The robust D-stability problem for generalized state-space systems with uncertainties in the form of one-parameter family of matrices is investigated in the paper. The maximal bounds of perturbations for simultaneously preserving the regularity, impulse-immunity, and D-stability are analytically derived.
{"title":"Robust D-stability of generalized state-space systems with one-parameter uncertainties","authors":"C. Fang, Chun-lin Lu, Lin Hong, S. Kau, L. Lee","doi":"10.1109/CCA.1999.801060","DOIUrl":"https://doi.org/10.1109/CCA.1999.801060","url":null,"abstract":"The robust D-stability problem for generalized state-space systems with uncertainties in the form of one-parameter family of matrices is investigated in the paper. The maximal bounds of perturbations for simultaneously preserving the regularity, impulse-immunity, and D-stability are analytically derived.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"223 3 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":"127293969","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 many practical Kalman filter applications, the quantity of most significance for the estimation error is the process noise matrix. When filters are stabilized or performance is sought to be improved, tuning of this matrix is the most common method. This tuning process cannot be done before the filter is implemented, as it is primarily made necessary by modelling errors. In this paper, two different methods for modelling the process noise are described and evaluated; a traditional one based on Gaussian noise models and a new one based on propagating modelling uncertainties. We discuss which method to use and how to tune the filter to achieve the lowest estimation error.
{"title":"A new approach for Kalman filtering on mobile robots in the presence of uncertainties","authors":"Thomas D. Larsen, N. A. Anderson, Ole Ravn","doi":"10.1109/CCA.1999.801002","DOIUrl":"https://doi.org/10.1109/CCA.1999.801002","url":null,"abstract":"In many practical Kalman filter applications, the quantity of most significance for the estimation error is the process noise matrix. When filters are stabilized or performance is sought to be improved, tuning of this matrix is the most common method. This tuning process cannot be done before the filter is implemented, as it is primarily made necessary by modelling errors. In this paper, two different methods for modelling the process noise are described and evaluated; a traditional one based on Gaussian noise models and a new one based on propagating modelling uncertainties. We discuss which method to use and how to tune the filter to achieve the lowest estimation error.","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":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127530207","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}
We propose some simple methods for designing attachable robust compensators that improve the robustness and decrease the sensitivity of attached control systems. Concerning with the practical design method of robust model matching (RMM), we propose linear-time-invariant (LTI) attachable robust compensators for LTI control systems with some structured and unstructured disturbances. First, a generalized approach to the standard RMM is proposed. Then, a new configuration for RMM that separates the robust compensator from the existing controller is proposed. We also examine the efficiency of the proposed method by a laboratory experiment.
{"title":"Robust compensators design for existing control systems","authors":"A. Yari, T. Eisaka","doi":"10.1109/CCA.1999.801232","DOIUrl":"https://doi.org/10.1109/CCA.1999.801232","url":null,"abstract":"We propose some simple methods for designing attachable robust compensators that improve the robustness and decrease the sensitivity of attached control systems. Concerning with the practical design method of robust model matching (RMM), we propose linear-time-invariant (LTI) attachable robust compensators for LTI control systems with some structured and unstructured disturbances. First, a generalized approach to the standard RMM is proposed. Then, a new configuration for RMM that separates the robust compensator from the existing controller is proposed. We also examine the efficiency of the proposed method by a laboratory experiment.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"53 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":"127534282","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}
Manipulating payload with gantry cranes can be difficult given the inherent system flexibility. Gantry crane dynamics can often be effectively modeled as a single linear flexible mode. However, if the crane is equipped with a large-mass hook and the payload is sufficiently light, then the dynamics can become complicated by double-pendulum effects. This paper presents a method for determining the contribution of the second pendulum mode to the overall dynamic response. Furthermore, an input shaping scheme is developed to reduce residual oscillations. This control method utilizes the double-pendulum dynamics to determine the parameters of the input shaping algorithm.
{"title":"Input shaper design for double-pendulum planar gantry cranes","authors":"M. Kenison, W. Singhose","doi":"10.1109/CCA.1999.806702","DOIUrl":"https://doi.org/10.1109/CCA.1999.806702","url":null,"abstract":"Manipulating payload with gantry cranes can be difficult given the inherent system flexibility. Gantry crane dynamics can often be effectively modeled as a single linear flexible mode. However, if the crane is equipped with a large-mass hook and the payload is sufficiently light, then the dynamics can become complicated by double-pendulum effects. This paper presents a method for determining the contribution of the second pendulum mode to the overall dynamic response. Furthermore, an input shaping scheme is developed to reduce residual oscillations. This control method utilizes the double-pendulum dynamics to determine the parameters of the input shaping algorithm.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"46 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":"124854584","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}
Approaches and solves a spectrum of problems in the motion control of highly-maneuverable aircraft. In particular, analysis and identification, as well as optimization and control of advanced aircraft are researched to attain the specified flying and handling qualities, guarantee survivability, damage adaptation and recovery, and improve mission effectiveness, etc. The paper reports a completely automated setup to perform real-time identification and control with failure accommodation. Innovative identification and design methods are applied. It is shown that the required aircraft performance through the specified operational envelope at various attitudes, including high-angle-of-attack regimes, can be achieved through real-time nonlinear analysis, identification, and control reconfiguration. An example is studied to demonstrate the practical use of the analytical and numerical results. In particular, the feasibility and viability of the identification and design methods developed, as well as the computational effectiveness and numerical stability of the algorithms, are illustrated. It is documented that the decision making process can be performed in real-time.
{"title":"Motion control of highly-maneuverable aircraft","authors":"S. Lyshevski, K.R. Dunipace, R. D. Colgren","doi":"10.1109/CCA.1999.801146","DOIUrl":"https://doi.org/10.1109/CCA.1999.801146","url":null,"abstract":"Approaches and solves a spectrum of problems in the motion control of highly-maneuverable aircraft. In particular, analysis and identification, as well as optimization and control of advanced aircraft are researched to attain the specified flying and handling qualities, guarantee survivability, damage adaptation and recovery, and improve mission effectiveness, etc. The paper reports a completely automated setup to perform real-time identification and control with failure accommodation. Innovative identification and design methods are applied. It is shown that the required aircraft performance through the specified operational envelope at various attitudes, including high-angle-of-attack regimes, can be achieved through real-time nonlinear analysis, identification, and control reconfiguration. An example is studied to demonstrate the practical use of the analytical and numerical results. In particular, the feasibility and viability of the identification and design methods developed, as well as the computational effectiveness and numerical stability of the algorithms, are illustrated. It is documented that the decision making process can be performed in real-time.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"111 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":"123442956","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}
H. Kato, S. Wakui, T. Mayama, A. Toukairin, H. Takanashi, S. Adachi
System identification of semiconductor exposure apparatus is discussed. It has a multi-degrees-of-freedom mechanism which includes anti-vibration units for microvibration control. A dynamical model of the mechanism is necessary in order to design the microvibration controller. The model is practically constructed in a short time using a subspace method. Identification results are evaluated through experimental data in comparison with a conventional frequency response method.
{"title":"System identification of anti-vibration units in semiconductor exposure apparatus","authors":"H. Kato, S. Wakui, T. Mayama, A. Toukairin, H. Takanashi, S. Adachi","doi":"10.1109/CCA.1999.801162","DOIUrl":"https://doi.org/10.1109/CCA.1999.801162","url":null,"abstract":"System identification of semiconductor exposure apparatus is discussed. It has a multi-degrees-of-freedom mechanism which includes anti-vibration units for microvibration control. A dynamical model of the mechanism is necessary in order to design the microvibration controller. The model is practically constructed in a short time using a subspace method. Identification results are evaluated through experimental data in comparison with a conventional frequency response method.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"3 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":"125416202","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}
Quantitative feedback theory (QFT) was applied successfully to enhance the robust stability and tracking performance of the pitch flight control system for a remote pilotless vehicle within its full flight envelope. The influence of control surface loss or damage to the dynamic derivatives of the aircraft model can be treated as an extension of the model uncertainty robustness problem. QFT is applied to the analysis and design of the fault tolerant flight control system allowing for possible control surface damages.
{"title":"QFT based robust/fault tolerant flight control design for a remote pilotless vehicle","authors":"Shu-Fan Wu, M. Grimble, Wei Wei","doi":"10.1109/CCA.1999.806143","DOIUrl":"https://doi.org/10.1109/CCA.1999.806143","url":null,"abstract":"Quantitative feedback theory (QFT) was applied successfully to enhance the robust stability and tracking performance of the pitch flight control system for a remote pilotless vehicle within its full flight envelope. The influence of control surface loss or damage to the dynamic derivatives of the aircraft model can be treated as an extension of the model uncertainty robustness problem. QFT is applied to the analysis and design of the fault tolerant flight control system allowing for possible control surface damages.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"22 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":"125426761","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}
An optimal control based algorithm, using a linear quadratic state-feedback regulator (LQR) on a linear model, has been developed which identifies viable proportional integral with feedforward (PI/FF) control strategies. In this approach, two matrices, S/sub FB/ and S/sub FF/, are calculated from the linear state space matrices and the optimal control gain. The S/sub FB/ and S/sub FF/ reveal the respective dominant feedback and ratio/feedforward paths of a system. Three screening and four performance heuristics have been developed to interpret these matrices to reveal the dominant control pathways of a system. Information gained from these matrices is used to formulate PI/FF control architecture(s). These architectures are tested on a fixed dynamic simulation to judge their performance. A continuous polymerization process was used as test case to evaluate the results of the optimal control based algorithm and to test the heuristics presented here. The algorithm identified weak manipulated variables and eliminated them from the list of degrees of freedom. It also identified viable potential control architectures that were tested with the fixed dynamic simulations. The algorithm provided information on each candidate architecture's simplicity and degree of decoupled, feedback-path dominance. These results, for each case, were confirmed through simulations.
{"title":"Plantwide control design and analysis of a continuous polymerization process using optimal control methods","authors":"D. Robinson, P. Schnelle, T. McAvoy","doi":"10.1109/CCA.1999.806658","DOIUrl":"https://doi.org/10.1109/CCA.1999.806658","url":null,"abstract":"An optimal control based algorithm, using a linear quadratic state-feedback regulator (LQR) on a linear model, has been developed which identifies viable proportional integral with feedforward (PI/FF) control strategies. In this approach, two matrices, S/sub FB/ and S/sub FF/, are calculated from the linear state space matrices and the optimal control gain. The S/sub FB/ and S/sub FF/ reveal the respective dominant feedback and ratio/feedforward paths of a system. Three screening and four performance heuristics have been developed to interpret these matrices to reveal the dominant control pathways of a system. Information gained from these matrices is used to formulate PI/FF control architecture(s). These architectures are tested on a fixed dynamic simulation to judge their performance. A continuous polymerization process was used as test case to evaluate the results of the optimal control based algorithm and to test the heuristics presented here. The algorithm identified weak manipulated variables and eliminated them from the list of degrees of freedom. It also identified viable potential control architectures that were tested with the fixed dynamic simulations. The algorithm provided information on each candidate architecture's simplicity and degree of decoupled, feedback-path dominance. These results, for each case, were confirmed through simulations.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"6 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":"115542413","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 explores the benefits of integration of building control solutions with enterprise level applications and how underlying technologies and industry standards are used to improve facility management decision-making. The discussion will also focus on how building control solutions providers like Honeywell Inc. are addressing a facility's total information access and control needs to make higher order integration a competitive advantage in creating better business outcomes.
{"title":"Creating better business outcomes through enterprise integration with advanced building control solutions","authors":"D. Miller","doi":"10.1109/CCA.1999.801235","DOIUrl":"https://doi.org/10.1109/CCA.1999.801235","url":null,"abstract":"This paper explores the benefits of integration of building control solutions with enterprise level applications and how underlying technologies and industry standards are used to improve facility management decision-making. The discussion will also focus on how building control solutions providers like Honeywell Inc. are addressing a facility's total information access and control needs to make higher order integration a competitive advantage in creating better business outcomes.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"33 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":"122411751","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}
We propose a teleoperation system with intelligent data carriers (IDCs). An IDC is a device that turns the working environment to an agent. By using IDCs for teleoperation system, the required sensing ability of the robot can be reduced because the robot can take the information about its working environment from IDCs that are placed in the remote site. This implies the effectiveness of an implicit collaboration among the operator, the robot and the environment. Experiments have been carried out using the real network and system.
{"title":"Mobile robot teleoperation using local storage","authors":"K. Kawabata, T. Ishikawa, H. Asama, I. Endo","doi":"10.1109/CCA.1999.801133","DOIUrl":"https://doi.org/10.1109/CCA.1999.801133","url":null,"abstract":"We propose a teleoperation system with intelligent data carriers (IDCs). An IDC is a device that turns the working environment to an agent. By using IDCs for teleoperation system, the required sensing ability of the robot can be reduced because the robot can take the information about its working environment from IDCs that are placed in the remote site. This implies the effectiveness of an implicit collaboration among the operator, the robot and the environment. Experiments have been carried out using the real network and system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"136 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":"122443024","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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