Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790343
J. Moskwa, J. Hedrick
There is considerable interest in coordinated automotive engine/transmission control for smooth shifts, or for traction control of front wheel drive vehicles. Closed loop control of the engine has been shown to be useful in improving shift quality. Because of the nonlinear dynamic behavior of the engine, the control method of sliding modes is well suited for engine control algorithms The authors outline a dynamic engine model, and develop the sliding control laws to follow desired torque converter pump and turbine speed trajectories. The relationships between these desired trajectories and shift quality are also outlined.
{"title":"Sliding Mode Control of Automotive Engines","authors":"J. Moskwa, J. Hedrick","doi":"10.23919/ACC.1989.4790343","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790343","url":null,"abstract":"There is considerable interest in coordinated automotive engine/transmission control for smooth shifts, or for traction control of front wheel drive vehicles. Closed loop control of the engine has been shown to be useful in improving shift quality. Because of the nonlinear dynamic behavior of the engine, the control method of sliding modes is well suited for engine control algorithms The authors outline a dynamic engine model, and develop the sliding control laws to follow desired torque converter pump and turbine speed trajectories. The relationships between these desired trajectories and shift quality are also outlined.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116162995","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790280
R. Van Til, R. Judd
A new method for the digital control of a nonlinear, continuous time system is presented. The digital controller is called a discrete time quantized data (DTQD) controller. The DTQD controller uses a table look-up algorithm to determine the desired control effort. In order to minimize the number of table entries, a hystersis scaling process is proposed. This scaling process also reduces the possibility of limit cycle phenomena in the system response. The result is a reliable and low cost controller.
{"title":"Application of Discrete Time Quantized Data Controllers to Nonlinear Systems","authors":"R. Van Til, R. Judd","doi":"10.23919/ACC.1989.4790280","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790280","url":null,"abstract":"A new method for the digital control of a nonlinear, continuous time system is presented. The digital controller is called a discrete time quantized data (DTQD) controller. The DTQD controller uses a table look-up algorithm to determine the desired control effort. In order to minimize the number of table entries, a hystersis scaling process is proposed. This scaling process also reduces the possibility of limit cycle phenomena in the system response. The result is a reliable and low cost controller.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124096724","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}
Pub Date : 1989-06-21DOI: 10.1109/ACC.1989.4173472
M. Kaye, R. Mullin, R. Doraiswami
A design and implementation of a fault-tolerant digital control system is proposed. The system incorporates 1) analytical redundancy based on Luenberger observers to detect, identify and monitor faults which occur in the controlled process such as sensor, actuator, A/D and D/A faults and excessive load torques and 2) triple modular redundancy of processors to provide tolerance to permanent and transient failures within the control computer such as component failures and on- board communication bus faults. The digital control system is implemented with three single board computers in a shared bus, common memory configuration. The operation of the proposed fault tolerant multiprocessor system was evaluated in real-time using an analog computer to simulate the process.
{"title":"Multiprocessor Fault-Tolerant Digital Control System","authors":"M. Kaye, R. Mullin, R. Doraiswami","doi":"10.1109/ACC.1989.4173472","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173472","url":null,"abstract":"A design and implementation of a fault-tolerant digital control system is proposed. The system incorporates 1) analytical redundancy based on Luenberger observers to detect, identify and monitor faults which occur in the controlled process such as sensor, actuator, A/D and D/A faults and excessive load torques and 2) triple modular redundancy of processors to provide tolerance to permanent and transient failures within the control computer such as component failures and on- board communication bus faults. The digital control system is implemented with three single board computers in a shared bus, common memory configuration. The operation of the proposed fault tolerant multiprocessor system was evaluated in real-time using an analog computer to simulate the process.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128115655","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790449
A. Helmicki, C. Jacobson, C. Nett
This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are investigated. In particular, it is argued here that certain common distributed parameter systems exhibit properties which make them unsuitable for use as plant models in the design of feedback compensation. Classes of distributed parameter systems exhibiting these properties are defined and are said to be ill-posed for use in feedback compensator design. The structure of these classes is investigated within an extremely general mathematical framework which imposes no a priori restrictions on the class of distributed parameter systems under consideration. Within this framework necessary and sufficient conditions are given which completely characterise the classes of ill-posed models and establish their equivalence. These conditions are concretely illustrated by way of applications to several well-known flexible structure models. Surprisingly, several of these models are determined to be ill-posed for use in feedback compensator design.
{"title":"Practical Considerations in the Use of Distributed Parameter Systems in Modeling: A Control Point of View","authors":"A. Helmicki, C. Jacobson, C. Nett","doi":"10.23919/ACC.1989.4790449","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790449","url":null,"abstract":"This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are investigated. In particular, it is argued here that certain common distributed parameter systems exhibit properties which make them unsuitable for use as plant models in the design of feedback compensation. Classes of distributed parameter systems exhibiting these properties are defined and are said to be ill-posed for use in feedback compensator design. The structure of these classes is investigated within an extremely general mathematical framework which imposes no a priori restrictions on the class of distributed parameter systems under consideration. Within this framework necessary and sufficient conditions are given which completely characterise the classes of ill-posed models and establish their equivalence. These conditions are concretely illustrated by way of applications to several well-known flexible structure models. Surprisingly, several of these models are determined to be ill-posed for use in feedback compensator design.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128165182","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790606
J. Speyer, B. Jarmark
Real-Time optimal trajectory generation for constructing guidance laws seems feasible. However, these deterministic guidance schemes maybe sensitive to system and environmental uncertainties. To overcome this deficiecy, it is suggested that the accessory problem about an optimal path, which generates a quadratic cost criterion in the perturbed states and control away from the optimal trajectory, be used as the cost criterion. A modified quadratic cost is to be minimized with respect to the perturbed control but maximized with respect to addive uncertainties in the linearized dynamics and the uncertainty in the linearized measurements. In this way, a robust neighboring optimum scheme is constructed. A perturbed guidance scheme is stated here. To illustrate the theory the second stage of a launch vehicle is considered. An optimal path is generated, and about this path a robust neighboring optimum guidance law is constructed and tested.
{"title":"Robust Perturbation Guidance For The Advanced Launch System","authors":"J. Speyer, B. Jarmark","doi":"10.23919/ACC.1989.4790606","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790606","url":null,"abstract":"Real-Time optimal trajectory generation for constructing guidance laws seems feasible. However, these deterministic guidance schemes maybe sensitive to system and environmental uncertainties. To overcome this deficiecy, it is suggested that the accessory problem about an optimal path, which generates a quadratic cost criterion in the perturbed states and control away from the optimal trajectory, be used as the cost criterion. A modified quadratic cost is to be minimized with respect to the perturbed control but maximized with respect to addive uncertainties in the linearized dynamics and the uncertainty in the linearized measurements. In this way, a robust neighboring optimum scheme is constructed. A perturbed guidance scheme is stated here. To illustrate the theory the second stage of a launch vehicle is considered. An optimal path is generated, and about this path a robust neighboring optimum guidance law is constructed and tested.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125427917","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}
Pub Date : 1989-06-21DOI: 10.1109/ACC.1989.4173562
G. Syrmos, R. Rassai, R. Newcomb
In this paper we present a set of semistate equations for solid-holed torus knots in real 3-dimensional space. Here solid-holed torus knots are closed trajectories in the solid-holed torus, where the solid-holed torus is formed by rotating a punctured disk around a longitudinal circle.
{"title":"Semistate Equations for Solid-Holed Torus Knots","authors":"G. Syrmos, R. Rassai, R. Newcomb","doi":"10.1109/ACC.1989.4173562","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173562","url":null,"abstract":"In this paper we present a set of semistate equations for solid-holed torus knots in real 3-dimensional space. Here solid-holed torus knots are closed trajectories in the solid-holed torus, where the solid-holed torus is formed by rotating a punctured disk around a longitudinal circle.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"544 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115848323","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790226
R. Yanushevsky
The problem of synthesis of nonlinear delayed systems with nonlinear elements described by functions belonging to a specified class is considered. The proposed procedure of synthesis is based on solution of the problem of synthesizing a special kind of linear control systems.
{"title":"A Class of Nonlinear Differential-Difference Systems of Neutral Type","authors":"R. Yanushevsky","doi":"10.23919/ACC.1989.4790226","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790226","url":null,"abstract":"The problem of synthesis of nonlinear delayed systems with nonlinear elements described by functions belonging to a specified class is considered. The proposed procedure of synthesis is based on solution of the problem of synthesizing a special kind of linear control systems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131975593","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790655
Hamid R. Berenjit, Yung-Yaw Chent, Chuen-Chein Leet, S. Murugesan, Jyh-Shing Jange, M. Field
This paper presents an approach to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE and we have successfully built a prototype hardware system to solve the cart-pole -balancing problem in real-time. This approach provides a complementary alternative to the conventional analytical control methodology, and is of substantial use where a precise mathematical model of the process being controlled is not available. This paper also furnishes a set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes.
{"title":"An Experiment-based Comparative Study of Fuzzy Logic Control","authors":"Hamid R. Berenjit, Yung-Yaw Chent, Chuen-Chein Leet, S. Murugesan, Jyh-Shing Jange, M. Field","doi":"10.23919/ACC.1989.4790655","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790655","url":null,"abstract":"This paper presents an approach to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE and we have successfully built a prototype hardware system to solve the cart-pole -balancing problem in real-time. This approach provides a complementary alternative to the conventional analytical control methodology, and is of substantial use where a precise mathematical model of the process being controlled is not available. This paper also furnishes a set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130068110","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}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790600
H. Stalford, Eric A. Hoffman
In this paper we present a maximum principle solution of the half-loop maneuver obtained using an analytical model for a high alpha fighter aircraft and compare it with that obtained previously using a simple nonlinear feedback control law derived from singular perturbation analysis.
{"title":"Maximum Principle Solutions for Time-Optimal Half-Loop Maneuvers of a High Alpha Fighter Aircraft","authors":"H. Stalford, Eric A. Hoffman","doi":"10.23919/ACC.1989.4790600","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790600","url":null,"abstract":"In this paper we present a maximum principle solution of the half-loop maneuver obtained using an analytical model for a high alpha fighter aircraft and compare it with that obtained previously using a simple nonlinear feedback control law derived from singular perturbation analysis.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130110184","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}
Pub Date : 1989-06-21DOI: 10.1109/ACC.1989.4173442
J. Bobrow, F. Jabbari
In this paper an implementation of an adaptive control law for a pneumatic actuator is presented. Pneumatic actuators are of particular interest for robotic applications because of their large force output per unit weight, and their low cost. Stabilization of a pneumatic actuator is difficult if a high bandwidth closed-loop system is desired. This is because of the compressibility of air, and of the nonlinear characteristics of air flowing through a variable area orifice. Further complications arise from the geometry of the mechanism because the equations of motion are highly nonlinear. The order of the dominant dynamics is shown to vary with the position of the mechanism.
{"title":"Adaptive Pneumatic Force Actuation and Position Control","authors":"J. Bobrow, F. Jabbari","doi":"10.1109/ACC.1989.4173442","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173442","url":null,"abstract":"In this paper an implementation of an adaptive control law for a pneumatic actuator is presented. Pneumatic actuators are of particular interest for robotic applications because of their large force output per unit weight, and their low cost. Stabilization of a pneumatic actuator is difficult if a high bandwidth closed-loop system is desired. This is because of the compressibility of air, and of the nonlinear characteristics of air flowing through a variable area orifice. Further complications arise from the geometry of the mechanism because the equations of motion are highly nonlinear. The order of the dominant dynamics is shown to vary with the position of the mechanism.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"332 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134454057","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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