Pub Date : 1993-06-02DOI: 10.23919/ACC.1993.4792877
E. Zafiriou, Hung-Wen Chiou
The presence of constraints in the on-line optimization problem solved by Model Predictive Control algorithms results in a nonlinear control system, even if the plant and model dynamics are linear. This is the case both for physical constraints, like saturation constraints, as well for performance or safety constraints on outputs or other variables of the process. Performance constraints can usually be softened by allowing violation if necessary. This is advisable, as hard constraints can lead to stability problems. The determination of the necessary degree of softening is usually a trial-and-error matter. This paper utilizes a theoretical framework that allows to relate hard as well as soft constraints to closed-loop stability. We focus on the special case of output constraints for single-input single-output systems and develop a non-conservative condition. This condition allows the determination of the appropriate amount of softening either numerically or via a suitable Nyquist plot.
{"title":"Output Constraint Softening for SISO Model Predictive Control","authors":"E. Zafiriou, Hung-Wen Chiou","doi":"10.23919/ACC.1993.4792877","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792877","url":null,"abstract":"The presence of constraints in the on-line optimization problem solved by Model Predictive Control algorithms results in a nonlinear control system, even if the plant and model dynamics are linear. This is the case both for physical constraints, like saturation constraints, as well for performance or safety constraints on outputs or other variables of the process. Performance constraints can usually be softened by allowing violation if necessary. This is advisable, as hard constraints can lead to stability problems. The determination of the necessary degree of softening is usually a trial-and-error matter. This paper utilizes a theoretical framework that allows to relate hard as well as soft constraints to closed-loop stability. We focus on the special case of output constraints for single-input single-output systems and develop a non-conservative condition. This condition allows the determination of the appropriate amount of softening either numerically or via a suitable Nyquist plot.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"17 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":"126495194","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.1993.4793243
Garng M. Huang, S. Hsieh
A parallel textured algorithm, the sufficient conditions for the algorithm to converge to its true solution and its proof are described in our earlier papers [1]-[2]. In this paper, we provide some examples to illustrate the basic ideas behind the exact convergence conditions, and show when they will be violated and how the violations impact on the convergence.
{"title":"Some Examples to Illustrate The Exact Convergence Theorem of A Parallel Textured Algorithm for Constrained Economic Dispatch Control Problems","authors":"Garng M. Huang, S. Hsieh","doi":"10.23919/ACC.1993.4793243","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793243","url":null,"abstract":"A parallel textured algorithm, the sufficient conditions for the algorithm to converge to its true solution and its proof are described in our earlier papers [1]-[2]. In this paper, we provide some examples to illustrate the basic ideas behind the exact convergence conditions, and show when they will be violated and how the violations impact on the convergence.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"80 6 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":"128157895","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.1993.4793127
F. Lewis, H.-H. Huang, S. Jagannathan
A modern systems theory point of view is offered for the design of sequencing controllers for discrete event manufacturing systems. The controller is an intelligent rule-based system with inner loops where no conflict resolution (CR) is required and outer loops where CR is needed. The CR approach ensures that the closed-loop system is decision-free. The most suitable CR strategy depends on the-performance desired from the system.
{"title":"A Systems Approach to Discrete Event Controller Design for Manufacturing Systems Control","authors":"F. Lewis, H.-H. Huang, S. Jagannathan","doi":"10.23919/ACC.1993.4793127","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793127","url":null,"abstract":"A modern systems theory point of view is offered for the design of sequencing controllers for discrete event manufacturing systems. The controller is an intelligent rule-based system with inner loops where no conflict resolution (CR) is required and outer loops where CR is needed. The CR approach ensures that the closed-loop system is decision-free. The most suitable CR strategy depends on the-performance desired from the system.","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":"121799956","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.1993.4793399
Yaguang Yang, A. Tits
The convergence of a robust pole assignment algorithm due to Kautsky et al. is established. A related algorithm is proposed that allows assignment of complex poles. Preliminary test results suggest that the new algorithm may produce better results than previously proposed schemes.
{"title":"On Robust Pole Assignment by State Feedback","authors":"Yaguang Yang, A. Tits","doi":"10.23919/ACC.1993.4793399","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793399","url":null,"abstract":"The convergence of a robust pole assignment algorithm due to Kautsky et al. is established. A related algorithm is proposed that allows assignment of complex poles. Preliminary test results suggest that the new algorithm may produce better results than previously proposed schemes.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"43 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":"115854176","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.1993.4176200
P. Dupont, Eric P. Dunlap
It has been known for many years that stick-slip can often be eliminated from a system by stiffening it. More recently, it has been shown that for a negatively-sloped friction-velocity curve, a frictional lag must be present for machine stiffness to produce this stabilizing effect [2,10]. In this paper, experiments involving dry and lubricated line contacts of hardened tool steel are described and a state variable friction model possessing this lag is fit to the data. The model and associated parameter values provide a means for computing lower bounds on the PD gains necessary for steady motion in the boundary lubrication regime.
{"title":"Friction Modeling and Control in Boundary Lubrication","authors":"P. Dupont, Eric P. Dunlap","doi":"10.1109/ACC.1993.4176200","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176200","url":null,"abstract":"It has been known for many years that stick-slip can often be eliminated from a system by stiffening it. More recently, it has been shown that for a negatively-sloped friction-velocity curve, a frictional lag must be present for machine stiffness to produce this stabilizing effect [2,10]. In this paper, experiments involving dry and lubricated line contacts of hardened tool steel are described and a state variable friction model possessing this lag is fit to the data. The model and associated parameter values provide a means for computing lower bounds on the PD gains necessary for steady motion in the boundary lubrication regime.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 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":"131364259","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.1993.4175888
S. Shahruz, A. Imam
In this note, we prove that the displacement of a linearly damped string under bounded distributed forces is bounded. The proof is achieved by showing that an energy-like (Lyapunov) function of the string is bounded.
{"title":"Bounded-Input Bounded-Output Stability of Damped Linear Strings","authors":"S. Shahruz, A. Imam","doi":"10.1109/ACC.1993.4175888","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175888","url":null,"abstract":"In this note, we prove that the displacement of a linearly damped string under bounded distributed forces is bounded. The proof is achieved by showing that an energy-like (Lyapunov) function of the string is bounded.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"30 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132027158","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.1993.4793067
P. Meckl, R. Shoureshi
A laboratory project experiment is described which forms part of a course on microprocessors in electromechanical systems. This course teaches the fundamentals of microprocessor architectures, instruction sets, and interfacing with peripherals. A large portion of the laboratory is devoted to real-time measurement and control of physical processes. The semi-active vibration control project described here teaches students the concept of modifying a system parameter under computer control in order to minimize vibration transmission through the system. It also gives the students an appreciation for working with real systems, including the need for calibration and modeling.
{"title":"Laboratory Project in Semi-Active Vibration Control","authors":"P. Meckl, R. Shoureshi","doi":"10.23919/ACC.1993.4793067","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793067","url":null,"abstract":"A laboratory project experiment is described which forms part of a course on microprocessors in electromechanical systems. This course teaches the fundamentals of microprocessor architectures, instruction sets, and interfacing with peripherals. A large portion of the laboratory is devoted to real-time measurement and control of physical processes. The semi-active vibration control project described here teaches students the concept of modifying a system parameter under computer control in order to minimize vibration transmission through the system. It also gives the students an appreciation for working with real systems, including the need for calibration and modeling.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"16 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":"132223770","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.1993.4793291
E. C. Gwo, J. Hauser
In this paper, we use B-splines to smooth a given desired trajectory so that it can be more effectively tracked by an approximately feedback linearized system. After choosing the order of B-splines and doing optimization, the resulting smooth approximate trajectory is close to the specified trajectory within a given allowance, and the aggressiveness of this approximate trajectory is minimized.
{"title":"Trajectory Planning for Approximately Feedback Linearized Systems","authors":"E. C. Gwo, J. Hauser","doi":"10.23919/ACC.1993.4793291","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793291","url":null,"abstract":"In this paper, we use B-splines to smooth a given desired trajectory so that it can be more effectively tracked by an approximately feedback linearized system. After choosing the order of B-splines and doing optimization, the resulting smooth approximate trajectory is close to the specified trajectory within a given allowance, and the aggressiveness of this approximate trajectory is minimized.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"19 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":"132304229","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.1993.4176020
M. Grimble
A solution is obtained to the standard sub-optimal discrete H∞ control problem using a polynomial systems approach. The solution is the polynomial equivalent of the DGKF Riccati equation solution of the H∞ control problem. The assumption is made that the system states are available for feedback.
{"title":"Discrete polynomial matrix solution of the standard state-feedback H∞ control problem","authors":"M. Grimble","doi":"10.1109/ACC.1993.4176020","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176020","url":null,"abstract":"A solution is obtained to the standard sub-optimal discrete H<sub>∞</sub> control problem using a polynomial systems approach. The solution is the polynomial equivalent of the DGKF Riccati equation solution of the H<sub>∞</sub> control problem. The assumption is made that the system states are available for feedback.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 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":"130188196","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.1993.4792962
G. Quick, P. Muller
This paper describes a system for high accuracy measurement of robot axis position using CCD image sensors and a set of laser-beams driven by an additional motor. The system works during normal operation such that the measurements can be used for axis control. The principle is explained on a single flexible link. With the given system of sensors and control, it is possible to realize a robot with high absolute positional accuracy.
{"title":"An Optical Measurement System for High Accuracy Positioning of Robots","authors":"G. Quick, P. Muller","doi":"10.23919/ACC.1993.4792962","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792962","url":null,"abstract":"This paper describes a system for high accuracy measurement of robot axis position using CCD image sensors and a set of laser-beams driven by an additional motor. The system works during normal operation such that the measurements can be used for axis control. The principle is explained on a single flexible link. With the given system of sensors and control, it is possible to realize a robot with high absolute positional accuracy.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"31 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":"134206478","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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