Pub Date : 1993-06-02DOI: 10.23919/ACC.1993.4793218
R. Furness, A. Galip Ulsoy, C. Wu
A supervisory process control approach to machining is presented in this paper, and demonstrated by application to a drilling operation. Supervisory process control incorporates optimization and control functions in a hierarchical structure. This approach utilizes feedback measurements to parameterize the constraints of a process optimization problem whose solution determines both strategies and references for process control. For this particular drilling operation, a three-phase strategy (utilizing a combination of feed, speed, and torque control) evolved due to the inherent variation in constraint activity as a function of hole depth. A controller comparison study was conducted which demonstrates the advantages of this approach compared to (1) "conventional" drilling control, (2) feed and speed controlled drilling, and (3) torque and speed controlled drilling. Benefits of reduced machining time, improved hole quality, and the elimination of tool breakage are demonstrated, and the potential economic impact is highlighted for an example production application.
{"title":"Supervisory Control of Drilling","authors":"R. Furness, A. Galip Ulsoy, C. Wu","doi":"10.23919/ACC.1993.4793218","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793218","url":null,"abstract":"A supervisory process control approach to machining is presented in this paper, and demonstrated by application to a drilling operation. Supervisory process control incorporates optimization and control functions in a hierarchical structure. This approach utilizes feedback measurements to parameterize the constraints of a process optimization problem whose solution determines both strategies and references for process control. For this particular drilling operation, a three-phase strategy (utilizing a combination of feed, speed, and torque control) evolved due to the inherent variation in constraint activity as a function of hole depth. A controller comparison study was conducted which demonstrates the advantages of this approach compared to (1) \"conventional\" drilling control, (2) feed and speed controlled drilling, and (3) torque and speed controlled drilling. Benefits of reduced machining time, improved hole quality, and the elimination of tool breakage are demonstrated, and the potential economic impact is highlighted for an example production application.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"35 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":"133808353","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.1993.4792943
E. Laukonen, S. Yurkovich
This paper describes a case study from conception through final experimental design of a ball and beam testbed for comparison of conventional and fuzzy control techniques. Control objectives include quick and accurate positioning of the ball to a specified location along the platform. Conventional linear control techniques were employed in simulation and then applied to the experimental apparatus. For comparison purposes, techniques in fuzzy control were utilized in developing alternative control algorithms. Significant non-linearities, such as discrete position sensing capabilities, are designed into the experiemtnal ball and beam apparatus in order to compare control effectiveness when transfering control designs from simulation to a real world testbed.
{"title":"A Ball and Beam Testbed for Fuzzy Identification and Control Design","authors":"E. Laukonen, S. Yurkovich","doi":"10.23919/ACC.1993.4792943","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792943","url":null,"abstract":"This paper describes a case study from conception through final experimental design of a ball and beam testbed for comparison of conventional and fuzzy control techniques. Control objectives include quick and accurate positioning of the ball to a specified location along the platform. Conventional linear control techniques were employed in simulation and then applied to the experimental apparatus. For comparison purposes, techniques in fuzzy control were utilized in developing alternative control algorithms. Significant non-linearities, such as discrete position sensing capabilities, are designed into the experiemtnal ball and beam apparatus in order to compare control effectiveness when transfering control designs from simulation to a real world testbed.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"80 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":"115541286","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.1993.4175786
Pin-Lin Liu, T. Su, J. Chou
The sufficient stability criterion for perturbed large-scale discrete systems is presented. The explicit bound on linear perturbations with highly structured information is obtained. An example is given to illustrate the application of the presented result.
{"title":"Robust Stability Analysis for Perturbed Large-Scale Discrete Systems","authors":"Pin-Lin Liu, T. Su, J. Chou","doi":"10.1109/ACC.1993.4175786","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175786","url":null,"abstract":"The sufficient stability criterion for perturbed large-scale discrete systems is presented. The explicit bound on linear perturbations with highly structured information is obtained. An example is given to illustrate the application of the presented result.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"24 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":"115607544","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.1993.4176076
B. Ghosh
In this paper we consider the problem of motion and shape estimation, of a planar textured surface undergoing a rigid flow, with the aid of a monocular camera. We show that the estimation problem reduces to a specific parameter estimation of a perspective dynamical system. Surprisingly, the above reduction is independent of whether or not the data measured is the brightness pattern which the object produces on the image plane or whether the data observed are points, lines or curves on the image plane produced as a result of discontinuities in the brightness pattern. The basic procedure introduced for parameter estimation is to subdivide the problem into two modules, one for spatial averaging and the other for time averaging. The estimation procedure is carried out with the aid of a new "Realization Theory" for perspective systems.
{"title":"Image Based Estimation Problems in System Theory: Motion and Shape Estimation of a Planar Textured Surface Undergoing a Rigid Flow","authors":"B. Ghosh","doi":"10.1109/ACC.1993.4176076","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176076","url":null,"abstract":"In this paper we consider the problem of motion and shape estimation, of a planar textured surface undergoing a rigid flow, with the aid of a monocular camera. We show that the estimation problem reduces to a specific parameter estimation of a perspective dynamical system. Surprisingly, the above reduction is independent of whether or not the data measured is the brightness pattern which the object produces on the image plane or whether the data observed are points, lines or curves on the image plane produced as a result of discontinuities in the brightness pattern. The basic procedure introduced for parameter estimation is to subdivide the problem into two modules, one for spatial averaging and the other for time averaging. The estimation procedure is carried out with the aid of a new \"Realization Theory\" for perspective systems.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"4 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":"115707959","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.1993.4175815
S. Sheikholeslam
We consider the class of nonlinear dynamical systems whose dynamics depends linearly on the unknown parameter vector. After reviewing a standard observer-based identifier for estimating the unknown parameters, we propose a family of new identifiers which exploit the a priori known parameter dependencies. Then, we establish that, under mild assumptions on the dynamical system, a) the proposed identifiers are stable, and b) the weighted norm of state-parameter errors using the proposed identifiers are less than the corresponding errors using the standard identifier, for a length of time after t = 0. The main contribution of this paper is that it introduces a family of observer-based identifiers which exhibit better transient performance than the standard identifier.
{"title":"Observer-Based Parameter Identifiers for Nonlinear Systems with Parameter Dependencies","authors":"S. Sheikholeslam","doi":"10.1109/ACC.1993.4175815","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175815","url":null,"abstract":"We consider the class of nonlinear dynamical systems whose dynamics depends linearly on the unknown parameter vector. After reviewing a standard observer-based identifier for estimating the unknown parameters, we propose a family of new identifiers which exploit the a priori known parameter dependencies. Then, we establish that, under mild assumptions on the dynamical system, a) the proposed identifiers are stable, and b) the weighted norm of state-parameter errors using the proposed identifiers are less than the corresponding errors using the standard identifier, for a length of time after t = 0. The main contribution of this paper is that it introduces a family of observer-based identifiers which exhibit better transient performance than the standard identifier.","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":"115811701","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.1993.4176037
Yueh-Jaw Lin, T. Lee
In this paper a control law which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator is presented. The nonlinear effects negotiator is used to enhance the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed. This method is mainly based on mathematical reasoning. In addition, the degree of overlap of membership functions for fuzzy rules is investigated. The optimal overlap of membership functions that results in the best performance of the robot is obtained. Moreover, the nonlinear effects of a typical robot motion, such as friction, backlash and external disturbances, are simulated by a sine function with randonmized amplitude and phase in the motion simulation. The results show that the proposed control scheme is robust in that it can cope with modeling uncertainty, nonlinearity, and disturbances due to payload variations simultaneously.
{"title":"Modeling for Fuzzy Logic Control of Deformable Manipulators","authors":"Yueh-Jaw Lin, T. Lee","doi":"10.1109/ACC.1993.4176037","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176037","url":null,"abstract":"In this paper a control law which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator is presented. The nonlinear effects negotiator is used to enhance the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed. This method is mainly based on mathematical reasoning. In addition, the degree of overlap of membership functions for fuzzy rules is investigated. The optimal overlap of membership functions that results in the best performance of the robot is obtained. Moreover, the nonlinear effects of a typical robot motion, such as friction, backlash and external disturbances, are simulated by a sine function with randonmized amplitude and phase in the motion simulation. The results show that the proposed control scheme is robust in that it can cope with modeling uncertainty, nonlinearity, and disturbances due to payload variations simultaneously.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"14 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":"124122582","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.1993.4792804
C. Tolle, Armando A. Rodriguez
The motivation for the work is aircraft guidance in a time controlled air traffic management system (ATM). This paper discusses two forms of optimal dynamic interpolation guidance (ODIG) and the effects of turbulence on its performance. The first form of ODIG is based on a cost functional that penalizes acceleration. The second form of ODIG penalizes both acceleration and velocaty excursion. Both have been applied to the L1011-100 vertical guidance problem in the presence of turbulence (the Dryden turbulence model was used). A flight management system's (FMS) vertical flight plan is used to obtain waypoints which serve as inputs to the ODIG algorithm. The algorithm produces reference commands which are issued to a certified FAA L1011-100 model and an autopilot. The resulting dynamic behavior is compared to the results obtained from reference commands produced by an L1011-like commercial aircaft's flight management system model (FMSM) under the same turbulence.
{"title":"Vertical Guidance in Turbulence using Optimal Dynamic Interpolation With Application to a Lockheed L1011-100","authors":"C. Tolle, Armando A. Rodriguez","doi":"10.23919/ACC.1993.4792804","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792804","url":null,"abstract":"The motivation for the work is aircraft guidance in a time controlled air traffic management system (ATM). This paper discusses two forms of optimal dynamic interpolation guidance (ODIG) and the effects of turbulence on its performance. The first form of ODIG is based on a cost functional that penalizes acceleration. The second form of ODIG penalizes both acceleration and velocaty excursion. Both have been applied to the L1011-100 vertical guidance problem in the presence of turbulence (the Dryden turbulence model was used). A flight management system's (FMS) vertical flight plan is used to obtain waypoints which serve as inputs to the ODIG algorithm. The algorithm produces reference commands which are issued to a certified FAA L1011-100 model and an autopilot. The resulting dynamic behavior is compared to the results obtained from reference commands produced by an L1011-like commercial aircaft's flight management system model (FMSM) under the same turbulence.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"38 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":"124385108","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.1993.4793325
H. Wang, S. Daley
Based on the recently developed parametric feedback design methods for linear time invariant systems (LTIS), this paper presents a sub-optimal state feedback controller for LTIS involving structured real-valued plant parameter uncertainties. Based upon an optimality for the parametric feedback to be LQR optimal, a new performance index function, Jr, for the measure of both robustness and dynamic performance, is constructed. By minimizing Jr, a sub-optimal state feedback controller with higher robustness than that of the LQR controller under the performance index function Jl. A simulation example of a fifth-order system with structure uncertainties is considered and desirable results are obtained.
{"title":"Improving the Robustness of Multivariable Linear Quadratic Regulator via Parametric Design","authors":"H. Wang, S. Daley","doi":"10.23919/ACC.1993.4793325","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793325","url":null,"abstract":"Based on the recently developed parametric feedback design methods for linear time invariant systems (LTIS), this paper presents a sub-optimal state feedback controller for LTIS involving structured real-valued plant parameter uncertainties. Based upon an optimality for the parametric feedback to be LQR optimal, a new performance index function, Jr, for the measure of both robustness and dynamic performance, is constructed. By minimizing Jr, a sub-optimal state feedback controller with higher robustness than that of the LQR controller under the performance index function Jl. A simulation example of a fifth-order system with structure uncertainties is considered and desirable results are obtained.","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":"114579248","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.1993.4793267
K. Goh, M. Safonov
The phenomenon of H∞ controller-pole/plant-zero cancellation is analyzed. Symmetrical descriptor form formulae for the H∞ central controller are derived and are used to prove controller-pole/plant-zero cancellation in H∞ design. It is also shown that these particular controller poles are not controllable/observable from the auxiliary compensator/free parameter. This fact is then exploited to find an auxiliary compensator which will produce an internal pole-zero cancellation of so within the H∞ controller, reducing the order of the controller without affecting the closed loop H∞ norm.
{"title":"Connection between plant zeros and H∞ controller order reduction","authors":"K. Goh, M. Safonov","doi":"10.23919/ACC.1993.4793267","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793267","url":null,"abstract":"The phenomenon of H<sup>∞</sup> controller-pole/plant-zero cancellation is analyzed. Symmetrical descriptor form formulae for the H<sup>∞</sup> central controller are derived and are used to prove controller-pole/plant-zero cancellation in H<sup>∞</sup> design. It is also shown that these particular controller poles are not controllable/observable from the auxiliary compensator/free parameter. This fact is then exploited to find an auxiliary compensator which will produce an internal pole-zero cancellation of s<sub>o</sub> within the H<sup>∞</sup> controller, reducing the order of the controller without affecting the closed loop H<sup>∞</sup> norm.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"38 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":"114985398","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.1993.4792813
Feei Wang, D. Abramovitch, G. Franklin
A method has been developed to help verify system models and measurements and identify system nonlinearities. This method involves measuring the response of physical systems with a swept sine measurement device, such as the HP3562(3) A Control Systems Analyzer (CSA)1, and simulating system models with a dynamic system simulation tool, such as SIMULINK, using swept sine input. The input-output time sequences obtained from the simulations are analyzed in a similar fashion as done by the CSA to enable more accurate comparisons. A parallelism between swept sine measurements and describing functions is exploited to allow this method to be used in identifying nonlinear systems. Using the measured and simulated frequency response functions as a guide the designer can iteratively improve the model of the system and verify the correctness of the measurements.
{"title":"A Method for Verifying Measurements and Models of Linear and Nonlinear Systems","authors":"Feei Wang, D. Abramovitch, G. Franklin","doi":"10.23919/ACC.1993.4792813","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792813","url":null,"abstract":"A method has been developed to help verify system models and measurements and identify system nonlinearities. This method involves measuring the response of physical systems with a swept sine measurement device, such as the HP3562(3) A Control Systems Analyzer (CSA)1, and simulating system models with a dynamic system simulation tool, such as SIMULINK, using swept sine input. The input-output time sequences obtained from the simulations are analyzed in a similar fashion as done by the CSA to enable more accurate comparisons. A parallelism between swept sine measurements and describing functions is exploited to allow this method to be used in identifying nonlinear systems. Using the measured and simulated frequency response functions as a guide the designer can iteratively improve the model of the system and verify the correctness of the measurements.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"25 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":"115037881","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：