In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizing transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.
{"title":"Position control by feedback linearization for a simplified helicopter model","authors":"S. Rebeschiess, M. Roloff","doi":"10.1109/CCA.1999.806165","DOIUrl":"https://doi.org/10.1109/CCA.1999.806165","url":null,"abstract":"In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizing transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.","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":"131994893","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 formulates the problem of generating structural design constraints for spaceborne precision pointing systems as a robust performance problem. This problem is relevant during the initial requirement flow-down and preliminary design phase for these types of systems. Using a nominal controller design, which satisfies the performance requirements on a nominal plant model, frequency dependent uncertainty weights are chosen such that a compromise between simplicity in control architecture and feasibility of mechanical design are made. The analysis problem is formulated as a structural singular value test. The procedure is demonstrated on a single-axis model of a gimbal inertial pointing system when the inertial measurement device is either on or off the gimbal.
{"title":"Generation of structural design constraints for spaceborne precision pointing systems","authors":"G. Becker, R. Cubalchini, Q. Tham, J. Anagnost","doi":"10.1109/CCA.1999.806145","DOIUrl":"https://doi.org/10.1109/CCA.1999.806145","url":null,"abstract":"This paper formulates the problem of generating structural design constraints for spaceborne precision pointing systems as a robust performance problem. This problem is relevant during the initial requirement flow-down and preliminary design phase for these types of systems. Using a nominal controller design, which satisfies the performance requirements on a nominal plant model, frequency dependent uncertainty weights are chosen such that a compromise between simplicity in control architecture and feasibility of mechanical design are made. The analysis problem is formulated as a structural singular value test. The procedure is demonstrated on a single-axis model of a gimbal inertial pointing system when the inertial measurement device is either on or off the gimbal.","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":"132119279","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 proposes a simultaneous tuning approach for power system damping controllers which seems better able than current SISO-based methods to cope with the foreseeable increase in system complexity and adverse interactions. To tackle the most difficult situations, the retained control architecture comprises several degrees-of-freedom in terms of dynamic feedback loops, each consisting of a high-order differential filter. The tuning of these flexible controllers is then performed by minimizing a selective modal performance index in the parameter space. Adding stability and robustness constraints greatly improves the engineering significance of the resulting design. Three examples adapted from the literature are used for illustration: a robust power system stabilizer (PSS) for a single-machine infinite-bus system with multiple operating points, a thyristor-controlled series capacitor (TCSC) controller for a large power system, and a coordinated design of multiple PSSs for a two-area/four-machine test system.
{"title":"Optimization-based tuning and coordination of flexible damping controllers for bulk power systems","authors":"I. Kamwa, G. Trudel, D. Lefebvre","doi":"10.1109/CCA.1999.807773","DOIUrl":"https://doi.org/10.1109/CCA.1999.807773","url":null,"abstract":"This paper proposes a simultaneous tuning approach for power system damping controllers which seems better able than current SISO-based methods to cope with the foreseeable increase in system complexity and adverse interactions. To tackle the most difficult situations, the retained control architecture comprises several degrees-of-freedom in terms of dynamic feedback loops, each consisting of a high-order differential filter. The tuning of these flexible controllers is then performed by minimizing a selective modal performance index in the parameter space. Adding stability and robustness constraints greatly improves the engineering significance of the resulting design. Three examples adapted from the literature are used for illustration: a robust power system stabilizer (PSS) for a single-machine infinite-bus system with multiple operating points, a thyristor-controlled series capacitor (TCSC) controller for a large power system, and a coordinated design of multiple PSSs for a two-area/four-machine test system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"124 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":"133049595","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 testbed for vehicle control experiments: The Illinois Roadway Simulator (IRS). This is a scaled roadway suitable for easily visualizing preliminary vehicle control studies. The concept of the IRS is given along with the details of its design and construction. A review of vehicle dynamics gives the standard bicycle model for linear operating conditions. The parameters of the model are then obtained for representative IRS vehicles. The resulting vehicle dynamics are then compared with dynamics of full-scale vehicles for dynamic similitude. The dynamic similitude comparison is the key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles. A series of experimental verifications are used to match the identified vehicle dynamics to the responses predicted by the standard vehicle model with some additional augmentations.
{"title":"A scaled testbed for vehicle control: the IRS","authors":"S. Brennan, A. Alleyne","doi":"10.1109/CCA.1999.806652","DOIUrl":"https://doi.org/10.1109/CCA.1999.806652","url":null,"abstract":"Presents a testbed for vehicle control experiments: The Illinois Roadway Simulator (IRS). This is a scaled roadway suitable for easily visualizing preliminary vehicle control studies. The concept of the IRS is given along with the details of its design and construction. A review of vehicle dynamics gives the standard bicycle model for linear operating conditions. The parameters of the model are then obtained for representative IRS vehicles. The resulting vehicle dynamics are then compared with dynamics of full-scale vehicles for dynamic similitude. The dynamic similitude comparison is the key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles. A series of experimental verifications are used to match the identified vehicle dynamics to the responses predicted by the standard vehicle model with some additional augmentations.","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":"115721200","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}
M. Persson, F. Botling, E. Hesslow, Rolf Johansson
In the field of vehicle control, conventional cruise control systems have been available on the market for many years. During the last years, modern cars include more and more electronic systems. These systems are often governed by a computer or a network of computers programmed with powerful software. One of those new services is adaptive cruise control (ACC) (or autonomous intelligent cruise control, AICC), which extends the conventional cruise control system to include automated car following when the preceding car is driving at a lower speed than the desired set-speed. The focus of ACC has mainly been directed towards high-speed highway application, but to improve the comfort to the driver also low-speed situations must be considered. The paper presents an ACC system that is capable of car following in low-speed situations, e.g. in suburban areas, as well as in high-speed situations. The system is implemented in a test car and the result is evaluated.
{"title":"Stop and go controller for adaptive cruise control","authors":"M. Persson, F. Botling, E. Hesslow, Rolf Johansson","doi":"10.1109/CCA.1999.801226","DOIUrl":"https://doi.org/10.1109/CCA.1999.801226","url":null,"abstract":"In the field of vehicle control, conventional cruise control systems have been available on the market for many years. During the last years, modern cars include more and more electronic systems. These systems are often governed by a computer or a network of computers programmed with powerful software. One of those new services is adaptive cruise control (ACC) (or autonomous intelligent cruise control, AICC), which extends the conventional cruise control system to include automated car following when the preceding car is driving at a lower speed than the desired set-speed. The focus of ACC has mainly been directed towards high-speed highway application, but to improve the comfort to the driver also low-speed situations must be considered. The paper presents an ACC system that is capable of car following in low-speed situations, e.g. in suburban areas, as well as in high-speed situations. The system is implemented in a test car and the result is evaluated.","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":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134310354","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}
High intensity electromagnetic radiation has been demonstrated to be a source of computer upsets in commercially available digital flight control systems. Thus, there is a strong need to investigate its effect on stability and performance. In the authors' previous works (1998, 1999), electromagnetic disturbances were modeled with a continuous-time Markovian exosystem generating disturbance events. To analyze the effect of these disturbances, the radiated system was modeled as a discrete-time jump linear system with an appropriate set of transition probability rates. The linear systems in this model were all deterministic, hence this method rendered a worst-case stability analysis. In this paper, the technique is generalized by allowing stochastic perturbations to be randomly introduced by the exosystem model. A preliminary stability theory is developed, and an example is presented to compare stability boundaries for radiation parameters using this model against the worst-case scenario.
{"title":"Stochastic perturbation analysis of computer control systems subject to electromagnetic disturbances","authors":"W. Gray, O. González, M. Doğan","doi":"10.1109/CCA.1999.801244","DOIUrl":"https://doi.org/10.1109/CCA.1999.801244","url":null,"abstract":"High intensity electromagnetic radiation has been demonstrated to be a source of computer upsets in commercially available digital flight control systems. Thus, there is a strong need to investigate its effect on stability and performance. In the authors' previous works (1998, 1999), electromagnetic disturbances were modeled with a continuous-time Markovian exosystem generating disturbance events. To analyze the effect of these disturbances, the radiated system was modeled as a discrete-time jump linear system with an appropriate set of transition probability rates. The linear systems in this model were all deterministic, hence this method rendered a worst-case stability analysis. In this paper, the technique is generalized by allowing stochastic perturbations to be randomly introduced by the exosystem model. A preliminary stability theory is developed, and an example is presented to compare stability boundaries for radiation parameters using this model against the worst-case scenario.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"106 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":"132259278","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 an effort to continuously improving business productivity, companies are adopting new practices towards a continuous optimization of the total enterprise in the areas of business processes, supply chain and plant life cycle. This trend is supported with the enabling technology for integrated enterprise systems, such as enterprise resource planning (ERP) and supply chain management (SCM) systems. With an ERP system, various types of information can be accessed in one system which allows us to do work flow reengineering more effectively. The accessibility of information from the lower layer (process automation/control) system such as process data to the upper layer (enterprise) system such as business data is critical for establishing an effective SCM system. This system plays a critical role for linking the enterprise and the control systems in optimizing the enterprise performance. In a chemical industry, the range of feasible operation regions that is set for the SCM system to find the best operation policy will indirectly depend on the ability of the process control system to perform in the range of operation regions. One of the requirements for an efficient production network is the ability to adopt changes in production operations with greater flexibility. This requirement will put a challenge on the process control technology. Meeting this requirement will allow for greater feasible operation regions set in the SCM study. Here, we discuss the potential impacts of a new trend in enterprise wide SCM practices on process control system in a chemical plant operation.
{"title":"Impacts of enterprise wide supply-chain management techniques on process control","authors":"I. Tjoa, R. Raman, T. Itou, K. Fujita, Y. Natori","doi":"10.1109/CCA.1999.806721","DOIUrl":"https://doi.org/10.1109/CCA.1999.806721","url":null,"abstract":"In an effort to continuously improving business productivity, companies are adopting new practices towards a continuous optimization of the total enterprise in the areas of business processes, supply chain and plant life cycle. This trend is supported with the enabling technology for integrated enterprise systems, such as enterprise resource planning (ERP) and supply chain management (SCM) systems. With an ERP system, various types of information can be accessed in one system which allows us to do work flow reengineering more effectively. The accessibility of information from the lower layer (process automation/control) system such as process data to the upper layer (enterprise) system such as business data is critical for establishing an effective SCM system. This system plays a critical role for linking the enterprise and the control systems in optimizing the enterprise performance. In a chemical industry, the range of feasible operation regions that is set for the SCM system to find the best operation policy will indirectly depend on the ability of the process control system to perform in the range of operation regions. One of the requirements for an efficient production network is the ability to adopt changes in production operations with greater flexibility. This requirement will put a challenge on the process control technology. Meeting this requirement will allow for greater feasible operation regions set in the SCM study. Here, we discuss the potential impacts of a new trend in enterprise wide SCM practices on process control system in a chemical plant operation.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"44 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":"133665550","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 considers position and attitude control of large space structures composed of a number of subsystems which are interconnected by springs and dampers. A decentralized control law of dynamic displacement feedback compatible with subsystems is applied under the assumption that sensors and actuators are collocated. The overall closed-loop system is robustly stable against perturbations in mass, damping, and stiffness if rigid modes of each subsystem are controllable and observable. The objective of this paper is to derive conditions under which stability of the overall system is preserved even when some local controllers fail. The conditions are expressed in terms of the stiffness (or damping) matrices and interconnection location matrices of the subsystems whose local controllers fail.
{"title":"Fault-tolerant decentralized control for large space structures","authors":"Y. Kobayashi, M. Ikeda, Y. Fujisaki","doi":"10.1109/CCA.1999.806647","DOIUrl":"https://doi.org/10.1109/CCA.1999.806647","url":null,"abstract":"This paper considers position and attitude control of large space structures composed of a number of subsystems which are interconnected by springs and dampers. A decentralized control law of dynamic displacement feedback compatible with subsystems is applied under the assumption that sensors and actuators are collocated. The overall closed-loop system is robustly stable against perturbations in mass, damping, and stiffness if rigid modes of each subsystem are controllable and observable. The objective of this paper is to derive conditions under which stability of the overall system is preserved even when some local controllers fail. The conditions are expressed in terms of the stiffness (or damping) matrices and interconnection location matrices of the subsystems whose local controllers fail.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"13 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":"133120105","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 the head positioning control of hard disk drives, digital control is widely used. Therefore, if a small sampling period could be used, the performance obtained by the digital controller is not deteriorated compared with the one obtained by an analog controller. However, in hard disk systems, the sampling period cannot be chosen arbitrarily. Because it is determined by the another factor which is nothing to do with control requirements in most cases. We apply sampled-data H/sub /spl infin// control synthesis to the head positioning control of the hard disk drive. This method enable us to design a desirable digital controller directly by taking into account intersampling behaviors. Experimental results show that good following performances can be achieved by the long sampling period.
{"title":"Following control of a hard disk drive by using sampled-data H/sub /spl infin// control","authors":"M. Hirata, T. Atsumi, A. Murase, K. Nonami","doi":"10.1109/CCA.1999.806173","DOIUrl":"https://doi.org/10.1109/CCA.1999.806173","url":null,"abstract":"In the head positioning control of hard disk drives, digital control is widely used. Therefore, if a small sampling period could be used, the performance obtained by the digital controller is not deteriorated compared with the one obtained by an analog controller. However, in hard disk systems, the sampling period cannot be chosen arbitrarily. Because it is determined by the another factor which is nothing to do with control requirements in most cases. We apply sampled-data H/sub /spl infin// control synthesis to the head positioning control of the hard disk drive. This method enable us to design a desirable digital controller directly by taking into account intersampling behaviors. Experimental results show that good following performances can be achieved by the long sampling period.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"29 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":"132687152","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 develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L/sub 2/-gain constraint for the tracking performance.
{"title":"Lyapunov recursive design of robust tracking control with L/sub 2/-gain performance for electrically-driven robot manipulators","authors":"C. Ishii, S. Shen, Z. Qu","doi":"10.1109/CCA.1999.807851","DOIUrl":"https://doi.org/10.1109/CCA.1999.807851","url":null,"abstract":"This paper develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L/sub 2/-gain constraint for the tracking performance.","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":"122220538","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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