Studies the three-axis attitude control problem of a spacecraft which has slowly rotating flexible solar paddles. By the paddle rotation, the structure of dynamical coupling of the paddle vibration with the spacecraft attitude dynamics drastically changes. In order to control such a class of spacecraft, we derive a parameter-varying modal equation and a generalized plant of descriptor form. Then, two stabilizing controllers, i.e., a fixed /spl mu/ controller and a gain scheduled H/sub /spl infin// controller are designed. Based on some numerical studies for the ETS-VI spacecraft model, their capabilities are shown and compared with each other.
{"title":"Robust attitude controller design of linear parameter varying spacecraft via /spl mu/ synthesis and gain scheduling","authors":"T. Nagishio, T. Kida","doi":"10.1109/CCA.1999.800943","DOIUrl":"https://doi.org/10.1109/CCA.1999.800943","url":null,"abstract":"Studies the three-axis attitude control problem of a spacecraft which has slowly rotating flexible solar paddles. By the paddle rotation, the structure of dynamical coupling of the paddle vibration with the spacecraft attitude dynamics drastically changes. In order to control such a class of spacecraft, we derive a parameter-varying modal equation and a generalized plant of descriptor form. Then, two stabilizing controllers, i.e., a fixed /spl mu/ controller and a gain scheduled H/sub /spl infin// controller are designed. Based on some numerical studies for the ETS-VI spacecraft model, their capabilities are shown and compared with each other.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"21 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":"132319031","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}
A supervisory fuzzy neural network (FNN) controller is proposed to control a nonlinear slider-crank mechanism in this study. The control system is composed of a permanent magnet (PM) synchronous servo motor drive coupled with a slider-crank mechanism and a supervisory FNN position controller. The supervisory FNN controller comprises a sliding mode FNN controller and a supervisory controller. The sliding mode FNN controller combines the advantages of the sliding mode control with robust characteristics and the FNN with online learning ability. The supervisory controller is designed to stabilize the system states around a defined bound region. The theoretical and stability analyses of the supervisory FNN controller are discussed in detail. Simulation and experimental results are provided to show that the proposed control system is robust with regard to plant parameter variations and external load disturbance.
{"title":"A supervisory fuzzy neural network controller for slider-crank mechanism","authors":"F. Lin, R. Fung, H. Lin, Chih-Ming Hong","doi":"10.1109/CCA.1999.801229","DOIUrl":"https://doi.org/10.1109/CCA.1999.801229","url":null,"abstract":"A supervisory fuzzy neural network (FNN) controller is proposed to control a nonlinear slider-crank mechanism in this study. The control system is composed of a permanent magnet (PM) synchronous servo motor drive coupled with a slider-crank mechanism and a supervisory FNN position controller. The supervisory FNN controller comprises a sliding mode FNN controller and a supervisory controller. The sliding mode FNN controller combines the advantages of the sliding mode control with robust characteristics and the FNN with online learning ability. The supervisory controller is designed to stabilize the system states around a defined bound region. The theoretical and stability analyses of the supervisory FNN controller are discussed in detail. Simulation and experimental results are provided to show that the proposed control system is robust with regard to plant parameter variations and external load disturbance.","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":"130201361","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 describe an admission control and load balancing scheme for multicomputer World Wide Web servers. The scheme consists of a frontend admission control function which regulates requests sent to backend Web server using periodic load measurements passed from the backends to the frontends. The aims of scheme are two-fold: to ensure that traffic offered to backends can be serviced promptly, and to make full use of the backend capacity. We describe simulation results and an Erlang based implementation of the scheme. It is shown that the algorithm is trivial to implement, has negligible computational complexity, and provides effective load balancing and control. The scheme has now been implemented in the Eddie open source project, an Ericsson sponsored effort aimed at delivering commercial grade, quality of service driven Web server solutions.
{"title":"Load balancing and control for distributed World Wide Web servers","authors":"M. Castro, M. Dwyer, M. Rumsewicz","doi":"10.1109/CCA.1999.801213","DOIUrl":"https://doi.org/10.1109/CCA.1999.801213","url":null,"abstract":"We describe an admission control and load balancing scheme for multicomputer World Wide Web servers. The scheme consists of a frontend admission control function which regulates requests sent to backend Web server using periodic load measurements passed from the backends to the frontends. The aims of scheme are two-fold: to ensure that traffic offered to backends can be serviced promptly, and to make full use of the backend capacity. We describe simulation results and an Erlang based implementation of the scheme. It is shown that the algorithm is trivial to implement, has negligible computational complexity, and provides effective load balancing and control. The scheme has now been implemented in the Eddie open source project, an Ericsson sponsored effort aimed at delivering commercial grade, quality of service driven Web server solutions.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"31 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":"134561295","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 electrostatically suspended gyroscope (ESG) is a two-axis inertial orientation sensor manufactured by Boeing and currently in use on US Navy submarines. The additional ability of the ESG to act as an accelerometer is well known, but extraction of precision acceleration measurements from an ESG has not been achieved. The major obstacles to precision accelerometry are the nonlinear dynamics of the ESG rotor and parametric variation of the ESG electronics. We derive a model for the ESG dynamics with an eye toward efficient representation of the uncertainties in the model. We represent the model uncertainties and nonlinearities in a framework amenable to /spl mu/-analysis and analyze ESG accelerometer precision using /spl mu/-analysis tools. Finally, we discuss the implementation of a digital ESG control architecture for use in ESG system identification and testing of suspension control and accelerometer algorithms.
{"title":"Robustness analysis of accelerometry using an electrostatically suspended gyroscope","authors":"J. Fax, D. A. Hill, R. M. Murray","doi":"10.1109/CCA.1999.801238","DOIUrl":"https://doi.org/10.1109/CCA.1999.801238","url":null,"abstract":"The electrostatically suspended gyroscope (ESG) is a two-axis inertial orientation sensor manufactured by Boeing and currently in use on US Navy submarines. The additional ability of the ESG to act as an accelerometer is well known, but extraction of precision acceleration measurements from an ESG has not been achieved. The major obstacles to precision accelerometry are the nonlinear dynamics of the ESG rotor and parametric variation of the ESG electronics. We derive a model for the ESG dynamics with an eye toward efficient representation of the uncertainties in the model. We represent the model uncertainties and nonlinearities in a framework amenable to /spl mu/-analysis and analyze ESG accelerometer precision using /spl mu/-analysis tools. Finally, we discuss the implementation of a digital ESG control architecture for use in ESG system identification and testing of suspension control and accelerometer algorithms.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"49 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":"133936392","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}
A simple method for the diagnosis of oscillations in process control loops is presented. The new method is based on the cross-correlation between control variable and loop output and it is shown to correctly diagnose the two most important reasons for oscillations in control loops in the process industry, namely external oscillating disturbances and static friction (stiction) in control valves.
{"title":"A simple method for oscillation diagnosis in process control loops","authors":"A. Horch","doi":"10.1109/CCA.1999.801157","DOIUrl":"https://doi.org/10.1109/CCA.1999.801157","url":null,"abstract":"A simple method for the diagnosis of oscillations in process control loops is presented. The new method is based on the cross-correlation between control variable and loop output and it is shown to correctly diagnose the two most important reasons for oscillations in control loops in the process industry, namely external oscillating disturbances and static friction (stiction) in control valves.","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":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130703153","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}
Flexible manipulators provide significant advantages over commonly used rigid robots, such as high operation speed and high power efficiency. However, the controller design for these manipulators is very complicated because of the nonlinear vibration dynamics. In this paper, a rule-based scheme for implementing a fuzzy logic controller to drive a flexible manipulator is proposed. The phase portrait plane has been adopted to build the rules based on mathematical reasoning rather than the conventional trial and error method, which is dependent on the operator's experience. In order to improve the performance of the fuzzy logic controller, an adjustable weight parameter has been introduced to build the control table. A set of variable width triangular membership functions is used to improve the resolution of the controller. The effectiveness of the control law has been demonstrated with numerical simulation.
{"title":"Fuzzy logic control of a moving flexible manipulator","authors":"C. Chen, Y. Yin","doi":"10.1109/CCA.1999.806649","DOIUrl":"https://doi.org/10.1109/CCA.1999.806649","url":null,"abstract":"Flexible manipulators provide significant advantages over commonly used rigid robots, such as high operation speed and high power efficiency. However, the controller design for these manipulators is very complicated because of the nonlinear vibration dynamics. In this paper, a rule-based scheme for implementing a fuzzy logic controller to drive a flexible manipulator is proposed. The phase portrait plane has been adopted to build the rules based on mathematical reasoning rather than the conventional trial and error method, which is dependent on the operator's experience. In order to improve the performance of the fuzzy logic controller, an adjustable weight parameter has been introduced to build the control table. A set of variable width triangular membership functions is used to improve the resolution of the controller. The effectiveness of the control law has been demonstrated with numerical simulation.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"1 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":"131179950","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}
Model helicopters are becoming increasingly popular as benchmark systems for control theory and as platforms for aerial robotics. As benchmark systems, an important question to ask is: How do results for model helicopters scale to the full-size version? After presenting a description of a typical laboratory-scale helicopter system, we discuss some of the key differences between model and full-sized helicopters. We also discuss some of the fundamental issues of scale, including efficiency as the helicopter becomes very small or very large.
{"title":"The University of Toronto RC helicopter: a test bed for nonlinear control","authors":"S. Bortoff","doi":"10.1109/CCA.1999.806653","DOIUrl":"https://doi.org/10.1109/CCA.1999.806653","url":null,"abstract":"Model helicopters are becoming increasingly popular as benchmark systems for control theory and as platforms for aerial robotics. As benchmark systems, an important question to ask is: How do results for model helicopters scale to the full-size version? After presenting a description of a typical laboratory-scale helicopter system, we discuss some of the key differences between model and full-sized helicopters. We also discuss some of the fundamental issues of scale, including efficiency as the helicopter becomes very small or very large.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"1 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":"130916064","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}
Under "free flight", each individual aircraft will have the first responsibility to resolve its own conflicts. Therefore, a centralized air traffic controller (ATC) will issue a resolution command only when a physical conflict would be unavoidable if the ATC did not do so. Regarding the operation of an ATC under "free flight", hence, determining when the ATC should issue a resolution command would be one of the most important problems. This paper presents a systematic and efficient algorithm as a solution to this problem. This algorithm is based on the well-known semi-definite program (SDP) relaxation method.
{"title":"A SDP relaxation approach to air traffic control under free flight","authors":"Jae-Hyuk Oh","doi":"10.1109/CCA.1999.806169","DOIUrl":"https://doi.org/10.1109/CCA.1999.806169","url":null,"abstract":"Under \"free flight\", each individual aircraft will have the first responsibility to resolve its own conflicts. Therefore, a centralized air traffic controller (ATC) will issue a resolution command only when a physical conflict would be unavoidable if the ATC did not do so. Regarding the operation of an ATC under \"free flight\", hence, determining when the ATC should issue a resolution command would be one of the most important problems. This paper presents a systematic and efficient algorithm as a solution to this problem. This algorithm is based on the well-known semi-definite program (SDP) relaxation method.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"362 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":"133673600","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}
Experimental testing is an important step in the verification of control strategies. In the case of civil engineering structural control systems, small scale testing is commonly used to demonstrate key concepts and methods. Large or full scale testing is expensive and only a handful of facilities exist in the world. Thus, some researchers have considered experimental techniques which focus on the control device itself, and emulate the behavior of the structure with a simulator. The concern is that these techniques do not account for the interaction between the control device and the structure. This issue is examined. In a numerical example, the behavior of the control device when tested independently is compared to that of the device when it is used to control a structure.
{"title":"Implications of control-structure interaction in scaled structural control system testing","authors":"S. Dyke, L. Jansen","doi":"10.1109/CCA.1999.806655","DOIUrl":"https://doi.org/10.1109/CCA.1999.806655","url":null,"abstract":"Experimental testing is an important step in the verification of control strategies. In the case of civil engineering structural control systems, small scale testing is commonly used to demonstrate key concepts and methods. Large or full scale testing is expensive and only a handful of facilities exist in the world. Thus, some researchers have considered experimental techniques which focus on the control device itself, and emulate the behavior of the structure with a simulator. The concern is that these techniques do not account for the interaction between the control device and the structure. This issue is examined. In a numerical example, the behavior of the control device when tested independently is compared to that of the device when it is used to control a structure.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"11 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":"132680419","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 is concerned with the modeling and control of steering system as a sub-system of lateral control architecture of heavy vehicles for the automated highway systems (AHS). A steering system retrofitted with an actuator is considered. The input and output of the steering system are the reference steering angle command to the actuator and the actual steering angle of the front wheel respectively. Open loop experimental data is fitted to a second order linear model. A linear loop-shaping controller has been designed and experimentally verified. It has also been successfully used as an inner-loop controller of the vehicle lateral control system in the open and closed loop experiments of the heavy vehicle system.
{"title":"Modeling and robust control of power steering system of heavy vehicles for AHS","authors":"P. Hingwe, M. Tai, M. Tomizuka","doi":"10.1109/CCA.1999.801171","DOIUrl":"https://doi.org/10.1109/CCA.1999.801171","url":null,"abstract":"This paper is concerned with the modeling and control of steering system as a sub-system of lateral control architecture of heavy vehicles for the automated highway systems (AHS). A steering system retrofitted with an actuator is considered. The input and output of the steering system are the reference steering angle command to the actuator and the actual steering angle of the front wheel respectively. Open loop experimental data is fitted to a second order linear model. A linear loop-shaping controller has been designed and experimentally verified. It has also been successfully used as an inner-loop controller of the vehicle lateral control system in the open and closed loop experiments of the heavy vehicle system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"112 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":"115622293","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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