An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion. This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater mobile platform-mounted manipulators. The presented adaptive control system does not require any information about the system. The adaptive control law estimates the control gains defined by the combinations of the bounded constants of system parameter matrices. To evaluate the performance of the adaptive controller, computer simulation was performed with a two-link planar manipulator mounted on a one degree-of-freedom mobile platform. The effects of hydrodynamic forces acting on the manipulator are included.
{"title":"Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator","authors":"Pan-Mook Lee, J. Yuh","doi":"10.1109/CCA.1999.801132","DOIUrl":"https://doi.org/10.1109/CCA.1999.801132","url":null,"abstract":"An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion. This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater mobile platform-mounted manipulators. The presented adaptive control system does not require any information about the system. The adaptive control law estimates the control gains defined by the combinations of the bounded constants of system parameter matrices. To evaluate the performance of the adaptive controller, computer simulation was performed with a two-link planar manipulator mounted on a one degree-of-freedom mobile platform. The effects of hydrodynamic forces acting on the manipulator are included.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"43 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":"121589365","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}
Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimize the required active control effort to satisfy given output variance constraints and robust performance constraints. The problem is formulated as an iterative sequential control design followed by control/structure redesign. Each step of the iterative algorithm is formulated as a linear matrix inequality (LMI) optimization problem that can be solved effectively using available LMI solvers. Convergence of the proposed algorithm to a solution that provides improved control effort and robust stability compared to the single-step structural and control design is guaranteed. Both static state-feedback and dynamic output feedback problems are considered.
{"title":"Integrated structural and control design for structural systems via LMIs","authors":"A. Mayzus, K. Grigoriadis","doi":"10.1109/CCA.1999.806146","DOIUrl":"https://doi.org/10.1109/CCA.1999.806146","url":null,"abstract":"Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimize the required active control effort to satisfy given output variance constraints and robust performance constraints. The problem is formulated as an iterative sequential control design followed by control/structure redesign. Each step of the iterative algorithm is formulated as a linear matrix inequality (LMI) optimization problem that can be solved effectively using available LMI solvers. Convergence of the proposed algorithm to a solution that provides improved control effort and robust stability compared to the single-step structural and control design is guaranteed. Both static state-feedback and dynamic output feedback problems are considered.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115106500","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 an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs the driving torque and wheel speeds of the driven and non-driven wheels as inputs. The road friction coefficient is assumed to be represented by a product of a known function and an unknown parameter to be estimated by an adaptive law. It is shown that non-robust adaptive law can obtain the true value, if there are no disturbances. However, it diverges when disturbances are added. Periodical /spl sigma/-modification is proposed here as a robust adaptive law. The estimation robustness against disturbances can be improved with the law. Numerical simulation results are presented to show the effectiveness of the adaptive law.
{"title":"Road friction estimation using adaptive observer with periodical /spl sigma/-modification","authors":"H. Nishira, T. Kawabe, Seiichi Shin","doi":"10.1109/CCA.1999.806731","DOIUrl":"https://doi.org/10.1109/CCA.1999.806731","url":null,"abstract":"We propose an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs the driving torque and wheel speeds of the driven and non-driven wheels as inputs. The road friction coefficient is assumed to be represented by a product of a known function and an unknown parameter to be estimated by an adaptive law. It is shown that non-robust adaptive law can obtain the true value, if there are no disturbances. However, it diverges when disturbances are added. Periodical /spl sigma/-modification is proposed here as a robust adaptive law. The estimation robustness against disturbances can be improved with the law. Numerical simulation results are presented to show the effectiveness of the adaptive law.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116774156","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 reviews the development of a robot holon based on an open controller in the context of the holonic multicell control system (HoMuCS) architecture. We describe the results and research work that was involved in developing a robot holon for a physical robot. The robot holon was implemented on a existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to perform both processing tasks and material handling tasks. Based on that notion we attempt to draw up a robot-architecture in the HoMuCS that can easily be reconfigured for these types of tasks. The research results gave a further specification of the HoMuCS architecture by extending it with the special robot holon type.
{"title":"Development of a robot holon using an open modular controller","authors":"J. Schnell, S. Andersen, G. Langer, C. Sørensen","doi":"10.1109/CCA.1999.801218","DOIUrl":"https://doi.org/10.1109/CCA.1999.801218","url":null,"abstract":"This paper reviews the development of a robot holon based on an open controller in the context of the holonic multicell control system (HoMuCS) architecture. We describe the results and research work that was involved in developing a robot holon for a physical robot. The robot holon was implemented on a existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to perform both processing tasks and material handling tasks. Based on that notion we attempt to draw up a robot-architecture in the HoMuCS that can easily be reconfigured for these types of tasks. The research results gave a further specification of the HoMuCS architecture by extending it with the special robot holon type.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"39 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":"121200047","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 need to engage tactical ballistic missile (TBM) threats and high performance anti-ship cruise missiles is dictating the design of enhanced performance missile interceptors that can provide a high probability of kill. It can be argued that current interceptor guidance and control (G&C) designs are suboptimal because each of the G&C components are designed separately before they are made to interact together as a single functional unit. Ultimately, integrated G&C (IGC) design techniques might improve interceptor performance because: 1) the implicit interdependency of the classically separate G&C components could provide a positive synergism that is unrealized in the more conventional designs, and 2) an IGC design is formulated as a single optimization problem thus providing a unified approach to interceptor performance optimization. The prototype IGC system discussed in this paper is designed via an approximate solution to the nonlinear disturbance attenuation problem. Furthermore, the integrated controller has been implemented in a high fidelity six-degree-of-freedom (6DOF) missile simulation that incorporates a fully coupled nonlinear aerodynamics model. A high-performance benchmark missile G&C system has also been designed and incorporated to provide performance comparisons. In addition to a discussion of the solution methodology, 6DOF Monte Carlo simulation results are presented that compare the integrated concept to the benchmark G&C system. The simulation results to date show the IGC paradigm reduces both the mean and I-sigma miss statistics as compared to the benchmark system.
{"title":"Integrated missile guidance and control: a state dependent Riccati differential equation approach","authors":"N. F. Palumbo, T. D. Jackson","doi":"10.1109/CCA.1999.806207","DOIUrl":"https://doi.org/10.1109/CCA.1999.806207","url":null,"abstract":"The need to engage tactical ballistic missile (TBM) threats and high performance anti-ship cruise missiles is dictating the design of enhanced performance missile interceptors that can provide a high probability of kill. It can be argued that current interceptor guidance and control (G&C) designs are suboptimal because each of the G&C components are designed separately before they are made to interact together as a single functional unit. Ultimately, integrated G&C (IGC) design techniques might improve interceptor performance because: 1) the implicit interdependency of the classically separate G&C components could provide a positive synergism that is unrealized in the more conventional designs, and 2) an IGC design is formulated as a single optimization problem thus providing a unified approach to interceptor performance optimization. The prototype IGC system discussed in this paper is designed via an approximate solution to the nonlinear disturbance attenuation problem. Furthermore, the integrated controller has been implemented in a high fidelity six-degree-of-freedom (6DOF) missile simulation that incorporates a fully coupled nonlinear aerodynamics model. A high-performance benchmark missile G&C system has also been designed and incorporated to provide performance comparisons. In addition to a discussion of the solution methodology, 6DOF Monte Carlo simulation results are presented that compare the integrated concept to the benchmark G&C system. The simulation results to date show the IGC paradigm reduces both the mean and I-sigma miss statistics as compared to the benchmark system.","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":"122064516","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}
Digital based excitation control systems (ECSs) with microprocessors or PCs are coming up very fast and replacing analog controllers for excitation. The ECS model ST4B is a fast responding digital based ECS incorporating proportional integral controls, recently proposed by IEEE. Detailed state space model of ST4B with a single machine connected to infinite bus (SMIB) has been developed to provide a complete description and a thorough insight of the model. SMIB has been modelled in terms of K-constants arrived at based on a detailed analysis by the author (1998). The chosen significant parameters of ECS, voltage regulator gains K/sub pr/ and K/sub ir/ and time constant T/sub A/, have been varied over a wide range and time response and frequency response characteristics have been derived through simulation and computation, using specially developed programmes along with the software package MATLAB-SIMULINK, and the best values of the parameters arrived at. As K/sub pr/ and K/sub ir/ increase up to an optimum value, the time responses improve and for higher values of gains the responses tend to become uneven and oscillatory.
{"title":"Development of state space model and study of performance characteristics of digital based excitation control system ST4B with single machine connected to infinite bus","authors":"S. Rangnekar","doi":"10.1109/CCA.1999.801187","DOIUrl":"https://doi.org/10.1109/CCA.1999.801187","url":null,"abstract":"Digital based excitation control systems (ECSs) with microprocessors or PCs are coming up very fast and replacing analog controllers for excitation. The ECS model ST4B is a fast responding digital based ECS incorporating proportional integral controls, recently proposed by IEEE. Detailed state space model of ST4B with a single machine connected to infinite bus (SMIB) has been developed to provide a complete description and a thorough insight of the model. SMIB has been modelled in terms of K-constants arrived at based on a detailed analysis by the author (1998). The chosen significant parameters of ECS, voltage regulator gains K/sub pr/ and K/sub ir/ and time constant T/sub A/, have been varied over a wide range and time response and frequency response characteristics have been derived through simulation and computation, using specially developed programmes along with the software package MATLAB-SIMULINK, and the best values of the parameters arrived at. As K/sub pr/ and K/sub ir/ increase up to an optimum value, the time responses improve and for higher values of gains the responses tend to become uneven and oscillatory.","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":"124700117","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}
Temperature control in single-wafer semiconductor reactors has become a hot topic. The interest in the subject illustrates the fact that the temperature measurement and control issues are far from trivial. This is due to the reactor design which is inherently non-isothermal, to the principal difficulties in measuring wafer temperature (or film thickness) in real-time and to the typically large interaction present between zones in radiantly heated systems. CVD-RTP (chemical vapor deposition-rapid thermal processing) reactors offer a challenge to control engineers in that the control of temperature uniformity over the wafer surface is of utmost importance for the next generation of processing equipment. This paper presents a solution based on the methodology of model based predictive control.
{"title":"Model based predictive control in RTP semiconductor manufacturing","authors":"R. D. De Keyser, J. Donald","doi":"10.1109/CCA.1999.801217","DOIUrl":"https://doi.org/10.1109/CCA.1999.801217","url":null,"abstract":"Temperature control in single-wafer semiconductor reactors has become a hot topic. The interest in the subject illustrates the fact that the temperature measurement and control issues are far from trivial. This is due to the reactor design which is inherently non-isothermal, to the principal difficulties in measuring wafer temperature (or film thickness) in real-time and to the typically large interaction present between zones in radiantly heated systems. CVD-RTP (chemical vapor deposition-rapid thermal processing) reactors offer a challenge to control engineers in that the control of temperature uniformity over the wafer surface is of utmost importance for the next generation of processing equipment. This paper presents a solution based on the methodology of model based predictive control.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"15 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":"125303871","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}
T. Kitti, N. Jongkol, J. Prasit, T. Thanit, L. Michihiko
This paper presents a design technique for the 2-DOF control system using PID/spl times/(n-2) stage PD as a cascade controller for a class of n/sup th/ order plant. It is intended to satisfy both transient and steady state response specifications based on the root locus approach. This controller can be used instead of the conventional PID controller for the higher order plant to obtain better performance. The transfer function of a class of n/sup th/ order plant should not include zeros, the poles of the plant should have negative real part. The overall system is approximated as a stable and robust second order system. The performances of the controlled system are satisfied by this design technique. Moreover, this technique can also be applied to the plant with small dead time. The cascade controller gain can be adjusted to meet faster responses with a little or no overshoot. Robustness properties given by this controller proposed are demonstrated by numerical examples.
{"title":"Robust PID/spl times/(n-2) stage PD cascade controller","authors":"T. Kitti, N. Jongkol, J. Prasit, T. Thanit, L. Michihiko","doi":"10.1109/CCA.1999.806152","DOIUrl":"https://doi.org/10.1109/CCA.1999.806152","url":null,"abstract":"This paper presents a design technique for the 2-DOF control system using PID/spl times/(n-2) stage PD as a cascade controller for a class of n/sup th/ order plant. It is intended to satisfy both transient and steady state response specifications based on the root locus approach. This controller can be used instead of the conventional PID controller for the higher order plant to obtain better performance. The transfer function of a class of n/sup th/ order plant should not include zeros, the poles of the plant should have negative real part. The overall system is approximated as a stable and robust second order system. The performances of the controlled system are satisfied by this design technique. Moreover, this technique can also be applied to the plant with small dead time. The cascade controller gain can be adjusted to meet faster responses with a little or no overshoot. Robustness properties given by this controller proposed are demonstrated by numerical examples.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"292 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":"121715857","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}
Recent work has shown that neural networks offer great promise in modeling complex fabrication processes such as reactive ion etching (RIE). This paper explores the use of neural networks for real-time, model-based feedback control of RIE. This objective is accomplished in part by constructing a predictive model for the system, which can be inverted (or approximately inverted) to achieve the desired control. The efficacy of this approach is demonstrated using experimental data from a SiO/sub 2/ etch process to simulate real-time control of etch rate, uniformity, selectivity, and anisotropy. In addition, using a residual gas analysis system as a sensor, the approach is further demonstrated using actual experimental data acquired during the etch of a GaAs/AlGaAs metal-semiconductor-metal structure. In the latter case, real-time control of the etch rate of the constituent materials is investigated.
{"title":"Real-time plasma etch control using in-situ sensors and neural networks","authors":"D. Stokes, G. May","doi":"10.1109/CCA.1999.807760","DOIUrl":"https://doi.org/10.1109/CCA.1999.807760","url":null,"abstract":"Recent work has shown that neural networks offer great promise in modeling complex fabrication processes such as reactive ion etching (RIE). This paper explores the use of neural networks for real-time, model-based feedback control of RIE. This objective is accomplished in part by constructing a predictive model for the system, which can be inverted (or approximately inverted) to achieve the desired control. The efficacy of this approach is demonstrated using experimental data from a SiO/sub 2/ etch process to simulate real-time control of etch rate, uniformity, selectivity, and anisotropy. In addition, using a residual gas analysis system as a sensor, the approach is further demonstrated using actual experimental data acquired during the etch of a GaAs/AlGaAs metal-semiconductor-metal structure. In the latter case, real-time control of the etch rate of the constituent materials is investigated.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"238 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":"121983010","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}
Vibration control has been identified by wood products industry as one of the key technologies for increasing wood recovery in wood machining. This paper presents results of a research project for active vibration control of circular saws using magnetic actuators. An active control system is developed to increase wood recovery by reducing saw blade vibration. For online estimation and control of vibration characteristics, a state-space model is developed based on the finite element model analysis and experimental measurement. The characteristics of different vibration modes is estimated online by a Kalman filler based state estimator. A state feedback controller design is then implemented online and good clamping results have been achieved.
{"title":"Estimation and control of vibrations of circular saws","authors":"X.G. Wang, F.J. Xi, Daming Li, Zhong Qin","doi":"10.1109/CCA.1999.806698","DOIUrl":"https://doi.org/10.1109/CCA.1999.806698","url":null,"abstract":"Vibration control has been identified by wood products industry as one of the key technologies for increasing wood recovery in wood machining. This paper presents results of a research project for active vibration control of circular saws using magnetic actuators. An active control system is developed to increase wood recovery by reducing saw blade vibration. For online estimation and control of vibration characteristics, a state-space model is developed based on the finite element model analysis and experimental measurement. The characteristics of different vibration modes is estimated online by a Kalman filler based state estimator. A state feedback controller design is then implemented online and good clamping results have been achieved.","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":"114527905","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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