This paper discusses the human postural control as a system engineering approach problem. Two main perspectives are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion
{"title":"Multisensory Human Postural Control: Neurological and Engineering Perspectives","authors":"K. Tahboub, T. Mergner, C. Ament","doi":"10.1109/MED.2006.328845","DOIUrl":"https://doi.org/10.1109/MED.2006.328845","url":null,"abstract":"This paper discusses the human postural control as a system engineering approach problem. Two main perspectives are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122127039","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}
S. Biagiola, Andres Garcia, O. Agamennoni, J. Figueroa
The robustness of a typical control scheme for Wiener systems is analyzed. Wiener systems consist of the cascade connection of a linear time invariant system and a static nonlinearity. Several approaches were reported in the literature in order to control this kind of systems. Most of these control schemes involve a transformation of the measured variable as well as the setpoint by using the inverse of the nonlinear gain. As regards the uncertainty in the Wiener model, it is usually described as a partitioned problem. The linear block is considered as a parameter-affine-dependent model. On the other hand, the nonlinear block uncertainty is analyzed as a conic-sector. The robustness evaluation is performed using mu-theory. The results are interpreted on the basis of a simulation of a pH neutralization process
{"title":"Robust Control of Wiener Systems: A Case Study","authors":"S. Biagiola, Andres Garcia, O. Agamennoni, J. Figueroa","doi":"10.1109/MED.2006.328724","DOIUrl":"https://doi.org/10.1109/MED.2006.328724","url":null,"abstract":"The robustness of a typical control scheme for Wiener systems is analyzed. Wiener systems consist of the cascade connection of a linear time invariant system and a static nonlinearity. Several approaches were reported in the literature in order to control this kind of systems. Most of these control schemes involve a transformation of the measured variable as well as the setpoint by using the inverse of the nonlinear gain. As regards the uncertainty in the Wiener model, it is usually described as a partitioned problem. The linear block is considered as a parameter-affine-dependent model. On the other hand, the nonlinear block uncertainty is analyzed as a conic-sector. The robustness evaluation is performed using mu-theory. The results are interpreted on the basis of a simulation of a pH neutralization process","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122134712","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 deals with a robustly stable adaptive pole-placement based controller for a class of linear time-invariant time-delay systems with possibly locally unknown point delays under unmodeled dynamics and bounded disturbances. A multi-estimation scheme is used to improve the identification error and also to deal with possibly errors between the true basic delay compared to these used in the regression vectors of the adaptive scheme
{"title":"Adaptive Multimodel Estimation for Synthesis of a Robust Stabilizer Under Imperfect Knowledge of the Plant Delay","authors":"S. Alonso-Quesada, M. de La Sen, A. Ibeas","doi":"10.1109/MED.2006.328833","DOIUrl":"https://doi.org/10.1109/MED.2006.328833","url":null,"abstract":"This paper deals with a robustly stable adaptive pole-placement based controller for a class of linear time-invariant time-delay systems with possibly locally unknown point delays under unmodeled dynamics and bounded disturbances. A multi-estimation scheme is used to improve the identification error and also to deal with possibly errors between the true basic delay compared to these used in the regression vectors of the adaptive scheme","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115213834","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}
Control design using long-range prediction based on a dynamic model of the plant has become an important contender for high performance applications. In case of important parameters variations however, the maintenance of a high level of performances maybe impossible to reach with a fixed controller, even if the predictive laws ensure intrinsic robustness. In this paper locally linear model tree (LOLIMOT) is used as an identifier of an electromagnetic suspension system. Adaptation mechanism based on online estimation of the each local linear model weights in LOLIMOT algorithm is used to make the system adaptive. Also, an evolutionary programming (EP) is used to determine the optimized control variables for a finite future time interval. Simulation results on EMS system conforms the effectiveness of the proposed predictive control strategy in time varying nonlinear systems
{"title":"Adaptive Predictive Control of an Electromagnetic Suspension System with LOLIMOT Identifier","authors":"I. Mohammadzaman, A. S. Jamab","doi":"10.1109/MED.2006.328809","DOIUrl":"https://doi.org/10.1109/MED.2006.328809","url":null,"abstract":"Control design using long-range prediction based on a dynamic model of the plant has become an important contender for high performance applications. In case of important parameters variations however, the maintenance of a high level of performances maybe impossible to reach with a fixed controller, even if the predictive laws ensure intrinsic robustness. In this paper locally linear model tree (LOLIMOT) is used as an identifier of an electromagnetic suspension system. Adaptation mechanism based on online estimation of the each local linear model weights in LOLIMOT algorithm is used to make the system adaptive. Also, an evolutionary programming (EP) is used to determine the optimized control variables for a finite future time interval. Simulation results on EMS system conforms the effectiveness of the proposed predictive control strategy in time varying nonlinear systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123662554","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}
For the one-dimensional spatially invariant array, a necessary and sufficient stability condition in terms of the Schur stability of a matrix over spatial frequency is obtained in this paper Then based on the theorem on nonnegative pseudo-polynomial matrices, the frequency-dependent stability condition is converted to a finite dimensional linear matrix inequality (LMI) problem, the solution of which is easy to compute
{"title":"Stability of One-Dimensional Spatially Invariant Arrays Perturbed by White Noise","authors":"H. Fang, P.J. Antsakls","doi":"10.1109/MED.2006.328831","DOIUrl":"https://doi.org/10.1109/MED.2006.328831","url":null,"abstract":"For the one-dimensional spatially invariant array, a necessary and sufficient stability condition in terms of the Schur stability of a matrix over spatial frequency is obtained in this paper Then based on the theorem on nonnegative pseudo-polynomial matrices, the frequency-dependent stability condition is converted to a finite dimensional linear matrix inequality (LMI) problem, the solution of which is easy to compute","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125083104","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 describes the realization of a generic simulator for formation flying satellites, and the design and application of embedded model control (EMC) to the spacecraft control, as potentially applicable to a constellation of drag-free satellites. They can be employed for scientific purposes: it is presented the satellite-satellite interferometry mission for the measurement of the Earth's gravitational field harmonics, which follow the incoming gravimetric mission GOCE and the gravitational wave observatory LISA. The core drag-free controller (DFC) was partly validated by preliminary design review of GOCE mission, and particular emphasize is given to the acceleration observer and to the command computation law. The measurement model and mission requirements are also presented, followed by the simulation results of the DFC, tuned ad-hoc in order to obtain accurate aiming target
{"title":"Embedded Model Control Application to Drag-Free and Satellite-to-Satellite Tracking","authors":"L. Massotti, E. Canuto, P. Silvestrin","doi":"10.1109/MED.2006.328708","DOIUrl":"https://doi.org/10.1109/MED.2006.328708","url":null,"abstract":"This paper describes the realization of a generic simulator for formation flying satellites, and the design and application of embedded model control (EMC) to the spacecraft control, as potentially applicable to a constellation of drag-free satellites. They can be employed for scientific purposes: it is presented the satellite-satellite interferometry mission for the measurement of the Earth's gravitational field harmonics, which follow the incoming gravimetric mission GOCE and the gravitational wave observatory LISA. The core drag-free controller (DFC) was partly validated by preliminary design review of GOCE mission, and particular emphasize is given to the acceleration observer and to the command computation law. The measurement model and mission requirements are also presented, followed by the simulation results of the DFC, tuned ad-hoc in order to obtain accurate aiming target","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130131593","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 problem of stationary Hinfin output-feedback tracking for linear discrete-time systems with stochastic state-multiplicative parameter uncertainties is investigated. We consider two tracking patterns depending on the nature of the reference signal i.e: whether it is measured on line or previewed in a fixed time-interval ahead. The stochastic uncertainties appear in both the dynamic and measurement matrices of the system. For each of the above two cases a solution is found where, given a specific reference signal, the controller plays against nature which chooses the initial condition and the energy-bounded disturbance. The problems are solved by applying a special Lyapunov function which leads to an LMI based tractable solution. The theory developed is demonstrated by a simple example
{"title":"Systems with Multiplicative Noise: Stationary output-feedback Tracking with preview","authors":"E. Gershon, U. Shaked","doi":"10.1109/MED.2006.328868","DOIUrl":"https://doi.org/10.1109/MED.2006.328868","url":null,"abstract":"The problem of stationary Hinfin output-feedback tracking for linear discrete-time systems with stochastic state-multiplicative parameter uncertainties is investigated. We consider two tracking patterns depending on the nature of the reference signal i.e: whether it is measured on line or previewed in a fixed time-interval ahead. The stochastic uncertainties appear in both the dynamic and measurement matrices of the system. For each of the above two cases a solution is found where, given a specific reference signal, the controller plays against nature which chooses the initial condition and the energy-bounded disturbance. The problems are solved by applying a special Lyapunov function which leads to an LMI based tractable solution. The theory developed is demonstrated by a simple example","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130137111","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}
Summary form only given. The scope of this article is primarily aerospace engineering for military missions. Control systems engineers have made many outstanding contributions to aerospace engineering in the last few decades. The purpose of this article is to discuss the interdisciplinary challenges the controls community is facing now in the aerospace arena and the expected increased complexities in the near future. Specifically, control issues and research covering a broad range of air vehicles and space vehicles are discussed. Topics in the presentation include unmanned air vehicles, micro air vehicles, autonomous air refueling, cooperative control, human interface with autonomous systems, structural control, aerodynamic flow control, reusable space launch vehicles, air breathing propulsion engines and many others. While discussing current efforts, future research directions and control challenges are emphasized
{"title":"Aerospace Controls: The Way Forward","authors":"S. Banda","doi":"10.1109/MED.2006.236971","DOIUrl":"https://doi.org/10.1109/MED.2006.236971","url":null,"abstract":"Summary form only given. The scope of this article is primarily aerospace engineering for military missions. Control systems engineers have made many outstanding contributions to aerospace engineering in the last few decades. The purpose of this article is to discuss the interdisciplinary challenges the controls community is facing now in the aerospace arena and the expected increased complexities in the near future. Specifically, control issues and research covering a broad range of air vehicles and space vehicles are discussed. Topics in the presentation include unmanned air vehicles, micro air vehicles, autonomous air refueling, cooperative control, human interface with autonomous systems, structural control, aerodynamic flow control, reusable space launch vehicles, air breathing propulsion engines and many others. While discussing current efforts, future research directions and control challenges are emphasized","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129045588","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 problem of aircraft formation dynamics and control is investigated from the viewpoint of formation architecture. Three different formation structures, leader-wingman, virtual leader and behavioral approaches are introduced. A comparative study is made using an unified approach through a suitable control law based on the dynamic inversion approach
{"title":"Formation Control Laws for Autonomous Flight Vehicles","authors":"M. Chiaramonti, Fabrizio Giulietti, G. Mengali","doi":"10.1109/MED.2006.328818","DOIUrl":"https://doi.org/10.1109/MED.2006.328818","url":null,"abstract":"The problem of aircraft formation dynamics and control is investigated from the viewpoint of formation architecture. Three different formation structures, leader-wingman, virtual leader and behavioral approaches are introduced. A comparative study is made using an unified approach through a suitable control law based on the dynamic inversion approach","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130282761","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}
Some necessary conditions of implementability of regulation of MIMO plant without and with integrators are formulated and proved in the paper. The notions of the join gain and degree of independence of the outputs of the plant in steady state are introduced. Partial decoupling of steady states and of fast transients is considered. The latter is based on an original approach consisting in transforming the decoupled matrix transfer function (MTF) of the plant to the form having on its diagonal the elements with smallest relative degree in each row. It is also shown that by the appropriate choice of the control saturations the decoupling of fast transients may be partially retained
{"title":"Implementability of Regulation and Partial Decoupling of MIMO Plants","authors":"R. Gessing","doi":"10.1109/MED.2006.328742","DOIUrl":"https://doi.org/10.1109/MED.2006.328742","url":null,"abstract":"Some necessary conditions of implementability of regulation of MIMO plant without and with integrators are formulated and proved in the paper. The notions of the join gain and degree of independence of the outputs of the plant in steady state are introduced. Partial decoupling of steady states and of fast transients is considered. The latter is based on an original approach consisting in transforming the decoupled matrix transfer function (MTF) of the plant to the form having on its diagonal the elements with smallest relative degree in each row. It is also shown that by the appropriate choice of the control saturations the decoupling of fast transients may be partially retained","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116571279","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：