Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1655422
Brian P. Rigney, L. Pao, D. Lawrence
We compare the achievable settle time for small rest-to-rest maneuvers using two stable approximate model inversion output tracking methods: the zero phase error tracking controller (ZPETC) and noncausal series approximation. The plant dynamics of interest are known, discrete-time, single-input single-output (SISO), linear time-invariant (LTI), and nonminimum phase (NMP), with a single left-half-plane zero outside the unit circle. The approximate inversion methods are evaluated over a range of NMP zero locations and aggressive seek durations. Using a plant inverse (PI) architecture, we find that the ZPETC algorithm provides better settle performance for particular plants with a NMP zero near the unit circle. Conversely, the noncausal series approximation method achieves faster settle times when these plants' NMP zero is far from the unit circle. With a closed-loop inverse (CLI) architecture, both the series approximation and ZPETC algorithms yield faster settle times than either algorithm in PI, regardless of NMP zero location
{"title":"Settle time performance comparisons of stable approximate model inversion techniques","authors":"Brian P. Rigney, L. Pao, D. Lawrence","doi":"10.1109/ACC.2006.1655422","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655422","url":null,"abstract":"We compare the achievable settle time for small rest-to-rest maneuvers using two stable approximate model inversion output tracking methods: the zero phase error tracking controller (ZPETC) and noncausal series approximation. The plant dynamics of interest are known, discrete-time, single-input single-output (SISO), linear time-invariant (LTI), and nonminimum phase (NMP), with a single left-half-plane zero outside the unit circle. The approximate inversion methods are evaluated over a range of NMP zero locations and aggressive seek durations. Using a plant inverse (PI) architecture, we find that the ZPETC algorithm provides better settle performance for particular plants with a NMP zero near the unit circle. Conversely, the noncausal series approximation method achieves faster settle times when these plants' NMP zero is far from the unit circle. With a closed-loop inverse (CLI) architecture, both the series approximation and ZPETC algorithms yield faster settle times than either algorithm in PI, regardless of NMP zero location","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121734331","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657213
A. Ibeas, M. Sen, S. Alonso-Quesada
The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of the manuscript is to design a robust control law capable of improving the tracking of each robot to its corresponding reference model in comparison to existing controllers when the slave is interacting with an obstacle while guaranteeing closed-loop stability. In this way, a multiestimation-based adaptive controller is proposed. Thus, the control scheme for each robot is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Hence, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single estimation based controller is used. Finally, some simulation examples showing the working of the multiestimation scheme complete the paper
{"title":"A robust multiestimation based stable adaptive control scheme for a tandem of master-slave robotic manipulators with force reflection","authors":"A. Ibeas, M. Sen, S. Alonso-Quesada","doi":"10.1109/ACC.2006.1657213","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657213","url":null,"abstract":"The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of the manuscript is to design a robust control law capable of improving the tracking of each robot to its corresponding reference model in comparison to existing controllers when the slave is interacting with an obstacle while guaranteeing closed-loop stability. In this way, a multiestimation-based adaptive controller is proposed. Thus, the control scheme for each robot is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Hence, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single estimation based controller is used. Finally, some simulation examples showing the working of the multiestimation scheme complete the paper","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115911108","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 : 2006-06-14DOI: 10.1080/00207170701644124
L. Imsland, J. Rossiter, B. Pluymers, J. Suykens
This paper reviews triple mode predictive control for LTI systems, and proposes a new algorithm for robust triple mode predictive control for constrained linear systems described by polytopic uncertainty models. The approach significantly enlarges the feasibility region compared to robust dual mode approaches. The efficacy of the approach is demonstrated with numerical examples
{"title":"Robust triple mode MPC","authors":"L. Imsland, J. Rossiter, B. Pluymers, J. Suykens","doi":"10.1080/00207170701644124","DOIUrl":"https://doi.org/10.1080/00207170701644124","url":null,"abstract":"This paper reviews triple mode predictive control for LTI systems, and proposes a new algorithm for robust triple mode predictive control for constrained linear systems described by polytopic uncertainty models. The approach significantly enlarges the feasibility region compared to robust dual mode approaches. The efficacy of the approach is demonstrated with numerical examples","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131380248","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657358
S. Alonso-Quesada, M. Sen, A. Ibeas
This paper presents an adaptive control strategy for stabilizing a potentially non-inversely stable, linear and time-invariant plant. Such a strategy consists of a discretization of the plant by means of a fractional-order hold (FROH) with a multirate input in order to place the zeros of the discretized plant into the stability region. In this way, an adaptive controller can be designed so that the discretized plant asymptotically matches a stable reference model without any linking between the reference model zeros and those of the discretized plant. Such a controller ensures the matching of the reference model at sampling instants and the boundedness of the plant output for all time. An example is presented to illustrate this control strategy
{"title":"Adaptive control for stabilizing possibly inversely unstable continuous-time plants by using multirate input and fractional-order holds","authors":"S. Alonso-Quesada, M. Sen, A. Ibeas","doi":"10.1109/ACC.2006.1657358","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657358","url":null,"abstract":"This paper presents an adaptive control strategy for stabilizing a potentially non-inversely stable, linear and time-invariant plant. Such a strategy consists of a discretization of the plant by means of a fractional-order hold (FROH) with a multirate input in order to place the zeros of the discretized plant into the stability region. In this way, an adaptive controller can be designed so that the discretized plant asymptotically matches a stable reference model without any linking between the reference model zeros and those of the discretized plant. Such a controller ensures the matching of the reference model at sampling instants and the boundedness of the plant output for all time. An example is presented to illustrate this control strategy","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"24 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131456660","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657408
W. Heemels, J.H. Sanded
Many plants are regulated by digital controllers that run at a constant sampling frequency, thereby requiring a high processor load for the computations. To guarantee a good control performance, such a high sampling frequency might be required at some periods of time, but not necessarily continuously. By using an event-driven control scheme that triggers the update of the control value only when the (tracking or stabilization) error is large, the average processor load can be reduced considerably. Although event-driven control can be effective from a CPU-load perspective, the analysis of such control schemes is much more involved than that of conventional schemes and is a widely open research area. This paper investigates the control performance of an event-driven controlled continuous-time linear system with additive disturbances in terms of practical stability (ultimate boundedness). By using the derived results, the event-driven controller can be tuned to get satisfactorily transient behavior and desirable ultimate bounds, while reducing the required average processor load for its implementation. Several examples illustrate the theory
{"title":"Practical stability of perturbed event-driven controlled linear systems","authors":"W. Heemels, J.H. Sanded","doi":"10.1109/ACC.2006.1657408","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657408","url":null,"abstract":"Many plants are regulated by digital controllers that run at a constant sampling frequency, thereby requiring a high processor load for the computations. To guarantee a good control performance, such a high sampling frequency might be required at some periods of time, but not necessarily continuously. By using an event-driven control scheme that triggers the update of the control value only when the (tracking or stabilization) error is large, the average processor load can be reduced considerably. Although event-driven control can be effective from a CPU-load perspective, the analysis of such control schemes is much more involved than that of conventional schemes and is a widely open research area. This paper investigates the control performance of an event-driven controlled continuous-time linear system with additive disturbances in terms of practical stability (ultimate boundedness). By using the derived results, the event-driven controller can be tuned to get satisfactorily transient behavior and desirable ultimate bounds, while reducing the required average processor load for its implementation. Several examples illustrate the theory","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129988067","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657492
Qizhi Zhang, Yunze Cai, Danying Gu, W. Zhang
To guarantee a deterministic transfer delay for cyclic control data in switched industrial Ethernet, the IEEE 802.1p queuing feature is introduced into Ethernet switches and source nodes, which gives real-time data the priority to access network resources. And simultaneously a leaky bucket regulator is also introduced into source nodes to constrain the traffic entering into the network, which prevent acyclic data from deteriorating the switch temporal behavior. Then the maximum closed-loop control delay for cyclic control data is determined based on network calculus
{"title":"Determine the maximum closed-loop control delay in switched industrial Ethernet using network calculus","authors":"Qizhi Zhang, Yunze Cai, Danying Gu, W. Zhang","doi":"10.1109/ACC.2006.1657492","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657492","url":null,"abstract":"To guarantee a deterministic transfer delay for cyclic control data in switched industrial Ethernet, the IEEE 802.1p queuing feature is introduced into Ethernet switches and source nodes, which gives real-time data the priority to access network resources. And simultaneously a leaky bucket regulator is also introduced into source nodes to constrain the traffic entering into the network, which prevent acyclic data from deteriorating the switch temporal behavior. Then the maximum closed-loop control delay for cyclic control data is determined based on network calculus","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130149959","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 : 2006-06-14DOI: 10.1109/ACC.2006.1655409
Jingbo Jiang, H. Marquez
Dynamic force microscopy is a powerful tool to image non-conductive materials with atomic resolution using the nonlinear interaction force. A perturbation method is extended to analyze the nonlinear oscillation dynamics of the frequency modulation dynamic force microscopy. A general resonant frequency shift formula is derived for both conservative and dissipative interaction forces, and validation conditions are provided. Furthermore, the approximate motions of higher resonances are derived, which provide in depth analysis of force-motion relation, and can be applied for force sensing when amplitudes of higher resonances are measurable
{"title":"Nonlinear analysis of dynamic force microscopy","authors":"Jingbo Jiang, H. Marquez","doi":"10.1109/ACC.2006.1655409","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655409","url":null,"abstract":"Dynamic force microscopy is a powerful tool to image non-conductive materials with atomic resolution using the nonlinear interaction force. A perturbation method is extended to analyze the nonlinear oscillation dynamics of the frequency modulation dynamic force microscopy. A general resonant frequency shift formula is derived for both conservative and dissipative interaction forces, and validation conditions are provided. Furthermore, the approximate motions of higher resonances are derived, which provide in depth analysis of force-motion relation, and can be applied for force sensing when amplitudes of higher resonances are measurable","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130275480","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 : 2006-06-14DOI: 10.1109/ACC.2006.1656390
Yuji Yamada
In this paper, we develop a certainly equivalent pricing formula for weather derivatives and discuss its property in the over the counter market. First, we provide a utility based approach to find the future price of weather derivatives, where the contract is assumed to be carried out between an insurance company and an industry that run a project affected by weather index, say, the average temperature. This situation is typical in the Japanese weather derivatives market, because most contracts are sold by insurance/finance companies and their price should be determined by taking asymmetric positions into account. Using an exponential utility function, it is shown that dealings may be executed at an equilibrium price with a suitable volume adjustment. Finally, we estimate the hedge effect of weather derivatives on the electricity revenue using future and put option contracts
{"title":"Controlling business risks using weather derivatives","authors":"Yuji Yamada","doi":"10.1109/ACC.2006.1656390","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656390","url":null,"abstract":"In this paper, we develop a certainly equivalent pricing formula for weather derivatives and discuss its property in the over the counter market. First, we provide a utility based approach to find the future price of weather derivatives, where the contract is assumed to be carried out between an insurance company and an industry that run a project affected by weather index, say, the average temperature. This situation is typical in the Japanese weather derivatives market, because most contracts are sold by insurance/finance companies and their price should be determined by taking asymmetric positions into account. Using an exponential utility function, it is shown that dealings may be executed at an equilibrium price with a suitable volume adjustment. Finally, we estimate the hedge effect of weather derivatives on the electricity revenue using future and put option contracts","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134020200","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 : 2006-06-14DOI: 10.1109/ACC.2006.1656510
M. Heertjes, N. Wouw, Erik Pastink, A. Pavlov, H. Nijmeijer, M. Steinbuch
A method for performance assessment of a variable-gain control design for optical storage drives is proposed based on a quantitative performance measure. The variable-gain strategy is used to overcome well-known control design tradeoffs (for linear systems) between low-frequency tracking properties and high-frequency noise sensitivity. A performance analysis is conducted to support the design of the variable-gain controller which subsequently is shown to outperform linear controllers
{"title":"Performance of variable-gain controlled optical storage drives","authors":"M. Heertjes, N. Wouw, Erik Pastink, A. Pavlov, H. Nijmeijer, M. Steinbuch","doi":"10.1109/ACC.2006.1656510","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656510","url":null,"abstract":"A method for performance assessment of a variable-gain control design for optical storage drives is proposed based on a quantitative performance measure. The variable-gain strategy is used to overcome well-known control design tradeoffs (for linear systems) between low-frequency tracking properties and high-frequency noise sensitivity. A performance analysis is conducted to support the design of the variable-gain controller which subsequently is shown to outperform linear controllers","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134220772","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 : 2006-06-14DOI: 10.1109/ACC.2006.1655360
Yigang Wang, Danwei W. Wang, Bin Zhang, Keliang Zhou, Y. Ye
In this paper, the robustness stability and performance of robust repetitive control scheme is analyzed and synthesized by the structured singular value theory. A linear phase lead is introduced to improve the performance of robust repetitive control system. It compensates the phase lag of feedback control system and widens the cutoff frequency of Q filter. The periodic disturbance rejection performance of system is improved. Experiment results of a PWM converter system are presented to demonstrate the efficiency of the proposed approach
{"title":"Robust repetitive control with linear phase lead","authors":"Yigang Wang, Danwei W. Wang, Bin Zhang, Keliang Zhou, Y. Ye","doi":"10.1109/ACC.2006.1655360","DOIUrl":"https://doi.org/10.1109/ACC.2006.1655360","url":null,"abstract":"In this paper, the robustness stability and performance of robust repetitive control scheme is analyzed and synthesized by the structured singular value theory. A linear phase lead is introduced to improve the performance of robust repetitive control system. It compensates the phase lag of feedback control system and widens the cutoff frequency of Q filter. The periodic disturbance rejection performance of system is improved. Experiment results of a PWM converter system are presented to demonstrate the efficiency of the proposed approach","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134172959","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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