The design and implementation of a robust computer control system for balancing and improving the steady state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H/sub /spl infin// theory. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Experimental results are reported.
{"title":"Robust control of a triple inverted pendulum","authors":"V. Tsachouridis","doi":"10.1109/CCA.1999.801149","DOIUrl":"https://doi.org/10.1109/CCA.1999.801149","url":null,"abstract":"The design and implementation of a robust computer control system for balancing and improving the steady state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H/sub /spl infin// theory. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Experimental results are reported.","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":"127638819","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 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}
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}
Introduction of an auxiliary input is known to be useful to detect the system fault quickly without affecting the original system behavior in normal mode. Such an auxiliary input is designed to enlarge the distance measured by the Kullback discrimination information measure between the system models corresponding to the normal and the fault modes. However, in practice, the designer hardly knows the exact models. Hence, the optimal auxiliary input should be designed for the case of the system models with uncertainty. Here, the auxiliary input is designed to maximize the distance for the worst combination of system models. Numerical simulation results indicate the applicability of the proposed auxiliary input in fault detection.
{"title":"Optimal auxiliary input for fault detection of systems with model uncertainty","authors":"T. Hatanaka, K. Uosaki","doi":"10.1109/CCA.1999.801183","DOIUrl":"https://doi.org/10.1109/CCA.1999.801183","url":null,"abstract":"Introduction of an auxiliary input is known to be useful to detect the system fault quickly without affecting the original system behavior in normal mode. Such an auxiliary input is designed to enlarge the distance measured by the Kullback discrimination information measure between the system models corresponding to the normal and the fault modes. However, in practice, the designer hardly knows the exact models. Hence, the optimal auxiliary input should be designed for the case of the system models with uncertainty. Here, the auxiliary input is designed to maximize the distance for the worst combination of system models. Numerical simulation results indicate the applicability of the proposed auxiliary input in fault detection.","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":"122701901","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}
Digital system upsets can occur as a result of electrical transients induced by electromagnetic fields. One possible upset is the irrecoverable loss of sensor data due to noisy readings or data changes in the input circuitry. The control system may not perform adequately when faced with such modes of failure. The paper focuses on a technique in which a virtual closed loop is used to overcome these modes of failure. The advantage of using this technique is confirmed by results from a DC motor control system set-up in electromagnetic environments.
{"title":"A virtual closed loop remedy for temporary sensor failures","authors":"J. Suh, G. Bajpai, B. Chang","doi":"10.1109/CCA.1999.801196","DOIUrl":"https://doi.org/10.1109/CCA.1999.801196","url":null,"abstract":"Digital system upsets can occur as a result of electrical transients induced by electromagnetic fields. One possible upset is the irrecoverable loss of sensor data due to noisy readings or data changes in the input circuitry. The control system may not perform adequately when faced with such modes of failure. The paper focuses on a technique in which a virtual closed loop is used to overcome these modes of failure. The advantage of using this technique is confirmed by results from a DC motor control system set-up in electromagnetic environments.","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":"122323447","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}
We study the effect of model reduction strategies for actuator design and control of a thermal convection loop. The problem concerns flow through a thin pipe in which the Boussinesq approximation for Newtonian viscous flows is assumed.
{"title":"On the design of feedback controllers for a convecting fluid flow via reduced order modeling","authors":"J. Burns, B. King, D. Rubio","doi":"10.1109/CCA.1999.801136","DOIUrl":"https://doi.org/10.1109/CCA.1999.801136","url":null,"abstract":"We study the effect of model reduction strategies for actuator design and control of a thermal convection loop. The problem concerns flow through a thin pipe in which the Boussinesq approximation for Newtonian viscous flows is assumed.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"45 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":"121500110","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.A. Mast, A. Reed, S. Yurkovich, M. Ashby, S. Adibhatla
Describes the methodology for usage of Bayesian belief networks (BBNs) in fault detection for aircraft gas turbine engines. First, the basic theory of BBNs is discussed, followed by a discussion on the application of this theory to a specific engine. In particular, the selection of faults and the means by which operating regions for the BBN system are chosen are analyzed. This methodology is then illustrated using the GE CFM56-7 turbofan engine as an example.
{"title":"Bayesian belief networks for fault identification in aircraft gas turbine engines","authors":"T.A. Mast, A. Reed, S. Yurkovich, M. Ashby, S. Adibhatla","doi":"10.1109/CCA.1999.806140","DOIUrl":"https://doi.org/10.1109/CCA.1999.806140","url":null,"abstract":"Describes the methodology for usage of Bayesian belief networks (BBNs) in fault detection for aircraft gas turbine engines. First, the basic theory of BBNs is discussed, followed by a discussion on the application of this theory to a specific engine. In particular, the selection of faults and the means by which operating regions for the BBN system are chosen are analyzed. This methodology is then illustrated using the GE CFM56-7 turbofan engine as an example.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"48 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":"128809703","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 work, we consider state estimation of harmonic signals with time-varying magnitudes. The presence of such signals has been increasing in electric power systems due to the increased use of power electronics circuits possessing nonlinear voltage vs. current characteristics. In this work, harmonic signals are modelled using ellipsoidal set-theoretic methods and an optimal reduced-order estimator, which has one-half the dimension of the state vector, is introduced for predicting the unknown time-varying harmonic magnitudes. The optimality is in the sense of minimizing both the sum of the lengths of the principal axes and the volume of the ellipsoid for estimation error. This new estimator is compared with a full-order set-theoretic estimator in an example where each frequency component has a randomly changing magnitude.
{"title":"Reduced-order estimation of power system harmonics using set theory","authors":"S. Andreon, E. Yaz, K. Olejniczak","doi":"10.1109/CCA.1999.807772","DOIUrl":"https://doi.org/10.1109/CCA.1999.807772","url":null,"abstract":"In this work, we consider state estimation of harmonic signals with time-varying magnitudes. The presence of such signals has been increasing in electric power systems due to the increased use of power electronics circuits possessing nonlinear voltage vs. current characteristics. In this work, harmonic signals are modelled using ellipsoidal set-theoretic methods and an optimal reduced-order estimator, which has one-half the dimension of the state vector, is introduced for predicting the unknown time-varying harmonic magnitudes. The optimality is in the sense of minimizing both the sum of the lengths of the principal axes and the volume of the ellipsoid for estimation error. This new estimator is compared with a full-order set-theoretic estimator in an example where each frequency component has a randomly changing magnitude.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129199366","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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