Conceptually, fuzzy logic possesses the quality of simplicity. However, its early applications relied on trial and error in selecting either the fuzzy membership functions or the fuzzy rules. This made it depend rather too heavily on expert knowledge which may not always be available. Hence, a self-tuning or an adaptive fuzzy logic controller (FLC) such as Adaptive Neuro-Fuzzy Inference System (ANFIS) removes this stringent requirement. This paper demonstrates the application of ANFIS to a 160 Mw nonlinear multi-input multi-output (MIMO) steam boiler-turbine unit. The space of operating conditions of the plant is partitioned into five regions. For each of the regions an optimal controller is designed. The resulting five linear controllers are used to train ANFIS. Simulation results showed that the fuzzy controller closely reproduced the optimal performance in each of the design points and surpassed any single linear controller in these operating regions. These results also reveal the robustness of the FLC to parameter variations.
{"title":"Neuro-fuzzy control of a steam boiler-turbine unit","authors":"F. Alturki, A. Abdennour","doi":"10.1109/CCA.1999.801041","DOIUrl":"https://doi.org/10.1109/CCA.1999.801041","url":null,"abstract":"Conceptually, fuzzy logic possesses the quality of simplicity. However, its early applications relied on trial and error in selecting either the fuzzy membership functions or the fuzzy rules. This made it depend rather too heavily on expert knowledge which may not always be available. Hence, a self-tuning or an adaptive fuzzy logic controller (FLC) such as Adaptive Neuro-Fuzzy Inference System (ANFIS) removes this stringent requirement. This paper demonstrates the application of ANFIS to a 160 Mw nonlinear multi-input multi-output (MIMO) steam boiler-turbine unit. The space of operating conditions of the plant is partitioned into five regions. For each of the regions an optimal controller is designed. The resulting five linear controllers are used to train ANFIS. Simulation results showed that the fuzzy controller closely reproduced the optimal performance in each of the design points and surpassed any single linear controller in these operating regions. These results also reveal the robustness of the FLC to parameter variations.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"19 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":"125354735","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 order to meet the control reconfiguration requirement within a limited frequency range for fault tolerant control systems, a numerical frequency-domain control mixer module method is developed, and the sufficient condition for the existence of a real mixer matrix is obtained based on proper frequency samplings. Furthermore, the heterogeneous control approach is employed to deal with the non-smooth transition problem during the control mixer switches. Finally, a practical self-repairing flight control system is utilized to test our method.
{"title":"The frequency-domain heterogeneous control mixer module method for control reconfiguration","authors":"Y. Zhenyu, S. Huazhang, C. Zongji","doi":"10.1109/CCA.1999.801147","DOIUrl":"https://doi.org/10.1109/CCA.1999.801147","url":null,"abstract":"In order to meet the control reconfiguration requirement within a limited frequency range for fault tolerant control systems, a numerical frequency-domain control mixer module method is developed, and the sufficient condition for the existence of a real mixer matrix is obtained based on proper frequency samplings. Furthermore, the heterogeneous control approach is employed to deal with the non-smooth transition problem during the control mixer switches. Finally, a practical self-repairing flight control system is utilized to test our method.","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":"126747528","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}
Presents a comparative study of parametric and structural identification methodologies when applied to the identification of an experimental nonlinear process. Several approaches for parametric identification are presented, such as: (i) linear mathematical model obtained through recursive least-squares (RLS), (ii) linear model with estimation algorithm using multi-step-ahead, (iii) Hammerstein model, (iv) Volterra model and, (v) bilinear model. Two structural approaches for neural network configuration are used: (i) multilayer perceptron, and (vii) radial basis function. An experimental evaluation is performed on a fan-and-plate process which exhibits complex features. The main characteristics of each identification methodologies and experimental results are assessed and compared using performance indices and validation response curves.
{"title":"Comparative study of parametric and structural methodologies in identification of an experimental nonlinear process","authors":"P.A. Marchi, L. dos Santos Coelho, A. Coelho","doi":"10.1109/CCA.1999.801057","DOIUrl":"https://doi.org/10.1109/CCA.1999.801057","url":null,"abstract":"Presents a comparative study of parametric and structural identification methodologies when applied to the identification of an experimental nonlinear process. Several approaches for parametric identification are presented, such as: (i) linear mathematical model obtained through recursive least-squares (RLS), (ii) linear model with estimation algorithm using multi-step-ahead, (iii) Hammerstein model, (iv) Volterra model and, (v) bilinear model. Two structural approaches for neural network configuration are used: (i) multilayer perceptron, and (vii) radial basis function. An experimental evaluation is performed on a fan-and-plate process which exhibits complex features. The main characteristics of each identification methodologies and experimental results are assessed and compared using performance indices and validation response curves.","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":"126914813","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 experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.
{"title":"Time optimal control for the pendulum-cart system in real-time","authors":"A. Turnau, A. Korytowski, M. Szymkat","doi":"10.1109/CCA.1999.801151","DOIUrl":"https://doi.org/10.1109/CCA.1999.801151","url":null,"abstract":"An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"32 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":"126546154","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 direct gradient descent control (DGDC) of general nonlinear systems. DGDC manipulates control inputs directly so as to decrease a performance function like the squared error, based on the gradients of the performance function and the steepest descent method. We propose several methods to improve performances of DGDC. Convergence speed and asymptotical stability of DGDC are improved by two approaches. The first one is to consider time derivative of the performance function. Namely, to improve the convergence, we modify the DGDC by decreasing both the performance function and its time derivative. The second one is to introduce a new artificial control vector and to consider the extended controller for DGDC such that two kinds of performance function are decreased. Our simulation results with the modified DGDC showed very good performances for various plants.
{"title":"Performance improvement of direct gradient descent control for general nonlinear systems","authors":"K. Shimizu, K. Otsuka","doi":"10.1109/CCA.1999.806737","DOIUrl":"https://doi.org/10.1109/CCA.1999.806737","url":null,"abstract":"This paper is concerned with direct gradient descent control (DGDC) of general nonlinear systems. DGDC manipulates control inputs directly so as to decrease a performance function like the squared error, based on the gradients of the performance function and the steepest descent method. We propose several methods to improve performances of DGDC. Convergence speed and asymptotical stability of DGDC are improved by two approaches. The first one is to consider time derivative of the performance function. Namely, to improve the convergence, we modify the DGDC by decreasing both the performance function and its time derivative. The second one is to introduce a new artificial control vector and to consider the extended controller for DGDC such that two kinds of performance function are decreased. Our simulation results with the modified DGDC showed very good performances for various plants.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"35 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":"114071123","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}
Discrete event systems can be used to model the behaviour of production systems. The supervisory control theory is a suitable tool for synthesising controllers that coordinate the resource utilisation of concurrent products in the production system. Due to the combinatorial state space explosion, computations become intractable for most real life systems. To alleviate this problem, methods that do not enumerate the entire state space are needed. One method that has proven valuable for the verification of concurrent systems is based on partial order principles. For a certain class of production systems it is shown how such ideas may be used to synthesise non-blocking discrete event controllers.
{"title":"Deadlock detection and controller synthesis for production systems using partial order techniques","authors":"A. Hellgren, Martin Fabian, B. Lennartson","doi":"10.1109/CCA.1999.801189","DOIUrl":"https://doi.org/10.1109/CCA.1999.801189","url":null,"abstract":"Discrete event systems can be used to model the behaviour of production systems. The supervisory control theory is a suitable tool for synthesising controllers that coordinate the resource utilisation of concurrent products in the production system. Due to the combinatorial state space explosion, computations become intractable for most real life systems. To alleviate this problem, methods that do not enumerate the entire state space are needed. One method that has proven valuable for the verification of concurrent systems is based on partial order principles. For a certain class of production systems it is shown how such ideas may be used to synthesise non-blocking discrete event controllers.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"35 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":"115301904","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 dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic pre-inverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.
{"title":"Backlash compensation in nonlinear systems using dynamic inversion by neural networks","authors":"R. Selmic, F. L. Lewis","doi":"10.1109/CCA.1999.801137","DOIUrl":"https://doi.org/10.1109/CCA.1999.801137","url":null,"abstract":"A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic pre-inverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"303 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":"121351858","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 study system parameters are adaptively varied to identify bifurcations from equilibrium in simulations of a reduced-order model for turbomachinery aeromechanics. An element of the adaptive process is identification of a low-order locally nonlinear discrete-time map from the observers. The nonlinear behavior of the system in the neighborhood of the bifurcation is then estimated from the identified system.
{"title":"Adaptive detection of instabilities and nonlinear analysis of a reduced-order model for flutter and rotating stall in turbomachinery","authors":"G. S. Copeland, I. Kevrekidis, R. Rico-Martínez","doi":"10.1109/CCA.1999.801134","DOIUrl":"https://doi.org/10.1109/CCA.1999.801134","url":null,"abstract":"In this study system parameters are adaptively varied to identify bifurcations from equilibrium in simulations of a reduced-order model for turbomachinery aeromechanics. An element of the adaptive process is identification of a low-order locally nonlinear discrete-time map from the observers. The nonlinear behavior of the system in the neighborhood of the bifurcation is then estimated from the identified system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"130 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":"121458039","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}
E. Morales, M. Polycarpou, N. Hemasilpin, J. Bissler
Continuous venovenous hemofiltration (CVVH) is a lifesaving renal replacement therapy used in clinical intensive care settings. Patients undergoing a life threatening illness often develop renal failure, and CVVH performs the blood filtering process while the kidneys recover. The open-loop fluid flow induced by the peristaltic pumps utilized in CVVH cannot provide the fluid balance accuracy necessary to treat neonates. The paper presents a hierarchical control architecture for CVVH. The control methodology uses a direct adaptive control scheme for the peristaltic pumps and a supervisory control algorithm for high-level decisions on the safe operation of the system. Adaptive control of the pumps results in improved accuracy of fluid flow, while the supervisory controller provides greater autonomy and reduces the burden on clinical personnel. The performance of the proposed hierarchical controller is illustrated by experiments on a hemofiltration machine using a simulated patient.
{"title":"Adaptive control of peristaltic pumps during continuous venovenous hemofiltration","authors":"E. Morales, M. Polycarpou, N. Hemasilpin, J. Bissler","doi":"10.1109/CCA.1999.801161","DOIUrl":"https://doi.org/10.1109/CCA.1999.801161","url":null,"abstract":"Continuous venovenous hemofiltration (CVVH) is a lifesaving renal replacement therapy used in clinical intensive care settings. Patients undergoing a life threatening illness often develop renal failure, and CVVH performs the blood filtering process while the kidneys recover. The open-loop fluid flow induced by the peristaltic pumps utilized in CVVH cannot provide the fluid balance accuracy necessary to treat neonates. The paper presents a hierarchical control architecture for CVVH. The control methodology uses a direct adaptive control scheme for the peristaltic pumps and a supervisory control algorithm for high-level decisions on the safe operation of the system. Adaptive control of the pumps results in improved accuracy of fluid flow, while the supervisory controller provides greater autonomy and reduces the burden on clinical personnel. The performance of the proposed hierarchical controller is illustrated by experiments on a hemofiltration machine using a simulated patient.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"2 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":"131124785","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}
Techniques originally developed for robot motion planning are applied to compute ingress paths for autonomous air vehicles, such as cruise missiles or uninhabited aerial vehicles (UAVs). This approach is particularly useful in multiobjective optimization problems such as intercepting a target while also maneuvering to minimize observability to ground-based tracking stations. Prescribing position and dimensional are chosen based on empirical measurements of the airframe's radar cross-section (RCS) as well as target state information. This six-degree-of-freedom motion planning formulation is an alternative to the traditional separation of guidance and autopilot functions and results in an unprecedented degree of guidance and control subsystem integration. This paper presents preliminary results and lays the groundwork for the development of future highly integrated guidance and control systems.
{"title":"Motion planning for reduced observability of autonomous aerial vehicles","authors":"M. McFarland, R. Zachery, B. Taylor","doi":"10.1109/CCA.1999.806181","DOIUrl":"https://doi.org/10.1109/CCA.1999.806181","url":null,"abstract":"Techniques originally developed for robot motion planning are applied to compute ingress paths for autonomous air vehicles, such as cruise missiles or uninhabited aerial vehicles (UAVs). This approach is particularly useful in multiobjective optimization problems such as intercepting a target while also maneuvering to minimize observability to ground-based tracking stations. Prescribing position and dimensional are chosen based on empirical measurements of the airframe's radar cross-section (RCS) as well as target state information. This six-degree-of-freedom motion planning formulation is an alternative to the traditional separation of guidance and autopilot functions and results in an unprecedented degree of guidance and control subsystem integration. This paper presents preliminary results and lays the groundwork for the development of future highly integrated guidance and control systems.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"8 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":"127597186","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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