Pub Date : 2009-07-08DOI: 10.1109/CCA.2009.5281118
A. Ibeas, M. Sen, P. Balaguer, R. Vilanova
In this paper, an adaptive digital implementation of an inverse model based control scheme for a system with parametric uncertainty is proposed using Generalized Sampling and Hold Functions. The implementation of the control law using this kind of holds allows overcoming the difficulties related to the presence of unstable zeros in the continuous-time model and the usual appearance of unstable discretization zeros in the discrete model when a ZOH is applied. The Generalized Sampling and Hold Functions allows obtaining a discrete model of the plant with all its zeros stable which allows performing an exact inverse model of the plant in comparison to the use of a classical ZOH which only allows, in general, an approximate inversion of the plant. The stability and asymptotic properties of the general adaptive scheme are established. Also, simulation examples showing the scope and application of the method are presented.
{"title":"Adaptive discrete-time inverse model control using generalized holds","authors":"A. Ibeas, M. Sen, P. Balaguer, R. Vilanova","doi":"10.1109/CCA.2009.5281118","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281118","url":null,"abstract":"In this paper, an adaptive digital implementation of an inverse model based control scheme for a system with parametric uncertainty is proposed using Generalized Sampling and Hold Functions. The implementation of the control law using this kind of holds allows overcoming the difficulties related to the presence of unstable zeros in the continuous-time model and the usual appearance of unstable discretization zeros in the discrete model when a ZOH is applied. The Generalized Sampling and Hold Functions allows obtaining a discrete model of the plant with all its zeros stable which allows performing an exact inverse model of the plant in comparison to the use of a classical ZOH which only allows, in general, an approximate inversion of the plant. The stability and asymptotic properties of the general adaptive scheme are established. Also, simulation examples showing the scope and application of the method are presented.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"2521 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131376794","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281124
D. Pavković, J. Deur, G. Burgio, D. Hrovat
This paper presents an adaptive Kalman filter for estimation of longitudinal tire static curve gradient, based on the driven wheel speed measurement. The static curve gradient estimator is used along with a model-based traction control (or ABS) strategy that does not require wheel slip information. More specifically, the estimator is used to establish a superimposed gradient control loop, in order to compensate for the reference vehicle model errors and make the overall control strategy more robust. The proposed estimator and the related traction control strategy are verified by means of computer simulations and partly by experiments.
{"title":"Estimation of tire static curve gradient and related model-based traction control application","authors":"D. Pavković, J. Deur, G. Burgio, D. Hrovat","doi":"10.1109/CCA.2009.5281124","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281124","url":null,"abstract":"This paper presents an adaptive Kalman filter for estimation of longitudinal tire static curve gradient, based on the driven wheel speed measurement. The static curve gradient estimator is used along with a model-based traction control (or ABS) strategy that does not require wheel slip information. More specifically, the estimator is used to establish a superimposed gradient control loop, in order to compensate for the reference vehicle model errors and make the overall control strategy more robust. The proposed estimator and the related traction control strategy are verified by means of computer simulations and partly by experiments.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130453627","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280780
Huijuan Zhang, M. Stefanovic
This paper proposes a solution to the problem of the state observation and position control by output feedback for a nonlinear three degrees-of-freedom (3-DOF) parallel kinematic machine (PKM) system, based on the limited signal availability (moving platform displacement measurements only). The unknown velocity signals are estimated via a nonlinear robust observer which is designed for the nonlinear system with observable linear dynamics part and bounded nonlinearities and disturbances, and which guarantees global exponential stability of the observation error. A proportionalderivative (PD) controller is designed to solve the position control problem, utilizing the estimated velocity, as well as the gravitation compensation, dynamic friction and external disturbance compensation for the PKM. The closed-loop system is proven to have global asymptotic stability according to the Lyapunov's analysis method and LaSalle's invariance principle. Performance of the resulting observer and controller is illustrated in a simulation study of a 3-DOF PKM.
{"title":"Nonlinear robust observer-based position controller for the 3-DOF parallel kinematic machine","authors":"Huijuan Zhang, M. Stefanovic","doi":"10.1109/CCA.2009.5280780","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280780","url":null,"abstract":"This paper proposes a solution to the problem of the state observation and position control by output feedback for a nonlinear three degrees-of-freedom (3-DOF) parallel kinematic machine (PKM) system, based on the limited signal availability (moving platform displacement measurements only). The unknown velocity signals are estimated via a nonlinear robust observer which is designed for the nonlinear system with observable linear dynamics part and bounded nonlinearities and disturbances, and which guarantees global exponential stability of the observation error. A proportionalderivative (PD) controller is designed to solve the position control problem, utilizing the estimated velocity, as well as the gravitation compensation, dynamic friction and external disturbance compensation for the PKM. The closed-loop system is proven to have global asymptotic stability according to the Lyapunov's analysis method and LaSalle's invariance principle. Performance of the resulting observer and controller is illustrated in a simulation study of a 3-DOF PKM.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134138782","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281114
G. Ramos, J. M. Olm, R. Costa-Castelló
Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling time according to the reference/disturbance period variation. This article presents a stability analysis of a digital repetitive controller working under time-varying sampling period by means of an LMI gridding approach. Theoretical developments are illustrated with experimental results.
{"title":"Digital repetitive control under time-varying sampling period: An LMI stability analysis","authors":"G. Ramos, J. M. Olm, R. Costa-Castelló","doi":"10.1109/CCA.2009.5281114","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281114","url":null,"abstract":"Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling time according to the reference/disturbance period variation. This article presents a stability analysis of a digital repetitive controller working under time-varying sampling period by means of an LMI gridding approach. Theoretical developments are illustrated with experimental results.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134530156","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281171
Christoffer Sloth, Thomas Esbensen, M. Niss, J. Stoustrup, P. Odgaard
This paper considers the design of robust LMIbased controllers for a wind turbine along its entire nominal operating trajectory. The proposed robust controller design takes into account parametric uncertainties in the model using a structured uncertainty description, which makes the controllers less conservative than controllers designed using unstructured uncertainty descriptions. The LMI-based approach enables additional constraints to be included in the design, which is exploited to include requirements for minimizing fatigue loads and actuator usage.
{"title":"Robust LMI-based control of wind turbines with parametric uncertainties","authors":"Christoffer Sloth, Thomas Esbensen, M. Niss, J. Stoustrup, P. Odgaard","doi":"10.1109/CCA.2009.5281171","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281171","url":null,"abstract":"This paper considers the design of robust LMIbased controllers for a wind turbine along its entire nominal operating trajectory. The proposed robust controller design takes into account parametric uncertainties in the model using a structured uncertainty description, which makes the controllers less conservative than controllers designed using unstructured uncertainty descriptions. The LMI-based approach enables additional constraints to be included in the design, which is exploited to include requirements for minimizing fatigue loads and actuator usage.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134159133","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281095
Arnab Maity, R. Padhi
A modern system theory based nonlinear control design is discussed in this paper for successful operation of an air-breathing engine operating at supersonic speed. The primary objective of the control design of such an air-breathing engine is to ensure that the engine dynamically produces the thrust that tracks a commanded value of thrust as closely as possible by regulating the fuel flow to the combustion system. However, since the engine operates in the supersonic range, an important secondary objective is to manage the shock wave configuration in the intake section of the engine which is manipulated by varying the throat area of the nozzle. A nonlinear sliding mode control technique has been successfully used to achieve both of the above objectives. In this problem, since the process is faster than the actuators, independent control designs are also carried out for the actuators as well to assure the satisfactory performance of the system. Moreover, to filter out the sensor and process noises and to estimate the states for making the control design operate based on output feedback, an Extended Kalman Filter based state estimation design is also carried out. The promising simulation results suggest that the proposed control design approach is quite successful in obtaining robust performance of the air-breathing engine.
{"title":"Nonlinear sliding mode control design for an air-breathing engine with state estimation","authors":"Arnab Maity, R. Padhi","doi":"10.1109/CCA.2009.5281095","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281095","url":null,"abstract":"A modern system theory based nonlinear control design is discussed in this paper for successful operation of an air-breathing engine operating at supersonic speed. The primary objective of the control design of such an air-breathing engine is to ensure that the engine dynamically produces the thrust that tracks a commanded value of thrust as closely as possible by regulating the fuel flow to the combustion system. However, since the engine operates in the supersonic range, an important secondary objective is to manage the shock wave configuration in the intake section of the engine which is manipulated by varying the throat area of the nozzle. A nonlinear sliding mode control technique has been successfully used to achieve both of the above objectives. In this problem, since the process is faster than the actuators, independent control designs are also carried out for the actuators as well to assure the satisfactory performance of the system. Moreover, to filter out the sensor and process noises and to estimate the states for making the control design operate based on output feedback, an Extended Kalman Filter based state estimation design is also carried out. The promising simulation results suggest that the proposed control design approach is quite successful in obtaining robust performance of the air-breathing engine.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"53 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131540708","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281175
Xinliang Zhang, Yonghong Tan
a neural networks based approach for the identification of the rate-dependent hysteresis in the piezoelectric actuators is proposed. In this method, a hysteresis operator dependent on the change-rate of the input is proposed to extract the change-tendency and rate-dependency of the dynamic hysteresis. With the introduction of the rate-dependent hysteresis operator into the input space, an expanded input space is constructed. Thus, based on the expanded input space, the multi-valued mapping of the rate-dependent hysteresis existing in the piezoelectric actuators can be transformed into a one-to-one mapping. Then the neural networks can be utilized to approximate the behavior of the rate-dependent hysteresis. Finally, the experimental results are presented to verify the effectiveness of the proposed approach.
{"title":"Neural model of rate-dependent hysteresis in piezoelectric actuators based on expanded input space with rate-dependent hysteretic operator","authors":"Xinliang Zhang, Yonghong Tan","doi":"10.1109/CCA.2009.5281175","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281175","url":null,"abstract":"a neural networks based approach for the identification of the rate-dependent hysteresis in the piezoelectric actuators is proposed. In this method, a hysteresis operator dependent on the change-rate of the input is proposed to extract the change-tendency and rate-dependency of the dynamic hysteresis. With the introduction of the rate-dependent hysteresis operator into the input space, an expanded input space is constructed. Thus, based on the expanded input space, the multi-valued mapping of the rate-dependent hysteresis existing in the piezoelectric actuators can be transformed into a one-to-one mapping. Then the neural networks can be utilized to approximate the behavior of the rate-dependent hysteresis. Finally, the experimental results are presented to verify the effectiveness of the proposed approach.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130822242","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280952
F. Koumboulis, N. Kouvakas, P. Paraskevopoulos
The Morgan's problem is investigated, using a realizable controller with dynamic measurement output feedback and dynamic precompensator for the general class of linear neutral multi delay systems. It is proven that the necessary and sufficient condition for the solvability of the problem via a realizable controller is independent of the realizability requirement and it is the right invertibillity of the open loop transfer matrix. A class of controllers solving the problem is explicitly determined. The proposed technique is applied to a test case central heating system to achieve thermal autonomy. Based on the dynamic model of the heating system the performance of the proposed control scheme is successfully illustrated through computational experiments.
{"title":"On the Morgan's problem for neutral time delay systems via dynamic controllers with application to a test case central heating system","authors":"F. Koumboulis, N. Kouvakas, P. Paraskevopoulos","doi":"10.1109/CCA.2009.5280952","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280952","url":null,"abstract":"The Morgan's problem is investigated, using a realizable controller with dynamic measurement output feedback and dynamic precompensator for the general class of linear neutral multi delay systems. It is proven that the necessary and sufficient condition for the solvability of the problem via a realizable controller is independent of the realizability requirement and it is the right invertibillity of the open loop transfer matrix. A class of controllers solving the problem is explicitly determined. The proposed technique is applied to a test case central heating system to achieve thermal autonomy. Based on the dynamic model of the heating system the performance of the proposed control scheme is successfully illustrated through computational experiments.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"31 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130690782","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281005
A. Fekih
An integrated design that combines sliding mode control with adaptive control to provide a robust fault tolerant flight controller that works for a wide range of faults is proposed in this paper. The scheme combines the insensitivity and robustness properties of sliding mode control to certain types of disturbances and uncertainties with the accommodation properties of adaptive control to parametric and structural uncertainties caused by component faults and external disturbances. It is shown that parameter variations and actuator faults can be handled directly and system stability and performance is preserved under faulty conditions. The results obtained from implementing the controller to an F-16 aircraft system show good performance under both un-faulty and faulty scenarios.
{"title":"A robust fault tolerant control strategy for aircraft systems","authors":"A. Fekih","doi":"10.1109/CCA.2009.5281005","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281005","url":null,"abstract":"An integrated design that combines sliding mode control with adaptive control to provide a robust fault tolerant flight controller that works for a wide range of faults is proposed in this paper. The scheme combines the insensitivity and robustness properties of sliding mode control to certain types of disturbances and uncertainties with the accommodation properties of adaptive control to parametric and structural uncertainties caused by component faults and external disturbances. It is shown that parameter variations and actuator faults can be handled directly and system stability and performance is preserved under faulty conditions. The results obtained from implementing the controller to an F-16 aircraft system show good performance under both un-faulty and faulty scenarios.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132816559","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280719
S. Ibrir, D. Cheddie
This paper proposes a model-based observer, which allows for the monitoring of the partial pressures of hydrogen, oxygen assuming that the water vapor during transient fuel cell operation is known. This information can be used to regulate the supply of these gases to the cell whereby maintaining efficient performance. It is not practical to measure the partial pressures of each gas in the catalyst layer; however, it is possible to estimate the vapor pressure in the anode and cathode compartments from the temperature measurements. From this information, the partial pressure of the hydrogen and oxygen can be reconstructed using the fuel-cell model.
{"title":"Model-based estimation of PEM fuel-cell systems","authors":"S. Ibrir, D. Cheddie","doi":"10.1109/CCA.2009.5280719","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280719","url":null,"abstract":"This paper proposes a model-based observer, which allows for the monitoring of the partial pressures of hydrogen, oxygen assuming that the water vapor during transient fuel cell operation is known. This information can be used to regulate the supply of these gases to the cell whereby maintaining efficient performance. It is not practical to measure the partial pressures of each gas in the catalyst layer; however, it is possible to estimate the vapor pressure in the anode and cathode compartments from the temperature measurements. From this information, the partial pressure of the hydrogen and oxygen can be reconstructed using the fuel-cell model.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133420622","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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