H. Nakamura, T. Suzuki, S. Okuma, K. Yubai, M. Tomizuka
This paper presents a simultaneous design strategy of controller and fault detector and its application to motor drive control systems. The influence of a fault in power electronic devices are analyzed and simulated. Experimental results demonstrate the effectiveness of the proposed design method.
{"title":"Simultaneous design of controller and fault detector and its application to motor drive control system","authors":"H. Nakamura, T. Suzuki, S. Okuma, K. Yubai, M. Tomizuka","doi":"10.1109/CCA.2001.973842","DOIUrl":"https://doi.org/10.1109/CCA.2001.973842","url":null,"abstract":"This paper presents a simultaneous design strategy of controller and fault detector and its application to motor drive control systems. The influence of a fault in power electronic devices are analyzed and simulated. Experimental results demonstrate the effectiveness of the proposed design method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"65 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":"115253344","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}
During the operation of heat pumps, faults like heat exchanger fouling, component failure, or refrigerant leakage reduce the system performance. In order to recognize these faults early, a fault diagnosis system has been developed and verified on a test bench. The parameters of a heat pump model are identified sequentially and classified during operation. For this classification, several 'hard' and 'soft' clustering methods have been investigated, while fuzzy inference systems or neural networks are created automatically by newly developed software. Choosing a simple black-box model structure, the number of sensors can be minimized, whereas a more advanced grey-box model yields better classification results.
{"title":"A fault diagnosis system for heat pumps","authors":"D. Zogg, E. Shafai, H. Geering","doi":"10.1109/CCA.2001.973840","DOIUrl":"https://doi.org/10.1109/CCA.2001.973840","url":null,"abstract":"During the operation of heat pumps, faults like heat exchanger fouling, component failure, or refrigerant leakage reduce the system performance. In order to recognize these faults early, a fault diagnosis system has been developed and verified on a test bench. The parameters of a heat pump model are identified sequentially and classified during operation. For this classification, several 'hard' and 'soft' clustering methods have been investigated, while fuzzy inference systems or neural networks are created automatically by newly developed software. Choosing a simple black-box model structure, the number of sensors can be minimized, whereas a more advanced grey-box model yields better classification results.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"23 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":"116715747","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}
Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. One such system, the modular distributed manipulator system (MDMS), is a materials handling system comprising a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. The application of feedback strategies which can operate under distributed control eliminates hybrid dynamics, anal reduces control complexity, but introduces interesting nonlinear dynamics. In this paper, we analyze the stability of these dynamics using the circle criterion and show that objects can be stably manipulated. In addition, we discuss the hybrid nature of this system.
{"title":"Dynamics and control of discrete distributed manipulation","authors":"J. Luntz, W. Messner","doi":"10.1109/CCA.2001.974020","DOIUrl":"https://doi.org/10.1109/CCA.2001.974020","url":null,"abstract":"Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. One such system, the modular distributed manipulator system (MDMS), is a materials handling system comprising a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. The application of feedback strategies which can operate under distributed control eliminates hybrid dynamics, anal reduces control complexity, but introduces interesting nonlinear dynamics. In this paper, we analyze the stability of these dynamics using the circle criterion and show that objects can be stably manipulated. In addition, we discuss the hybrid nature of this system.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"9 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":"122451314","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 the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented.
{"title":"A controllability criterion for linear juggling mechanical systems","authors":"B. Brogliato, M. Mabrouk, A. Z. Río","doi":"10.1109/CCA.2001.974017","DOIUrl":"https://doi.org/10.1109/CCA.2001.974017","url":null,"abstract":"This paper deals with the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an \"object\" and a \"robot\", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the \"object\" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"240 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":"123003590","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 infinite time optimum to regulate the problem of singularly perturbed bilinear systems with a quadratic performance criterion is obtained by a sequence of algebraic Lyapunov equations. The new approach is based on successive approximations. In particular, the order reduction is achieved by using a suitable state transformation so that the original Lyapunov equations are decomposed into the reduced-order local Lyapunov equations. In addition, the slow part of the solution and the fast part solution are now completely decoupled so that the numerical ill-conditioning is removed. The proposed algorithms not only solve the optimal control problems in singularly perturbed bilinear systems but also reduce the computation time. This paper also includes an example to demonstrate the procedures.
{"title":"Design of a controller using successive approximation for singularly perturbed bilinear systems","authors":"J. Chang, B. Kim, M. Lim","doi":"10.1109/CCA.2001.973942","DOIUrl":"https://doi.org/10.1109/CCA.2001.973942","url":null,"abstract":"The infinite time optimum to regulate the problem of singularly perturbed bilinear systems with a quadratic performance criterion is obtained by a sequence of algebraic Lyapunov equations. The new approach is based on successive approximations. In particular, the order reduction is achieved by using a suitable state transformation so that the original Lyapunov equations are decomposed into the reduced-order local Lyapunov equations. In addition, the slow part of the solution and the fast part solution are now completely decoupled so that the numerical ill-conditioning is removed. The proposed algorithms not only solve the optimal control problems in singularly perturbed bilinear systems but also reduce the computation time. This paper also includes an example to demonstrate the procedures.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"13 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":"131825945","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 inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors.
{"title":"Friction compensation for a double inverted pendulum","authors":"Lei Fang, W. J. Chen, S. U. Cheang","doi":"10.1109/CCA.2001.973985","DOIUrl":"https://doi.org/10.1109/CCA.2001.973985","url":null,"abstract":"The inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"111 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":"123045250","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}
F. Koumboulis, N. Kouvakas, A. G. Pantelios, Basil G. Mertzios
The problem of speed control of a permanent magnet DC motor with unknown parameters and unknown external load torque is formulated in the form of an adaptive control problem based on the design requirement of asymptotic command following with simultaneous asymptotic disturbance attenuation. The adaptive design scheme is indirect and it is based on RLS (recursive least squares) identification. The key point of the disturbance attenuation approach is to identify the system without knowledge, estimation or measurement of the unknown disturbance. This way the variations of the disturbance influence the estimation of the system parameters and consequently the choice of the controller parameters. The identification can be initialized on the basis of arbitrary initial estimation. The present results are successfully applied to a 75 Watt DC motor (35NT2R82-426SP) where a significantly varying external torque and rotor voltage noise of about 1% are considered to be applied. The present design scheme is compared to those of a traditional open loop feeding system and a PID (or PI, or P) controller designed on the basis of the first Ziegler-Nichols method.
{"title":"Adaptive asymptotic disturbance attenuation for a permanent magnet DC motor","authors":"F. Koumboulis, N. Kouvakas, A. G. Pantelios, Basil G. Mertzios","doi":"10.1109/CCA.2001.974004","DOIUrl":"https://doi.org/10.1109/CCA.2001.974004","url":null,"abstract":"The problem of speed control of a permanent magnet DC motor with unknown parameters and unknown external load torque is formulated in the form of an adaptive control problem based on the design requirement of asymptotic command following with simultaneous asymptotic disturbance attenuation. The adaptive design scheme is indirect and it is based on RLS (recursive least squares) identification. The key point of the disturbance attenuation approach is to identify the system without knowledge, estimation or measurement of the unknown disturbance. This way the variations of the disturbance influence the estimation of the system parameters and consequently the choice of the controller parameters. The identification can be initialized on the basis of arbitrary initial estimation. The present results are successfully applied to a 75 Watt DC motor (35NT2R82-426SP) where a significantly varying external torque and rotor voltage noise of about 1% are considered to be applied. The present design scheme is compared to those of a traditional open loop feeding system and a PID (or PI, or P) controller designed on the basis of the first Ziegler-Nichols method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"37 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":"125934094","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}
A CAD approach permitting us an easy frequency response simulation of LTI systems implemented with analog electronic-devices, is introduced. This technique uses the features of symbolic analysis in order to get more insight into the behavior of the circuit. An important thing is that a reasonable amount of computer effort is saved through modeling several analog circuits using nullors. Most important is that using nullors, a pure nodal-analysis method is established in order to improve the computation of transfer functions. The paper also demonstrates the suitability and appropriateness of the proposed simulation technique to be used in education.
{"title":"A CAD tool suitable for LTI systems analysis","authors":"E. Tlelo-Cuautle, J. Cid-Monjaraz","doi":"10.1109/CCA.2001.973848","DOIUrl":"https://doi.org/10.1109/CCA.2001.973848","url":null,"abstract":"A CAD approach permitting us an easy frequency response simulation of LTI systems implemented with analog electronic-devices, is introduced. This technique uses the features of symbolic analysis in order to get more insight into the behavior of the circuit. An important thing is that a reasonable amount of computer effort is saved through modeling several analog circuits using nullors. Most important is that using nullors, a pure nodal-analysis method is established in order to improve the computation of transfer functions. The paper also demonstrates the suitability and appropriateness of the proposed simulation technique to be used in education.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"55 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":"129695315","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 order to achieve the competition tasks for multicooperating robots through learning, the paper discusses a kind of method that is designed for multi-agent systems (MAS), called the multi-reward fuzzy Q-learning algorithm (MRFQLA), which can be applied to the environment of the Robot World Cup Tournament (RoboCup). In MRFQLA., multiple reinforcement functions are established, based on the different characters of multi-agent systems. When the learning robot executes an action, these functions create multiple reinforcement signals that give the criteria of this action from different points of view. A Takagi-Sugeno (TS) model of a fuzzy inference system is built, which integrates these multiple rewards into one signal as the feedback of the learning robot. This method enhances the efficiency of learning because multiple rewards increase TD error and eliminates the conflict between the short-term target and the long-term one. Computer simulations in the RoboCup environment are shown and a discussion is given.
{"title":"Multiple rewards fuzzy reinforcement learning algorithm in RoboCup environment","authors":"Li Shi, Yao Jinyi, Ye Zhen, S. Zeng-qi","doi":"10.1109/CCA.2001.973884","DOIUrl":"https://doi.org/10.1109/CCA.2001.973884","url":null,"abstract":"In order to achieve the competition tasks for multicooperating robots through learning, the paper discusses a kind of method that is designed for multi-agent systems (MAS), called the multi-reward fuzzy Q-learning algorithm (MRFQLA), which can be applied to the environment of the Robot World Cup Tournament (RoboCup). In MRFQLA., multiple reinforcement functions are established, based on the different characters of multi-agent systems. When the learning robot executes an action, these functions create multiple reinforcement signals that give the criteria of this action from different points of view. A Takagi-Sugeno (TS) model of a fuzzy inference system is built, which integrates these multiple rewards into one signal as the feedback of the learning robot. This method enhances the efficiency of learning because multiple rewards increase TD error and eliminates the conflict between the short-term target and the long-term one. Computer simulations in the RoboCup environment are shown and a discussion is given.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"36 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":"129418705","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 goal of this paper is to develop a stable adaptive MIMO fuzzy logic controller to overcome the interaction among the subsystems by a decoupling neural network and to facilitate robust properties by fine-tuning the consequent membership functions. The proposed adaptive fizzy controller does not require any knowledge of a nonlinear system. By using H/sup /spl infin// tracking performance index, the overall system with the proposed controller has been proved to be uniform ultimate bounded. Simulation results of a two-dimensional inverted pendulum confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method.
{"title":"Robust neurofuzzy controller design of a class of uncertain multivariable nonlinear systems","authors":"Wei-Song Lin, Chun-Sheng Chen","doi":"10.1109/CCA.2001.973984","DOIUrl":"https://doi.org/10.1109/CCA.2001.973984","url":null,"abstract":"The goal of this paper is to develop a stable adaptive MIMO fuzzy logic controller to overcome the interaction among the subsystems by a decoupling neural network and to facilitate robust properties by fine-tuning the consequent membership functions. The proposed adaptive fizzy controller does not require any knowledge of a nonlinear system. By using H/sup /spl infin// tracking performance index, the overall system with the proposed controller has been proved to be uniform ultimate bounded. Simulation results of a two-dimensional inverted pendulum confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"12 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":"131103847","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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