A new direct closed-loop identification method only using the plant input/output data acquired through an output inter-sampling scheme is presented. By taking the faster sampling of the system output than the control interval, we can clarify that the inter-sampled plant model can also be described by a SIMO model structure, which can provide the identifiability of the closed-loop. One of the advantages is that the proposed identification method using the inter-sampled output observations can remove the ordinary restrictive identifiability condition, and it is not required that the reference input holds the persistently exciting property. Its effectiveness is demonstrated through an experimental study using a magnetic suspension system.
{"title":"Direct closed-loop identification of magnetic suspension system","authors":"L. Sun, H. Ohmori, A. Sano","doi":"10.1109/CCA.1999.807755","DOIUrl":"https://doi.org/10.1109/CCA.1999.807755","url":null,"abstract":"A new direct closed-loop identification method only using the plant input/output data acquired through an output inter-sampling scheme is presented. By taking the faster sampling of the system output than the control interval, we can clarify that the inter-sampled plant model can also be described by a SIMO model structure, which can provide the identifiability of the closed-loop. One of the advantages is that the proposed identification method using the inter-sampled output observations can remove the ordinary restrictive identifiability condition, and it is not required that the reference input holds the persistently exciting property. Its effectiveness is demonstrated through an experimental study using a magnetic suspension system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132967861","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}
Deals with the development of a friction compensation scheme for positional set-point regulation of a DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through a backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and a position servo experiment are presented to confirm the capability of the proposed design.
{"title":"Friction compensation strategy via smooth adaptive dynamic surface control","authors":"A. Maulana, H. Ohmori, A. Sano","doi":"10.1109/CCA.1999.801124","DOIUrl":"https://doi.org/10.1109/CCA.1999.801124","url":null,"abstract":"Deals with the development of a friction compensation scheme for positional set-point regulation of a DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through a backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and a position servo experiment are presented to confirm the capability of the proposed design.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114189300","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}
Manabu Mine, K. Date, H. Ohmori, A. Sano, Y. Todaka, H. Nishida
The present paper proposes a new simple adaptive control scheme taking into account of disturbances for a non-ASPR system, and investigates the global stability of the obtained adaptive algorithm. Two schemes for rejecting disturbance effects are discussed from feedback and adaptive feedforward points of view. The validity of the proposed algorithm is examined in numerical simulation and experimental study in which the adaptive torsional vibration control of an induction motor connected with a load by a flexible shaft can be achieved in the presence of torque disturbance without using any sensor for the load.
{"title":"New simple adaptive control subject to disturbances and application to torsional vibration suppression","authors":"Manabu Mine, K. Date, H. Ohmori, A. Sano, Y. Todaka, H. Nishida","doi":"10.1109/CCA.1999.806699","DOIUrl":"https://doi.org/10.1109/CCA.1999.806699","url":null,"abstract":"The present paper proposes a new simple adaptive control scheme taking into account of disturbances for a non-ASPR system, and investigates the global stability of the obtained adaptive algorithm. Two schemes for rejecting disturbance effects are discussed from feedback and adaptive feedforward points of view. The validity of the proposed algorithm is examined in numerical simulation and experimental study in which the adaptive torsional vibration control of an induction motor connected with a load by a flexible shaft can be achieved in the presence of torque disturbance without using any sensor for the load.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125756223","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}
Distributed Web caching allows multiple clients to quickly access a pool of popular Web pages. Conventional distributed Web caching schemes, e.g., the Internet cache protocol and hash routing, require the sending of many query messages among cache servers and/or impose a large load on the cache servers when they are widely dispersed. To overcome these problems, we propose a hash-based query caching method using both a hash function and a query caching method. This method can find cached objects among several cache servers by using only one query message. Compared to conventional methods, this method reduces cache server overhead, object retrieval latency and loads to the network.
{"title":"Distributed Web caching using hash-based query caching method","authors":"T. Asaka, H. Miwa, Y. Tanaka","doi":"10.1109/CCA.1999.801214","DOIUrl":"https://doi.org/10.1109/CCA.1999.801214","url":null,"abstract":"Distributed Web caching allows multiple clients to quickly access a pool of popular Web pages. Conventional distributed Web caching schemes, e.g., the Internet cache protocol and hash routing, require the sending of many query messages among cache servers and/or impose a large load on the cache servers when they are widely dispersed. To overcome these problems, we propose a hash-based query caching method using both a hash function and a query caching method. This method can find cached objects among several cache servers by using only one query message. Compared to conventional methods, this method reduces cache server overhead, object retrieval latency and loads to the network.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127607745","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}
The purpose of this study is to design a gain-scheduled feedback compensator for a system constrained on the input. Description of the input saturation by the hyperbolic tangential function transfers the system description to a form of a linear parameter-dependent system. This formulation allows applying the gain-scheduling control synthesis via linear matrix inequalities (LMI). In order to avoid the windup phenomena caused by input limitation suppression of the input derivatives is employed. While the input derivatives could not be taken into account in the previous studies because of using the discontinuous functions as the input limitations, in this study it is available to take account of the input derivatives in the controller design. This means that the designed controller includes integrators and constructs a type-one control system. Consideration of input derivatives may mitigate sudden change of the input even if there is no feedback loop of error between input and output of the nonlinear function. Simulation results show usefulness of the proposed design method.
{"title":"Gain-scheduled control of a system with input constraint by suppression of input derivatives","authors":"H. Nishimura, K. Takagi, K. Yamamoto","doi":"10.1109/CCA.1999.801227","DOIUrl":"https://doi.org/10.1109/CCA.1999.801227","url":null,"abstract":"The purpose of this study is to design a gain-scheduled feedback compensator for a system constrained on the input. Description of the input saturation by the hyperbolic tangential function transfers the system description to a form of a linear parameter-dependent system. This formulation allows applying the gain-scheduling control synthesis via linear matrix inequalities (LMI). In order to avoid the windup phenomena caused by input limitation suppression of the input derivatives is employed. While the input derivatives could not be taken into account in the previous studies because of using the discontinuous functions as the input limitations, in this study it is available to take account of the input derivatives in the controller design. This means that the designed controller includes integrators and constructs a type-one control system. Consideration of input derivatives may mitigate sudden change of the input even if there is no feedback loop of error between input and output of the nonlinear function. Simulation results show usefulness of the proposed design method.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116996163","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}
In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.
{"title":"An approach to robust hierarchical impedance control in redundant manipulator","authors":"K. Ishii, Y. Fujimoto, T. Murakami, K. Ohnishi","doi":"10.1109/CCA.1999.807857","DOIUrl":"https://doi.org/10.1109/CCA.1999.807857","url":null,"abstract":"In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122316660","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}
Shaft position sensing is necessary in the switched reluctance (SR) motor in order to synchronize the phase excitation to the rotor position. In industrial applications, motor commutation often needs direct sensors to detect the rotor position. Being "sensorless" does not mean that the motor no longer requires rotor positioning; it means the position information is obtained indirectly, and not through a shaft sensor. According to the inductance characteristics of the SR motor, the paper adopts the linear frequency modulated (FM) principle and the output of the FM converter to get the rotor position signal. Experimental results verify the feasibility of the proposed method.
{"title":"Rotor position detection of switched reluctance motors using FM technique","authors":"Y. Wang, Y. Sun, C.C. Huang, M. Tsai","doi":"10.1109/CCA.1999.800927","DOIUrl":"https://doi.org/10.1109/CCA.1999.800927","url":null,"abstract":"Shaft position sensing is necessary in the switched reluctance (SR) motor in order to synchronize the phase excitation to the rotor position. In industrial applications, motor commutation often needs direct sensors to detect the rotor position. Being \"sensorless\" does not mean that the motor no longer requires rotor positioning; it means the position information is obtained indirectly, and not through a shaft sensor. According to the inductance characteristics of the SR motor, the paper adopts the linear frequency modulated (FM) principle and the output of the FM converter to get the rotor position signal. Experimental results verify the feasibility of the proposed method.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129713996","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}
In this paper, we propose a design method of an output feedback-based adaptive model output following control system based on backstepping strategy for MIMO plants. It is shown that the proposed adaptive control system has robustness with regard to output-dependent disturbances. Further, the proposed adaptive control method is applied to the parallel inverted pendulums with output-dependent disturbances and the effectiveness of the control system is confirmed through experiments.
{"title":"Multivariable adaptive model output following control system based on backstepping strategy and its application to parallel inverted pendulums","authors":"M. Takahashi, I. Mizumoto, Z. Iwai, R. Kohzawa","doi":"10.1109/CCA.1999.801150","DOIUrl":"https://doi.org/10.1109/CCA.1999.801150","url":null,"abstract":"In this paper, we propose a design method of an output feedback-based adaptive model output following control system based on backstepping strategy for MIMO plants. It is shown that the proposed adaptive control system has robustness with regard to output-dependent disturbances. Further, the proposed adaptive control method is applied to the parallel inverted pendulums with output-dependent disturbances and the effectiveness of the control system is confirmed through experiments.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128994671","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}
P. Ekel, L. Terra, M.F.D. Junges, F. de Oliveira, R. Kowaltschuk, T. Taguti
This paper presents results of research aimed at improving the efficiency of the coordinated online control of system voltage and reactive power on the basis of developing models, methods, and a control system, by integrating traditional numerical techniques with the fuzzy logic technology. An approach associated with experimental design is considered to construct diverse types of sensitivity indices, which serve as the basis for multi-attribute evaluating efficiency of control actions and, therefore, for forming rules included in knowledge base. Questions of the construction and tuning of linguistic variables as well as rational implementation of fuzzy logic procedures are discussed.
{"title":"Fuzzy logic in voltage and reactive power control in power systems","authors":"P. Ekel, L. Terra, M.F.D. Junges, F. de Oliveira, R. Kowaltschuk, T. Taguti","doi":"10.1109/CCA.1999.806724","DOIUrl":"https://doi.org/10.1109/CCA.1999.806724","url":null,"abstract":"This paper presents results of research aimed at improving the efficiency of the coordinated online control of system voltage and reactive power on the basis of developing models, methods, and a control system, by integrating traditional numerical techniques with the fuzzy logic technology. An approach associated with experimental design is considered to construct diverse types of sensitivity indices, which serve as the basis for multi-attribute evaluating efficiency of control actions and, therefore, for forming rules included in knowledge base. Questions of the construction and tuning of linguistic variables as well as rational implementation of fuzzy logic procedures are discussed.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114651187","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}
This paper describes an innovative adaptive fuzzy control (AFC) algorithm for regulating the room temperature in a hydronic heating system. The hydronic heating system consists of a boiler that provides central heating water to a radiator or radiators in a home or apartment. Room temperature is regulated with a motor that drives a variable-position valve on each radiator that controls the flow of hot water through the radiator. The AFC automatically learns the steady-state radiator valve positions for five operating set points and uses this information in a fuzzy controller that commands the radiator valve position. Laboratory tests under typical operating conditions show that the AFC simultaneously improves the control quality while reducing the battery consumption when compared with a conventional proportional-integral (PI) feedback controller. For a 70-hour laboratory test with typical operating set points, the control quality increased 32% while the estimated battery consumption decreased 35%. The AFC's memory and processing requirements are suitable for embedded microprocessors, so it is a realistic replacement for a conventional PID algorithm.
{"title":"Adaptive fuzzy temperature control for hydronic heating systems","authors":"C. Haissig","doi":"10.1109/CCA.1999.806711","DOIUrl":"https://doi.org/10.1109/CCA.1999.806711","url":null,"abstract":"This paper describes an innovative adaptive fuzzy control (AFC) algorithm for regulating the room temperature in a hydronic heating system. The hydronic heating system consists of a boiler that provides central heating water to a radiator or radiators in a home or apartment. Room temperature is regulated with a motor that drives a variable-position valve on each radiator that controls the flow of hot water through the radiator. The AFC automatically learns the steady-state radiator valve positions for five operating set points and uses this information in a fuzzy controller that commands the radiator valve position. Laboratory tests under typical operating conditions show that the AFC simultaneously improves the control quality while reducing the battery consumption when compared with a conventional proportional-integral (PI) feedback controller. For a 70-hour laboratory test with typical operating set points, the control quality increased 32% while the estimated battery consumption decreased 35%. The AFC's memory and processing requirements are suitable for embedded microprocessors, so it is a realistic replacement for a conventional PID algorithm.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117214353","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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