Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792236
H. Niemann, J. Stoustrup
The contribution of this paper is to formulate a design problem for Proportional Integral (PI) observer which facilitate their use in recovery design. It is shown that the PI-observes make it possible to obtain time recovery, i.e. exact recovery for t ¿ ¿. An Loop Transfer Recovery (LTR) design metiod based on LQG design is derived which make it possible to obtain both time recovery and frequency-domain (normal) recovery at the same time. An example demonstrates this facility.
{"title":"Proportional Integral Observer Used in Recovery Design","authors":"H. Niemann, J. Stoustrup","doi":"10.23919/ACC.1992.4792236","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792236","url":null,"abstract":"The contribution of this paper is to formulate a design problem for Proportional Integral (PI) observer which facilitate their use in recovery design. It is shown that the PI-observes make it possible to obtain time recovery, i.e. exact recovery for t ¿ ¿. An Loop Transfer Recovery (LTR) design metiod based on LQG design is derived which make it possible to obtain both time recovery and frequency-domain (normal) recovery at the same time. An example demonstrates this facility.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"76 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":"124413777","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.1992.4175223
J. Smit, K. Cheok, N. Huang
In recent years, there has been a growing interest in controlling both active and semi-active automotive suspension systems with a goal of improving ride comfort and vehicle handling. Many such resulting approaches have used linearized models Of the syspension's dynamics, allowing th use of linear (optimal) control theory. In actuality through, these systems and their optimal control are quite nonlinear. In this paper we propose a novel, yet highly practical alternative to such linearized design methods. This alternate optimal design method consists of a modified A* optimal-path, farward-search algorithm which is highly efficient, together with neural networks. The A* search, using a reasonably accurate system model and a given cost function, establishes te nonlinear optimal parametric control Of the suspension. The neural network, as will be shown, learns this nonlinear optimal control function, and in many ways outperforms the search from which it was taught.
{"title":"Optimal Parametric Control of a Semi-Active Suspension System using Neural Networks","authors":"J. Smit, K. Cheok, N. Huang","doi":"10.1109/ACC.1992.4175223","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175223","url":null,"abstract":"In recent years, there has been a growing interest in controlling both active and semi-active automotive suspension systems with a goal of improving ride comfort and vehicle handling. Many such resulting approaches have used linearized models Of the syspension's dynamics, allowing th use of linear (optimal) control theory. In actuality through, these systems and their optimal control are quite nonlinear. In this paper we propose a novel, yet highly practical alternative to such linearized design methods. This alternate optimal design method consists of a modified A* optimal-path, farward-search algorithm which is highly efficient, together with neural networks. The A* search, using a reasonably accurate system model and a given cost function, establishes te nonlinear optimal parametric control Of the suspension. The neural network, as will be shown, learns this nonlinear optimal control function, and in many ways outperforms the search from which it was taught.","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":"114319092","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.1992.4792145
Xiangming Hua
In studies on control of fixed-bed reactors little attention has been given to the problem of controlling a reactor subject to large input disturbances. This paper proposes a new idea for modelling and control of fixed-bed reactors, which is based on a bilinear model instead of a linear one. Using the suggested approach via parameter estimation the reduced bilinear models of a typical laboratory-sale-fixed-bed reactor are developed, and shown to be able to approximate the actual reactor transients more accurately than linear one over a much wider range around the operating state. Based on the bilinear model an observer-based controller design of the fixed-bed reactor is suggested.
{"title":"Bilinear Modelling and Control of Fixed-Bed Beactors","authors":"Xiangming Hua","doi":"10.23919/ACC.1992.4792145","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792145","url":null,"abstract":"In studies on control of fixed-bed reactors little attention has been given to the problem of controlling a reactor subject to large input disturbances. This paper proposes a new idea for modelling and control of fixed-bed reactors, which is based on a bilinear model instead of a linear one. Using the suggested approach via parameter estimation the reduced bilinear models of a typical laboratory-sale-fixed-bed reactor are developed, and shown to be able to approximate the actual reactor transients more accurately than linear one over a much wider range around the operating state. Based on the bilinear model an observer-based controller design of the fixed-bed reactor is suggested.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"80 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":"114466724","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.1992.4792475
H. Alexander, A. Azarbayejani, H. J. Weigl
Automatic control of a robotic vehicle requires a navigation system to determine the vehicle's position and motion at each sampling interval for feedback corrections to be made. Human beings largely depend on vision for their own navigation, and it provides high-quality navigation data in a wide variety of environments. Machine-based vision systems have generally been too computationally expensive and slow, however, for use in real-time control systems. The system provided here achieves the required speed for real-time control through use of simple geometric models of the perceived target, dependence on tracking rather than object recognition, and reduction of the scene analysis task from a two-dimensional process to a set of one-dimensional scans through the image. The system is intended for application to a neutrally-buoyant vehicle called STAR that simulates a freely-flying, extravehicular space robot. The vision system will support development of autonomous and teleoperator control technologies for space robots, and the experimental results presented here result from preliminary target-pointing experiments with the STAR vehicle.
{"title":"Kalman-Filter-Based Machine Vision for Controlling Free-Flying Unmanned Remote Vehicles","authors":"H. Alexander, A. Azarbayejani, H. J. Weigl","doi":"10.23919/ACC.1992.4792475","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792475","url":null,"abstract":"Automatic control of a robotic vehicle requires a navigation system to determine the vehicle's position and motion at each sampling interval for feedback corrections to be made. Human beings largely depend on vision for their own navigation, and it provides high-quality navigation data in a wide variety of environments. Machine-based vision systems have generally been too computationally expensive and slow, however, for use in real-time control systems. The system provided here achieves the required speed for real-time control through use of simple geometric models of the perceived target, dependence on tracking rather than object recognition, and reduction of the scene analysis task from a two-dimensional process to a set of one-dimensional scans through the image. The system is intended for application to a neutrally-buoyant vehicle called STAR that simulates a freely-flying, extravehicular space robot. The vision system will support development of autonomous and teleoperator control technologies for space robots, and the experimental results presented here result from preliminary target-pointing experiments with the STAR vehicle.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"2013 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":"114758666","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.1992.4792117
C. Schmidt
For rotational systems crank angle synchronous sampling systems are more convenient than time synchronous sampling systems. Therefore, in this paper a nonlinear modelling technique is presented which describes time domain linear systems in crank angle domain, with special regards to combustion engine applications. The conditions which must be fulfilled to design dynamic observers or controllers in crank angle domain are discussed. Simulation results are shown to demonstrate the capabilities of such a model.
{"title":"Nonlinear timevariant modelling technique to be used in driveline and engine control and observation","authors":"C. Schmidt","doi":"10.23919/ACC.1992.4792117","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792117","url":null,"abstract":"For rotational systems crank angle synchronous sampling systems are more convenient than time synchronous sampling systems. Therefore, in this paper a nonlinear modelling technique is presented which describes time domain linear systems in crank angle domain, with special regards to combustion engine applications. The conditions which must be fulfilled to design dynamic observers or controllers in crank angle domain are discussed. Simulation results are shown to demonstrate the capabilities of such a model.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"106 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":"114770382","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.1992.4175350
Ming-wang Zhao
Recursive parameter estimation (RPE) and adaptive pole placement (APP) for continuous linear systems via block pulse function (BPF) are studied here. First, the estimation algorithm is deduced in some detail. Later, the structures and adaptive law of APP are studied.
{"title":"On Recursive Parameter Estimation and Adaptive Pole Placement for Continuous Linear Systems via Block Pulse Functions","authors":"Ming-wang Zhao","doi":"10.1109/ACC.1992.4175350","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175350","url":null,"abstract":"Recursive parameter estimation (RPE) and adaptive pole placement (APP) for continuous linear systems via block pulse function (BPF) are studied here. First, the estimation algorithm is deduced in some detail. Later, the structures and adaptive law of APP are studied.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"23 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":"114888603","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.1992.4175765
K. Buffinton, J. Lam
Maniplators with highly elastic links are currently being studied for both terrestrial and space applications. As opposed to manipulator with rigid links, however, elastic manipulators have extremely complex dynamical behaviors and require sophisticated control schemes. The purpose of this investigation is to study modeling techniques and control algorithms for elastic manipulators. In this study, a one-link elastic manipulator is modeled using both lumped-parameter and assumed-modes methods. Equations of motion for two lumped-parameter models are derived using the multibody dynamics program AUTOLEV, and those of a distributed-parameter model are formulated manually with Kane's method. These equations are incorporated into simulation programs to evaluate the performance of various control schemes. The results obtained from this investigation provide insights into the issues and problems involved in modeling and controlling the motions of elastic manipulators.
{"title":"A Comparative Study of Simple Dynamic Models and Control Schemes for Elastic Manipulators","authors":"K. Buffinton, J. Lam","doi":"10.1109/ACC.1992.4175765","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175765","url":null,"abstract":"Maniplators with highly elastic links are currently being studied for both terrestrial and space applications. As opposed to manipulator with rigid links, however, elastic manipulators have extremely complex dynamical behaviors and require sophisticated control schemes. The purpose of this investigation is to study modeling techniques and control algorithms for elastic manipulators. In this study, a one-link elastic manipulator is modeled using both lumped-parameter and assumed-modes methods. Equations of motion for two lumped-parameter models are derived using the multibody dynamics program AUTOLEV, and those of a distributed-parameter model are formulated manually with Kane's method. These equations are incorporated into simulation programs to evaluate the performance of various control schemes. The results obtained from this investigation provide insights into the issues and problems involved in modeling and controlling the motions of elastic manipulators.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"38 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":"114966115","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.1992.4792451
T. Cheung, O. Kwapong, J. Elsey
Although neural network has generally been recognized as a useful tool for empirical data modelling, its utility in modelling industrial process plant data needs to be compared against conventional statistical techniques. This paper presents such a comparison through two case studies. In each case, data from a real refinery frationator were modelled by neural network and by linear regression. The models correlate process measurements to stream properties which were measured by low frequency lab tests. Results from the two cases show that neural network is useful for modelling process data which contain nonlinearities. However, its performance cannot be better than linear regression model when nonlinearities cannot be observed in the data. Although many processes are nonlinear, weak nonlinearities may be difficult to observe in industrial process data which are often noisy. Linear regression models are more appropriate when noise in the data mask nonlinearities. Analyzing the residuals of the linear model helps determine if observable nonlinearities are present in the data.
{"title":"Building Empirical Models of Process Plant Data by Regression or Neural Network","authors":"T. Cheung, O. Kwapong, J. Elsey","doi":"10.23919/ACC.1992.4792451","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792451","url":null,"abstract":"Although neural network has generally been recognized as a useful tool for empirical data modelling, its utility in modelling industrial process plant data needs to be compared against conventional statistical techniques. This paper presents such a comparison through two case studies. In each case, data from a real refinery frationator were modelled by neural network and by linear regression. The models correlate process measurements to stream properties which were measured by low frequency lab tests. Results from the two cases show that neural network is useful for modelling process data which contain nonlinearities. However, its performance cannot be better than linear regression model when nonlinearities cannot be observed in the data. Although many processes are nonlinear, weak nonlinearities may be difficult to observe in industrial process data which are often noisy. Linear regression models are more appropriate when noise in the data mask nonlinearities. Analyzing the residuals of the linear model helps determine if observable nonlinearities are present in the data.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"19 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":"114982178","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.1992.4792663
Roy S. Smith
Robust control models contain unknown perturbations with assumed bounds. Modeling of systems in a robust framework requires a means of estimating such bounds. One can begin to address this problem by studying model validation - is there a perturbation and an unknown disturbance, fitting the assumptions of the model, that accounts for the experimental observation? This paper discusses this problem for systems modeled as members of H∞ or l1. The assumptions of these design frameworks are significantly different, giving very different implications for the model validation problem. Model validation can also give an approach to parameter identification in robust control models. Again the consequences of the usual assumptions of each framework are discussed.
{"title":"Model validation and parameter identification for systems in H∞ and l1","authors":"Roy S. Smith","doi":"10.23919/ACC.1992.4792663","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792663","url":null,"abstract":"Robust control models contain unknown perturbations with assumed bounds. Modeling of systems in a robust framework requires a means of estimating such bounds. One can begin to address this problem by studying model validation - is there a perturbation and an unknown disturbance, fitting the assumptions of the model, that accounts for the experimental observation? This paper discusses this problem for systems modeled as members of H∞ or l1. The assumptions of these design frameworks are significantly different, giving very different implications for the model validation problem. Model validation can also give an approach to parameter identification in robust control models. Again the consequences of the usual assumptions of each framework are discussed.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"35 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":"116961838","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.1992.4792047
J. Lew, D. Mook
Multiple shooting algorithms are developed for linear two-point boundary value problems (TPBVP's) in which the state vector is subjected to jump discontinuities at discrete points. These jump-discontinuous TPBVP's arise in optimal control and optimal estimation. Examples of such problems are given both to motivate the problem and to demonstrate the algorithms. The algorithms convert the TPBVP into a set of linear algebraic equations which may be solved using any linear equation solver. The existence and uniqueness of the solution is proven.
{"title":"Jump Discontinuous Two Point Boundary Value Problems In Optimal Control","authors":"J. Lew, D. Mook","doi":"10.23919/ACC.1992.4792047","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792047","url":null,"abstract":"Multiple shooting algorithms are developed for linear two-point boundary value problems (TPBVP's) in which the state vector is subjected to jump discontinuities at discrete points. These jump-discontinuous TPBVP's arise in optimal control and optimal estimation. Examples of such problems are given both to motivate the problem and to demonstrate the algorithms. The algorithms convert the TPBVP into a set of linear algebraic equations which may be solved using any linear equation solver. The existence and uniqueness of the solution is proven.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"31 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":"121931520","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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