extended into an automated computer algorithm. The computer package is developed in programming language \"c\" and its use is best illustrated with an example.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114369291","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793239
B. Ram, D. Pai
Today's manufacturing engineer needs to understand the basics of sequential controls as well as the details of interfacing controllers with production equipment in an automated manufacturing environment. A laboratory to address these needs has been implemented in the School of Engineeing at North Carolina A&T State University and is the subject of this paper. This laboratory employs a widely-used line of Programmable Logic Controllers to control robust table-top devices arranged to simulate a simple automated manufacturng environment.
{"title":"Sequential Control Laboratory for Manufacturing Engineering Education","authors":"B. Ram, D. Pai","doi":"10.23919/ACC.1993.4793239","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793239","url":null,"abstract":"Today's manufacturing engineer needs to understand the basics of sequential controls as well as the details of interfacing controllers with production equipment in an automated manufacturing environment. A laboratory to address these needs has been implemented in the School of Engineeing at North Carolina A&T State University and is the subject of this paper. This laboratory employs a widely-used line of Programmable Logic Controllers to control robust table-top devices arranged to simulate a simple automated manufacturng environment.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114525792","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793242
Keung-Koo Kim, J. E. Meyer, D. Lanning, J. Bernard
The design and evaluation of a controller that uses modelbased compensators to offset the inverse response behavior of water level in the steam generators of nuclear power plants is described. Included is a review of steam generator level dynamics, the development of a model that replicates the effects of feedwater and steam flowrate as well as temperature on steam generator level, the design of both the compensators and the overall controller, and the results of simulation studies in which the performance of this modelbased controller and existing analog ones were compared. The compensator-based controller is stable and its use significantly improves the controllability of steam generator level.
{"title":"Design and Evaluation of Model-Based Compensators for the Control of Steam Generator Level","authors":"Keung-Koo Kim, J. E. Meyer, D. Lanning, J. Bernard","doi":"10.23919/ACC.1993.4793242","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793242","url":null,"abstract":"The design and evaluation of a controller that uses modelbased compensators to offset the inverse response behavior of water level in the steam generators of nuclear power plants is described. Included is a review of steam generator level dynamics, the development of a model that replicates the effects of feedwater and steam flowrate as well as temperature on steam generator level, the design of both the compensators and the overall controller, and the results of simulation studies in which the performance of this modelbased controller and existing analog ones were compared. The compensator-based controller is stable and its use significantly improves the controllability of steam generator level.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116315361","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 : 1993-06-02DOI: 10.23919/ACC.1993.4792965
J. Nie, D. Linkens
This paper introduce a simple and systematic scheme capable of self-organizing and self-learning the required control knowledge for use with multivariable fuzzy controllers. The starting point of the approach is to structurally map a simplified fuzzy control algorithm (SFCA) into a counterpropagation network (CPN) in such a way that the control knowledge is explicitly represented in the form of connection weights of the nets, the control rule-base is gradually self-constructed with the fulfillment of the prespecified performance requirements, and finally the approximate reasoning is carried out by replacing a winner-take-all competitive scheme with a soft matching cooperative strategy. Two problems of multivariable control of blood pressure and anaesthesia have been studied as demonstration examples.
{"title":"Automatic Knowledege Acquisition for Multivariable Fuzzy Control Using Neural Network Approach","authors":"J. Nie, D. Linkens","doi":"10.23919/ACC.1993.4792965","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792965","url":null,"abstract":"This paper introduce a simple and systematic scheme capable of self-organizing and self-learning the required control knowledge for use with multivariable fuzzy controllers. The starting point of the approach is to structurally map a simplified fuzzy control algorithm (SFCA) into a counterpropagation network (CPN) in such a way that the control knowledge is explicitly represented in the form of connection weights of the nets, the control rule-base is gradually self-constructed with the fulfillment of the prespecified performance requirements, and finally the approximate reasoning is carried out by replacing a winner-take-all competitive scheme with a soft matching cooperative strategy. Two problems of multivariable control of blood pressure and anaesthesia have been studied as demonstration examples.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121573133","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 : 1993-06-02DOI: 10.1109/ACC.1993.4176377
F. Khorrami, Sandeep Jain, A. Tzes
Adaptive input precompensators in conjunction with nonlinear controllers for flexible-link manipulators are considered in this paper. The objective is to adaptively tune the parameters of the input preshaping scheme and the rigid-body based nonlinear inner-loop controller so that a vibration free output is achieved for payload variations and parameter uncertainties. Estimation of the vibrational modes and payload is done using the Empirical Transfer Function Estimate (ETFE) system identification algorithm. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers.
{"title":"Adaptive Nonlinear Control and Input Preshaping for Flexible-Link Manipulators; Control/Robotics Research Laboratory (CRRL)","authors":"F. Khorrami, Sandeep Jain, A. Tzes","doi":"10.1109/ACC.1993.4176377","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176377","url":null,"abstract":"Adaptive input precompensators in conjunction with nonlinear controllers for flexible-link manipulators are considered in this paper. The objective is to adaptively tune the parameters of the input preshaping scheme and the rigid-body based nonlinear inner-loop controller so that a vibration free output is achieved for payload variations and parameter uncertainties. Estimation of the vibrational modes and payload is done using the Empirical Transfer Function Estimate (ETFE) system identification algorithm. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121707175","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793251
R. Quan, D. Stech
A time varying extension of the passive vibration absorber is described. Lyapunov stability theory is used to show that the extended passive vibration absorber possesses unconditional closed loop stability, as in the case of the standard mass - spring - damper passive vibration absorber. Unlike the standard absorber, the extended absorber uses a switching scheme to target each mode directly. Computer simulations and experimental work on two mode structures are given, which demonstrate the effectiveness of the extended absorber.
{"title":"Time Varying Passive Vibration Absorption for Large Flexible Structures Equipped with Few Inertial Reaction Devices","authors":"R. Quan, D. Stech","doi":"10.23919/ACC.1993.4793251","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793251","url":null,"abstract":"A time varying extension of the passive vibration absorber is described. Lyapunov stability theory is used to show that the extended passive vibration absorber possesses unconditional closed loop stability, as in the case of the standard mass - spring - damper passive vibration absorber. Unlike the standard absorber, the extended absorber uses a switching scheme to target each mode directly. Computer simulations and experimental work on two mode structures are given, which demonstrate the effectiveness of the extended absorber.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124380880","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 : 1993-06-02DOI: 10.1109/ACC.1993.4176217
W. Larimore
New results are developed that give accuracy confidence bands based upon the parameter estimation error of system identification including the bias of model under-fitting. In this context, bias means the underestimation of model accuracy due to selection of the model state order than the true system order. It is shown that the optimal accuracy model is given by the model minimizing the Akaike information criterion (AIC), and that the bias is indicated by the behavior of the AIC as a function of model order beyond the minimum order. The resulting confidence bands are simultaneous so that they guarantee the system frequency response function lies entirely within the band for all frequencies with the stated probability. Such bands are then appropriate for guaranteeing robust stability and performance of robust controllers.
给出了基于系统辨识参数估计误差(包括模型欠拟合偏差)的精度置信区间的新结果。在这种情况下，偏差意味着由于选择模型状态顺序而不是真实系统顺序而对模型精度的低估。结果表明，最优精度模型是由最小化赤池信息准则(Akaike information criterion, AIC)的模型给出的，偏差是由AIC作为模型阶数超过最小阶数的函数的行为来表示的。所得到的置信带是同时的，因此它们保证系统的频响函数在所有频率下以规定的概率完全位于该带内。这样的频带适合于保证鲁棒控制器的鲁棒稳定性和性能。
{"title":"Accuracy Confidence Bands Including The Bias Of Model Under-Fitting","authors":"W. Larimore","doi":"10.1109/ACC.1993.4176217","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176217","url":null,"abstract":"New results are developed that give accuracy confidence bands based upon the parameter estimation error of system identification including the bias of model under-fitting. In this context, bias means the underestimation of model accuracy due to selection of the model state order than the true system order. It is shown that the optimal accuracy model is given by the model minimizing the Akaike information criterion (AIC), and that the bias is indicated by the behavior of the AIC as a function of model order beyond the minimum order. The resulting confidence bands are simultaneous so that they guarantee the system frequency response function lies entirely within the band for all frequencies with the stated probability. Such bands are then appropriate for guaranteeing robust stability and performance of robust controllers.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127835217","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793393
C. Zhou, P. Luh, D. Kleinman
Decisionmaking functions in many large scale systems are distributed over multiple human decisionmakers who may have access to resources at different locations and are responsible for processing randomly arriving tasks. This leads to a complex team resource allocation and coordination problem. This paper presents a mathematical model and a solution methodology to investigate human team task processing behaviors based on a laboratory experiment. The problem at the current stage of investigation is formulated as a centralized scheduling problem involving multiple tasks and multiple platforms (vehicles equipped with resources). The geographical factors (e.g., locations and velocities) and combination of platforms for task processing are considered. A solution methodology is developed by combining decision tree and the concept of "attractiveness measure." This method is then applied to solve the experimental cases, and the solution methodology generates results similar to those obtained from the human experiment and captures human decisionmaking behaviors. Further model-dats comparison reveals several hidden tendencies in human team behavior, e.g., human teams adapts to tempo by speeding up resource usage but sacrificing efficiency. This model and solution methodology will be extending to a distributed case to resemble the coordination between team members, and a normative-descriptive model will be developed to analyze human decisionmaking.
{"title":"Modeling Distributed Team Resource Allocation within A Geographical Environment","authors":"C. Zhou, P. Luh, D. Kleinman","doi":"10.23919/ACC.1993.4793393","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793393","url":null,"abstract":"Decisionmaking functions in many large scale systems are distributed over multiple human decisionmakers who may have access to resources at different locations and are responsible for processing randomly arriving tasks. This leads to a complex team resource allocation and coordination problem. This paper presents a mathematical model and a solution methodology to investigate human team task processing behaviors based on a laboratory experiment. The problem at the current stage of investigation is formulated as a centralized scheduling problem involving multiple tasks and multiple platforms (vehicles equipped with resources). The geographical factors (e.g., locations and velocities) and combination of platforms for task processing are considered. A solution methodology is developed by combining decision tree and the concept of \"attractiveness measure.\" This method is then applied to solve the experimental cases, and the solution methodology generates results similar to those obtained from the human experiment and captures human decisionmaking behaviors. Further model-dats comparison reveals several hidden tendencies in human team behavior, e.g., human teams adapts to tempo by speeding up resource usage but sacrificing efficiency. This model and solution methodology will be extending to a distributed case to resemble the coordination between team members, and a normative-descriptive model will be developed to analyze human decisionmaking.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126241221","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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