This paper studies the problem of robust H/sub /spl infin// filtering of a class of continuous-time linear systems subject to parameter uncertainty. The class of uncertain systems is described by a state-space model with linear nominal parts and norm-bounded nonlinear uncertainties in the state equation. The proposed problem is the design of an asymptotically stable linear filter such that the L/sub 2/-induced gain from the noise signals to the estimation error is kept within a prescribed bound for all admissible parameter uncertainties.
{"title":"Robust H/sub /spl infin// filtering for continuous-time linear systems with norm-bounded nonlinear uncertainties","authors":"M. R. Filho, C. J. Munaro","doi":"10.1109/CCA.2001.973947","DOIUrl":"https://doi.org/10.1109/CCA.2001.973947","url":null,"abstract":"This paper studies the problem of robust H/sub /spl infin// filtering of a class of continuous-time linear systems subject to parameter uncertainty. The class of uncertain systems is described by a state-space model with linear nominal parts and norm-bounded nonlinear uncertainties in the state equation. The proposed problem is the design of an asymptotically stable linear filter such that the L/sub 2/-induced gain from the noise signals to the estimation error is kept within a prescribed bound for all admissible parameter uncertainties.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"230 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134182072","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 mapping theorem by Zadeh and Desoer (1963) is a sufficient condition for the zero exclusion of the image or value set of an m-dimensional box B under a multilinear mapping f : R/sup m//spl rarr/C, where R and C denote the real line and the complex plane, respectively. In this paper, we present a sufficient condition for the zero inclusion of the value set f( B). On the basis of these two conditions and the iterative subdivision of the box B, we propose a numerical procedure for testing whether or not the value set f(B) includes the origin. The procedure is easy to implement and is more efficient than that based on constructing the value set f(B) explicitly. As an application, the proposed zero inclusion test procedure is used along with a homotopy continuation algorithm to trace out the boundary curves of the robust root loci of polynomial families with multilinear parametric uncertainties.
{"title":"The robust root locus of polynomial families with multilinear parameter dependence","authors":"C. Hwang, Shih-Feng Yang","doi":"10.1109/CCA.2001.973975","DOIUrl":"https://doi.org/10.1109/CCA.2001.973975","url":null,"abstract":"The mapping theorem by Zadeh and Desoer (1963) is a sufficient condition for the zero exclusion of the image or value set of an m-dimensional box B under a multilinear mapping f : R/sup m//spl rarr/C, where R and C denote the real line and the complex plane, respectively. In this paper, we present a sufficient condition for the zero inclusion of the value set f( B). On the basis of these two conditions and the iterative subdivision of the box B, we propose a numerical procedure for testing whether or not the value set f(B) includes the origin. The procedure is easy to implement and is more efficient than that based on constructing the value set f(B) explicitly. As an application, the proposed zero inclusion test procedure is used along with a homotopy continuation algorithm to trace out the boundary curves of the robust root loci of polynomial families with multilinear parametric uncertainties.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132601241","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 discusses the control of the planar underactuated two-motor, three-link walking robot originally considered by Kiefer et al. (1993). This robot consists of two legs connected to a cylindrical torso by DC-motors. A key problem that exists with this design is the generation of stable gaits while simultaneously guaranteeing bounded torso velocity. We present a solution to this problem by controlling the velocity of the hub through design of the leg trajectories. Partial feedback linearization control is used to track the desired leg trajectories, which in turn determine the zero dynamics governing the hub velocity. A detailed simulation of the robot is used to demonstrate the performance of this proposed control scheme.
{"title":"Trajectory planning and control of a novel walking biped","authors":"T. McGee, M. Spong","doi":"10.1109/CCA.2001.974018","DOIUrl":"https://doi.org/10.1109/CCA.2001.974018","url":null,"abstract":"This paper discusses the control of the planar underactuated two-motor, three-link walking robot originally considered by Kiefer et al. (1993). This robot consists of two legs connected to a cylindrical torso by DC-motors. A key problem that exists with this design is the generation of stable gaits while simultaneously guaranteeing bounded torso velocity. We present a solution to this problem by controlling the velocity of the hub through design of the leg trajectories. Partial feedback linearization control is used to track the desired leg trajectories, which in turn determine the zero dynamics governing the hub velocity. A detailed simulation of the robot is used to demonstrate the performance of this proposed control scheme.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131074267","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}
It is well-known that PD controller plus gravity compensation yields the global asymptotic stability for regulation tasks for robot manipulators. The impressive success of these controllers in real-time tasks lie in the fact that they do neither compensate inertial nor coriolis forces, so neither inertial nor coriolis matrices are needed to implement the controller. However these linear state feedback controllers with gravity compensation cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous nonlinear PID controller that yields local exponential stability for tracking tasks is proposed.
{"title":"Nonlinear PID control with sliding modes for tracking of robot manipulators","authors":"Vicente Parra‐Vega, S. Arimoto","doi":"10.1109/CCA.2001.973890","DOIUrl":"https://doi.org/10.1109/CCA.2001.973890","url":null,"abstract":"It is well-known that PD controller plus gravity compensation yields the global asymptotic stability for regulation tasks for robot manipulators. The impressive success of these controllers in real-time tasks lie in the fact that they do neither compensate inertial nor coriolis forces, so neither inertial nor coriolis matrices are needed to implement the controller. However these linear state feedback controllers with gravity compensation cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous nonlinear PID controller that yields local exponential stability for tracking tasks is proposed.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131151946","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 paper, decoupling control via all stabilizing controller with limiting properties of LQ control and observers is proposed. The all stabilizing controller has disturbance decoupling properties, a good tracking performance and decoupling control property by using the proposed method. Moreover, the proposed method is applied to decoupling control of a mechanical system, and the effectiveness of the method is confirmed by comparative experiments.
{"title":"Decoupling control via all stabilizing controller with limiting properties of LQ control and its application to a mechanical system","authors":"R. Suzuki, T. Miyazaki, N. Kobayashi","doi":"10.1109/CCA.2001.973900","DOIUrl":"https://doi.org/10.1109/CCA.2001.973900","url":null,"abstract":"In this paper, decoupling control via all stabilizing controller with limiting properties of LQ control and observers is proposed. The all stabilizing controller has disturbance decoupling properties, a good tracking performance and decoupling control property by using the proposed method. Moreover, the proposed method is applied to decoupling control of a mechanical system, and the effectiveness of the method is confirmed by comparative experiments.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133365360","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 application of fuzzy predictive control to solve the regulatory problem in mineral grinding plants is considered. The controlled variables are percentage of solids, particle sizes and power demand and the manipulated variables are water and fresh ore flows. The controller uses linear multivariable models and the fuzzy characterization of the controlled variables, to calculate the manipulated variables. Simulation results under typical disturbances show a better performance compared with the conventional predictive control.
{"title":"Predictive control with fuzzy characterization of percentage of solids, particle size and power demand for minerals grinding","authors":"M. Orchard, A. Flores, C. Muñoz, A. Cipriano","doi":"10.1109/CCA.2001.973933","DOIUrl":"https://doi.org/10.1109/CCA.2001.973933","url":null,"abstract":"The application of fuzzy predictive control to solve the regulatory problem in mineral grinding plants is considered. The controlled variables are percentage of solids, particle sizes and power demand and the manipulated variables are water and fresh ore flows. The controller uses linear multivariable models and the fuzzy characterization of the controlled variables, to calculate the manipulated variables. Simulation results under typical disturbances show a better performance compared with the conventional predictive control.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133547816","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}
To deal with repetitive runout and disturbance in near-field optical disk drives, this study develops a sliding mode based learning controller. It incorporates characteristics of sliding mode control into learning control. The reason for using sliding mode control is attributed to robust properties dealing with model uncertainty and disturbances. The learning algorithm utilizes shape functions to approximate influence functions in integral transforms and estimate the control input to perform seeking movement. It learns at each sampling instant the desired control input without prior knowledge of system dynamics. Track-seeking experiments were performed to validate the proposed method.
{"title":"Sliding mode-based learning control for positioning of flying pickup head","authors":"T.S. Liu, W.C. Wu","doi":"10.1109/CCA.2001.973889","DOIUrl":"https://doi.org/10.1109/CCA.2001.973889","url":null,"abstract":"To deal with repetitive runout and disturbance in near-field optical disk drives, this study develops a sliding mode based learning controller. It incorporates characteristics of sliding mode control into learning control. The reason for using sliding mode control is attributed to robust properties dealing with model uncertainty and disturbances. The learning algorithm utilizes shape functions to approximate influence functions in integral transforms and estimate the control input to perform seeking movement. It learns at each sampling instant the desired control input without prior knowledge of system dynamics. Track-seeking experiments were performed to validate the proposed method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133570516","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}
Even if predictive control has proved to be an efficient control strategy, the maintenance of a high level of performance may be impossible to reach with a fixed predictive controller in case of important parameters variations. A solution is then to develop an adaptive version of the predictive controller for systems with parametric disturbances. The paper presents a direct version of adaptive generalized predictive control, where the algorithm is rewritten in an original form minimizing a performance index. Developments include a least-squares type strategy for the controller parameters online identification and a conditional updating test in the adaptation loop. An application of this structure to an hydro-electric plant with nonlinear variations of the surface is finally developed. The results are compared to performance obtained with a classical PI controller.
{"title":"Direct adaptive predictive control of an hydro-electric plant","authors":"G. Ramond, Didier Dumur, A. Libaux, P. Boucher","doi":"10.1109/CCA.2001.973934","DOIUrl":"https://doi.org/10.1109/CCA.2001.973934","url":null,"abstract":"Even if predictive control has proved to be an efficient control strategy, the maintenance of a high level of performance may be impossible to reach with a fixed predictive controller in case of important parameters variations. A solution is then to develop an adaptive version of the predictive controller for systems with parametric disturbances. The paper presents a direct version of adaptive generalized predictive control, where the algorithm is rewritten in an original form minimizing a performance index. Developments include a least-squares type strategy for the controller parameters online identification and a conditional updating test in the adaptation loop. An application of this structure to an hydro-electric plant with nonlinear variations of the surface is finally developed. The results are compared to performance obtained with a classical PI controller.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131300117","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}
D. Noriega-Pineda, G. Espinosa-Pérez, A. Varela-Vega, S. Horta-Mejia
A previously reported (Campos-Canton and Espinosa-Perez, 1999) control law that solves the output voltage control problem for a single-phase voltage-source UPS inverter is experimentally evaluated. The adaptive nonlinear controller was developed considering a half-bridge DC-AC power converter connected to a (linear) resistance load. The evaluation procedure considers the following topics: verification of the stability and convergence theoretical properties, evaluation of the dynamic practical response, disturbance (load change) rejection capability, behavior under low size (and then cost) passive elements and (relative) low switching frequency. It is shown that the controller under study satisfies in a remarkable way all the above evaluation criteria.
先前报道的(Campos-Canton and Espinosa-Perez, 1999)控制律解决了单相电压源UPS逆变器的输出电压控制问题，并进行了实验评估。针对连接线性电阻负载的半桥直流-交流功率变换器，设计了自适应非线性控制器。评估程序考虑以下主题:稳定性和收敛性理论特性的验证，动态实际响应的评估，干扰(负载变化)抑制能力，小尺寸(然后是成本)无源元件和(相对)低开关频率下的行为。结果表明，所研究的控制器较好地满足上述评价标准。
{"title":"Experimental evaluation of an adaptive nonlinear controller for single-phase UPS","authors":"D. Noriega-Pineda, G. Espinosa-Pérez, A. Varela-Vega, S. Horta-Mejia","doi":"10.1109/CCA.2001.973873","DOIUrl":"https://doi.org/10.1109/CCA.2001.973873","url":null,"abstract":"A previously reported (Campos-Canton and Espinosa-Perez, 1999) control law that solves the output voltage control problem for a single-phase voltage-source UPS inverter is experimentally evaluated. The adaptive nonlinear controller was developed considering a half-bridge DC-AC power converter connected to a (linear) resistance load. The evaluation procedure considers the following topics: verification of the stability and convergence theoretical properties, evaluation of the dynamic practical response, disturbance (load change) rejection capability, behavior under low size (and then cost) passive elements and (relative) low switching frequency. It is shown that the controller under study satisfies in a remarkable way all the above evaluation criteria.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115431172","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 estimation of heat of reaction in continuous stirred tank reactors, from temperature measurements is addressed in this paper. The uncertainty observer proposed consists of proportional and integral (PI) actions and is based on differential algebraic techniques, therefore the algebraic observability condition for the uncertainty estimation from temperature measurements is easily verified and the observer structure is very simple, which leads to feasible implementation. The structure of the proposed observer is robust against noisy measurements and sustained disturbances. The performance of the observer is shown using numerical simulation.
{"title":"PI observers for uncertainty estimation in continuous chemical reactors","authors":"R. Aguilar, R. Martínez-Guerra, A. Poznyak","doi":"10.1109/CCA.2001.974007","DOIUrl":"https://doi.org/10.1109/CCA.2001.974007","url":null,"abstract":"The estimation of heat of reaction in continuous stirred tank reactors, from temperature measurements is addressed in this paper. The uncertainty observer proposed consists of proportional and integral (PI) actions and is based on differential algebraic techniques, therefore the algebraic observability condition for the uncertainty estimation from temperature measurements is easily verified and the observer structure is very simple, which leads to feasible implementation. The structure of the proposed observer is robust against noisy measurements and sustained disturbances. The performance of the observer is shown using numerical simulation.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114661354","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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