Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792093
D. M. Alter, T. Tsao
Active control of the metal turning process using a direct drive linear motor actuator is is investigated. A general open loop system model and closed loop control scheme is formulated for both circular and noncircular turning. A theoretical stability analysis and simulated circular cutting results for PID regulation is presented. Stability improvements were achieved while controlling tool position only despite the presence of workpiece flexibilities.
{"title":"Dynamic Control of the Turning Process Using Direct Drive Linear Motor Actuators","authors":"D. M. Alter, T. Tsao","doi":"10.23919/ACC.1992.4792093","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792093","url":null,"abstract":"Active control of the metal turning process using a direct drive linear motor actuator is is investigated. A general open loop system model and closed loop control scheme is formulated for both circular and noncircular turning. A theoretical stability analysis and simulated circular cutting results for PID regulation is presented. Stability improvements were achieved while controlling tool position only despite the presence of workpiece flexibilities.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129328246","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792468
A. Yousuff, M. Breida
This paper deals with obtaining a reduced model of a stable mechanical system with proportional damping. Such systems can be conveniently represented in modal coordinates. Two popular schemes, namely the modal cost analysis and the balancing method, offer simple means of identifying dominant modes for retention in the reduced model. The dominance is measured via the modal costs in the case of MCA, and via the singular values of the gramian-product in the case of balancing. Though these measures do not exactly reflect the more appropriate model error which is the H2 norm of the output-error between the full and the reduced models, they do lead to simple computations. Normally, the model error is computed after the reduced model is obtained, since it is believed that, in general, the model error cannot be easily computed a priori. The main thrust of this paper is to point out that the model error can also be calculated a priori, just as easily as the above measures. Hence the model error itself can be used to determine the dominant modes. Moreover, the simplicity of the computations do not presume any special properties of the system, such as small damping, orthogonal-symmetry, etc.
{"title":"Dominant Modes via Model Error","authors":"A. Yousuff, M. Breida","doi":"10.23919/ACC.1992.4792468","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792468","url":null,"abstract":"This paper deals with obtaining a reduced model of a stable mechanical system with proportional damping. Such systems can be conveniently represented in modal coordinates. Two popular schemes, namely the modal cost analysis and the balancing method, offer simple means of identifying dominant modes for retention in the reduced model. The dominance is measured via the modal costs in the case of MCA, and via the singular values of the gramian-product in the case of balancing. Though these measures do not exactly reflect the more appropriate model error which is the H2 norm of the output-error between the full and the reduced models, they do lead to simple computations. Normally, the model error is computed after the reduced model is obtained, since it is believed that, in general, the model error cannot be easily computed a priori. The main thrust of this paper is to point out that the model error can also be calculated a priori, just as easily as the above measures. Hence the model error itself can be used to determine the dominant modes. Moreover, the simplicity of the computations do not presume any special properties of the system, such as small damping, orthogonal-symmetry, etc.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124755358","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792667
C. Hsieh
A performance robust controller design for systems with multiple output constraints and unstructured uncertainties is proposed. With system uncertainties and output variance constraints given a priori, this algorithm, starting with a stability robust controller obtained from singular H¿ control design, tunes the controller gain to satisfy the output constraints while maintains the stability robustness. This algorithm is based on a modified algebraic Riccati equation. The existence condition for a solution to this equation turns out to be a necessary and sufficient condition for the quadratic stability of the uncertain system. Furthermore, it provides an upperbound on the steady state covariance. A dual deterministic problem is also given which is mathematically equivalent to the stochastic problem.
{"title":"Robust Output Variances Constrained Controller Design","authors":"C. Hsieh","doi":"10.23919/ACC.1992.4792667","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792667","url":null,"abstract":"A performance robust controller design for systems with multiple output constraints and unstructured uncertainties is proposed. With system uncertainties and output variance constraints given a priori, this algorithm, starting with a stability robust controller obtained from singular H¿ control design, tunes the controller gain to satisfy the output constraints while maintains the stability robustness. This algorithm is based on a modified algebraic Riccati equation. The existence condition for a solution to this equation turns out to be a necessary and sufficient condition for the quadratic stability of the uncertain system. Furthermore, it provides an upperbound on the steady state covariance. A dual deterministic problem is also given which is mathematically equivalent to the stochastic problem.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125123618","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792586
N. Archer, K. Warwick
This paper presents the results of a low level control scheme implemented on an experimental biped. Conventional, independent controllers are used in control of the response when for from the target position, with control switching to a P+I controller close to the target position. In addition, there is an offset added to the controller output which we have termed the region gain. The region gain and the integral term were introduced to combat the disturbance due to gravity, a heightened problem in the control of a biped's legs, which make normal manipulator control schemes inadequate.
{"title":"Joint Control of a Bipedal Walking Robot","authors":"N. Archer, K. Warwick","doi":"10.23919/ACC.1992.4792586","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792586","url":null,"abstract":"This paper presents the results of a low level control scheme implemented on an experimental biped. Conventional, independent controllers are used in control of the response when for from the target position, with control switching to a P+I controller close to the target position. In addition, there is an offset added to the controller output which we have termed the region gain. The region gain and the integral term were introduced to combat the disturbance due to gravity, a heightened problem in the control of a biped's legs, which make normal manipulator control schemes inadequate.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129909955","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792487
M. Sznaier
A successful controller design paradigm must take into account both model uncertainty and performance specifications. Model uncertainty can be addresed using the H∞ robust control framework. However, this framework cannot accommodate the realistic case where in addition to robustness considerations, the system is subject to time domain specifications although some progress has been recently made in this direction [1-2]. We recently proposed a design procedure to explicitly incorporate time-domain specifications into the H∞ framework [3]. In this paper we apply this design procedure to the simple flexible structure used as a benchmark in the 1990-1992 ACC, with the goal of minimizing the peak control effort due to disturbances while satisfying settling time and robustness specifications. The results show that there exist a severe trade-off between peak control action, settling time and robustness to model uncertainty.
{"title":"Robust controller design for the benchmark problem using mixed L∞/H∞ optimization","authors":"M. Sznaier","doi":"10.23919/ACC.1992.4792487","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792487","url":null,"abstract":"A successful controller design paradigm must take into account both model uncertainty and performance specifications. Model uncertainty can be addresed using the H∞ robust control framework. However, this framework cannot accommodate the realistic case where in addition to robustness considerations, the system is subject to time domain specifications although some progress has been recently made in this direction [1-2]. We recently proposed a design procedure to explicitly incorporate time-domain specifications into the H∞ framework [3]. In this paper we apply this design procedure to the simple flexible structure used as a benchmark in the 1990-1992 ACC, with the goal of minimizing the peak control effort due to disturbances while satisfying settling time and robustness specifications. The results show that there exist a severe trade-off between peak control action, settling time and robustness to model uncertainty.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130546017","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792020
S. Parthasarathy, A. Parlos, A. Atiya
One of the main draw-backs of the current adaptive, as well as model predictive, control schemes is that they are designed using linear or linearized system models. A method for the adaptive control of non-linear and non-minimum phase plants using recurrent neural networks is proposed, based on model predictive control concepts. A conventional PI (proportional+integral) controller structure is used for the initial simulations. A recurrent multilayer perceptron network is used for offline and on-line system identification of the plant, while a steepest descent learning algorithm is used to estimate the empirical model parameters such that some modeling related objective function is minimized. Similarly using steepest descent, the gains of the controller are varied so as to minimize an alternate control related error criterion, such as the tracking or regulation error in a finite horizon. A U-tube steam generator (UTSG) is an ideal example of a non-linear, non-minimmum phase system. A piece-wise linearized model of the UTSG, which captures the dynamics of the actual model to sufficient accuracy, is used for testing the proposed control algorithm.
{"title":"Direct Adaptive Control of Process Systems Using Recurrent Neural Networks","authors":"S. Parthasarathy, A. Parlos, A. Atiya","doi":"10.23919/ACC.1992.4792020","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792020","url":null,"abstract":"One of the main draw-backs of the current adaptive, as well as model predictive, control schemes is that they are designed using linear or linearized system models. A method for the adaptive control of non-linear and non-minimum phase plants using recurrent neural networks is proposed, based on model predictive control concepts. A conventional PI (proportional+integral) controller structure is used for the initial simulations. A recurrent multilayer perceptron network is used for offline and on-line system identification of the plant, while a steepest descent learning algorithm is used to estimate the empirical model parameters such that some modeling related objective function is minimized. Similarly using steepest descent, the gains of the controller are varied so as to minimize an alternate control related error criterion, such as the tracking or regulation error in a finite horizon. A U-tube steam generator (UTSG) is an ideal example of a non-linear, non-minimmum phase system. A piece-wise linearized model of the UTSG, which captures the dynamics of the actual model to sufficient accuracy, is used for testing the proposed control algorithm.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126790704","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 : 1992-06-24DOI: 10.1109/ACC.1992.4175263
P. Boekhoudt
The H∞-superoptimization control problem is solved, via size reduction, as a sequence of standard H∞-optimization problems. The solution method is based on polynomial J-spectral fatorization.
将H∞超优化控制问题简化为一系列标准H∞优化问题。求解方法基于多项式j谱分解。
{"title":"A polynomial J-spectral factorization solution to H∞ superoptimization","authors":"P. Boekhoudt","doi":"10.1109/ACC.1992.4175263","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175263","url":null,"abstract":"The H<sub>∞</sub>-superoptimization control problem is solved, via size reduction, as a sequence of standard H<sub>∞</sub>-optimization problems. The solution method is based on polynomial J-spectral fatorization.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126845265","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792460
B. Lehman, Erik I. Verriest
For a special class of linear differential delay equations, finite dimensional state feedback techniques are shown to be a simple and precise method of stabilization.
对于一类特殊的线性微分时滞方程，有限维状态反馈技术是一种简单而精确的稳定方法。
{"title":"State Feedback Stabilization of a Class of Linear Autonomous Differential Delay Systems","authors":"B. Lehman, Erik I. Verriest","doi":"10.23919/ACC.1992.4792460","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792460","url":null,"abstract":"For a special class of linear differential delay equations, finite dimensional state feedback techniques are shown to be a simple and precise method of stabilization.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129213424","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792243
R. Adomaitis, C. Frouzakis, I. Kevrekidis
An adaptive controller for a mixing tank is developed and experimentally implemented, and the effects of plant/reference-model mismatch are studied. The ranges of mismatch where the desired operating point is locally, but not globally, stable are predicted with numerical bifurcation analysis techniques and verified experimentally. In the cases of multistability, finite perturbations which destabilize the set point are quantified by computing the boundaries separating the sets of initial conditions which asymptotically approach each attractor. These basins of attraction are found to sometimes consist of disconnected and distorted structures. This results from the nonunique inverse-time dynamics of the controlled system and can be studied by considering the behavior of the reverse-time map along the basin boundaries.
{"title":"Global Stability Analysis of an Adaptively-Controlled Mixing Tank Experiment","authors":"R. Adomaitis, C. Frouzakis, I. Kevrekidis","doi":"10.23919/ACC.1992.4792243","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792243","url":null,"abstract":"An adaptive controller for a mixing tank is developed and experimentally implemented, and the effects of plant/reference-model mismatch are studied. The ranges of mismatch where the desired operating point is locally, but not globally, stable are predicted with numerical bifurcation analysis techniques and verified experimentally. In the cases of multistability, finite perturbations which destabilize the set point are quantified by computing the boundaries separating the sets of initial conditions which asymptotically approach each attractor. These basins of attraction are found to sometimes consist of disconnected and distorted structures. This results from the nonunique inverse-time dynamics of the controlled system and can be studied by considering the behavior of the reverse-time map along the basin boundaries.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130604277","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 : 1992-06-24DOI: 10.1109/ACC.1992.4175728
E. Bai, S. Raman
This paper presents a linear, robustly convergent interpolatory algorithm for system identification in the presence of bounded noise. The proposed algorithm converges to the actual, but unknown system in frequency domain in the noise free case and maintains the robust convergence result in the face of bounded noise. This robustness property distinguishes the proposed linear algorithm from other existing linear schemes.
{"title":"A Linear Robustly Convergent Interpolatory Algorithm For System Identification","authors":"E. Bai, S. Raman","doi":"10.1109/ACC.1992.4175728","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175728","url":null,"abstract":"This paper presents a linear, robustly convergent interpolatory algorithm for system identification in the presence of bounded noise. The proposed algorithm converges to the actual, but unknown system in frequency domain in the noise free case and maintains the robust convergence result in the face of bounded noise. This robustness property distinguishes the proposed linear algorithm from other existing linear schemes.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123926493","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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