Pub Date : 1990-05-23DOI: 10.1109/ACC.1990.4173993
H. Kang, G. Vachtsevanos
A design technique and the stability analysis of fuzzy-logic controllers for a class of nonlinear systems are studied. A new algorithm called `the phase portrait assignment algorithm', is introduced in order to establish a control rulebase that stabilizes a nonlinear feedback system by using the vector fields in the state space. This technique can substitute for classical control methods when the latter suffer from uncertainties since it provides flexibility, robustness, and asymptotic stability. The methodology provides a bridge between qualitative reasoning and stability of nonlinear feedback control systems even if a priori information is relatively unreliable. The design procedure of the phase portrait assignment algorithm is followed by stability analysis for nonlinear fuzzy regulators. As an example, a one degree-of-freedom robot arm is used for demonstrating the performance and the merits of the proposed fuzzy control mechanism.
{"title":"Nonlinear Fuzzy Control Based on The Vector Fields of The Phase Portrait Assignment Algorithm","authors":"H. Kang, G. Vachtsevanos","doi":"10.1109/ACC.1990.4173993","DOIUrl":"https://doi.org/10.1109/ACC.1990.4173993","url":null,"abstract":"A design technique and the stability analysis of fuzzy-logic controllers for a class of nonlinear systems are studied. A new algorithm called `the phase portrait assignment algorithm', is introduced in order to establish a control rulebase that stabilizes a nonlinear feedback system by using the vector fields in the state space. This technique can substitute for classical control methods when the latter suffer from uncertainties since it provides flexibility, robustness, and asymptotic stability. The methodology provides a bridge between qualitative reasoning and stability of nonlinear feedback control systems even if a priori information is relatively unreliable. The design procedure of the phase portrait assignment algorithm is followed by stability analysis for nonlinear fuzzy regulators. As an example, a one degree-of-freedom robot arm is used for demonstrating the performance and the merits of the proposed fuzzy control mechanism.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117077728","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791295
T. Başar
For the basic LTV (Linear Time Varying) disturbance attenuation problem with perfect or delayed state measurements, we obtain a complete characterization of the l2-bounded worst-case disturbance, which turns out to be a correlated random vector sequence with a discrete distribution.
{"title":"Minimax Disturbance Attenuation in LTV Plants in Discrete Time","authors":"T. Başar","doi":"10.23919/ACC.1990.4791295","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791295","url":null,"abstract":"For the basic LTV (Linear Time Varying) disturbance attenuation problem with perfect or delayed state measurements, we obtain a complete characterization of the l2-bounded worst-case disturbance, which turns out to be a correlated random vector sequence with a discrete distribution.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129747598","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791286
O. Yaniv, N. Barlev
Ill-conditioned plants with delays are generally difficult to control. Recently, such an example was published and analyzed by using the ¿ framework. In this note an alternative synthesis using the Horowitz method for MIMO uncertain feedback systems is applied to the same example. An economical bandwidth solution was achieved without iterations. Design details and simulations are presented.
{"title":"Robust Non Iterative Synthesis of Ill-Conditioned Plants","authors":"O. Yaniv, N. Barlev","doi":"10.23919/ACC.1990.4791286","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791286","url":null,"abstract":"Ill-conditioned plants with delays are generally difficult to control. Recently, such an example was published and analyzed by using the ¿ framework. In this note an alternative synthesis using the Horowitz method for MIMO uncertain feedback systems is applied to the same example. An economical bandwidth solution was achieved without iterations. Design details and simulations are presented.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128396082","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790795
J. Z. YouandC, C. D. Johnson
The control of plants subjected simultaneously to uncertain parameter perturbations and large, unknown, unmeasurable external disturbances is a major challenge in the field of adaptive control. In this paper parameter estimation techniques used in traditional Adaptive Control are combined with the disturbance modeling and estimation techniques of Disturbance-Accommodating Control (DAC) to obtain a new kind of high-performance adaptive controller. This new adaptive controller can adapt to a wide variety of unknown, unmeasurable external disturbances that have complex dynamic behavior.
{"title":"Indirect Adaptive Control based on DAC Theory","authors":"J. Z. YouandC, C. D. Johnson","doi":"10.23919/ACC.1990.4790795","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790795","url":null,"abstract":"The control of plants subjected simultaneously to uncertain parameter perturbations and large, unknown, unmeasurable external disturbances is a major challenge in the field of adaptive control. In this paper parameter estimation techniques used in traditional Adaptive Control are combined with the disturbance modeling and estimation techniques of Disturbance-Accommodating Control (DAC) to obtain a new kind of high-performance adaptive controller. This new adaptive controller can adapt to a wide variety of unknown, unmeasurable external disturbances that have complex dynamic behavior.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128535509","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790842
K. Ito, T. Fujishiro, K. Kanai, Y. Ochi
The inherent dynamics of a vehicle are important factors in automatic vehicle control systems. This paper discusses the stability of an automatic lateral motion controlled vehicle equipped with a four wheel steering system focusing in particular on the vehicle dynamics. The four wheel steering system is configured around a model following control theory. The results of a stability analysis and simulations are presented to show that the four wheel steering system is effective in increasing the stability and performance of an automatic lateral motion controlled vehicle.
{"title":"Stability Analysis of Automatic Lateral Motion Controlled Vehicle with Four Wheel Steering System","authors":"K. Ito, T. Fujishiro, K. Kanai, Y. Ochi","doi":"10.23919/ACC.1990.4790842","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790842","url":null,"abstract":"The inherent dynamics of a vehicle are important factors in automatic vehicle control systems. This paper discusses the stability of an automatic lateral motion controlled vehicle equipped with a four wheel steering system focusing in particular on the vehicle dynamics. The four wheel steering system is configured around a model following control theory. The results of a stability analysis and simulations are presented to show that the four wheel steering system is effective in increasing the stability and performance of an automatic lateral motion controlled vehicle.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128748405","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790990
D. Chyung
{"title":"Feedforward Tracking Controller for Systems Containing Time Delays in Both State and Control Variables","authors":"D. Chyung","doi":"10.23919/ACC.1990.4790990","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790990","url":null,"abstract":"","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129170298","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791271
M. Gupta
{"title":"Fuzzy Neural Network Approach to Control Systems","authors":"M. Gupta","doi":"10.23919/ACC.1990.4791271","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791271","url":null,"abstract":"","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129250465","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790950
Pierre-J. de Smet, E. Rivin, Youngle Lou
The influence of the mechanical structure of an industrial parallelogram robot (the GMF S215 robot) on its path accuracy is studied. A computer program has been developed to analyze the dynamic behavior of the manipulator in a vertical plane considering mechanical compliance and damping as well as motor torque limitation. The compliance sources are assumed to be located in three joints in the form of unidirectional translational and rotational springs introducing three additional DOFs; for each of these DOFs, Lagrange equations of motion are derived using MACSYMA and solved using an advanced continuous simulation program (ACSL). Experiments have been performed in order to measure the tip trajectory of the robot as well as displacements of the transmission elements. When the trajectory generation errors were also simulated, an excellent correlation between these tests and the computer simulation results was obtained. This allows to identify the influence of various factors on the overall path inaccuracy.
{"title":"Mechanically Induced Path Deviations in an Industrial Parallelogram Robot","authors":"Pierre-J. de Smet, E. Rivin, Youngle Lou","doi":"10.23919/ACC.1990.4790950","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790950","url":null,"abstract":"The influence of the mechanical structure of an industrial parallelogram robot (the GMF S215 robot) on its path accuracy is studied. A computer program has been developed to analyze the dynamic behavior of the manipulator in a vertical plane considering mechanical compliance and damping as well as motor torque limitation. The compliance sources are assumed to be located in three joints in the form of unidirectional translational and rotational springs introducing three additional DOFs; for each of these DOFs, Lagrange equations of motion are derived using MACSYMA and solved using an advanced continuous simulation program (ACSL). Experiments have been performed in order to measure the tip trajectory of the robot as well as displacements of the transmission elements. When the trajectory generation errors were also simulated, an excellent correlation between these tests and the computer simulation results was obtained. This allows to identify the influence of various factors on the overall path inaccuracy.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129654643","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790772
C. van Delft, A. Haurie
{"title":"On Turnpikes and Hedging Points for Piecewise Deterministic Control Systems","authors":"C. van Delft, A. Haurie","doi":"10.23919/ACC.1990.4790772","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790772","url":null,"abstract":"","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129797723","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791135
R. Leal, C. de Wit
A new adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient type algorithm, as is currently the case in this sort of synthesis approach, a Least Square-type estimation algorithm is proposed This estimation algorithm is proved to be passive.
{"title":"Passivity based Adaptive Control for Mechanical Manipulators using LS-Type Estimation","authors":"R. Leal, C. de Wit","doi":"10.23919/ACC.1990.4791135","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791135","url":null,"abstract":"A new adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient type algorithm, as is currently the case in this sort of synthesis approach, a Least Square-type estimation algorithm is proposed This estimation algorithm is proved to be passive.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130540533","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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