Pub Date : 1989-06-21DOI: 10.1109/ACC.1989.4173521
L. Cai, A. Goldenberg
The problem of designing a robust controller for position and force control of a robot manipulator in both non-contact and contact tasks is considered. Using classical dynamics concepts, and under certain assumptions, a mathematical model for non-contact and contact tasks is developed. A controller based on proportional-integral (PI) and feedforward control is proposed for this model. A sufficient condition, which ensures that the closed-loop system is asymptotically stable, and the proposed controller are both presented. Theoretical analysis and numerical simulations have shown that the proposed controller is robust with respect to perturbations in system parameters and joint friction force. It is shown in this paper, that there is no need to change the controller configuration when the robot comes into contact with the environment from free motion.
{"title":"Robust Control of Position and Force for a Robot Manipulator in Non-Contact and Contact Tasks","authors":"L. Cai, A. Goldenberg","doi":"10.1109/ACC.1989.4173521","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173521","url":null,"abstract":"The problem of designing a robust controller for position and force control of a robot manipulator in both non-contact and contact tasks is considered. Using classical dynamics concepts, and under certain assumptions, a mathematical model for non-contact and contact tasks is developed. A controller based on proportional-integral (PI) and feedforward control is proposed for this model. A sufficient condition, which ensures that the closed-loop system is asymptotically stable, and the proposed controller are both presented. Theoretical analysis and numerical simulations have shown that the proposed controller is robust with respect to perturbations in system parameters and joint friction force. It is shown in this paper, that there is no need to change the controller configuration when the robot comes into contact with the environment from free motion.","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":"130009002","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.1989.4790269
P. Misra
In this paper we consider an interval arithmetic approach for stabilization of plants with uncertain parameters. It is shown that using the principles of classical Routh Hurwitz array, one can determine a state feedback (when it exists) that will stabilize the system for the entire range of parameter uncertainties.
{"title":"On Stabilization of Systems with Uncertain Parameters: An Interval Arithmetic Approach","authors":"P. Misra","doi":"10.23919/ACC.1989.4790269","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790269","url":null,"abstract":"In this paper we consider an interval arithmetic approach for stabilization of plants with uncertain parameters. It is shown that using the principles of classical Routh Hurwitz array, one can determine a state feedback (when it exists) that will stabilize the system for the entire range of parameter uncertainties.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"53 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":"128931408","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.1989.4790436
G. Chatterji, M. Tahk
This paper describes the boost phase guidance of the space interceptor system for exoatmospheric missile engagements. A space interceptor equipped with 2 booster motors is considered. The boost phase guidance is realized through the attitude control, which, in turn, controls the direction of the thrust vector of booster motors. A quaternion method devoid of trigonometric function computations is proposed for the attitude command generation. The quaternion attitude command is expressed as an error quaternion that represents the difference between the current attitude and the desired attitude determined by the guidance law. The error quaternion computation is then combined with existing quaternion algorithms for attitude determination and attitude control, resulting in a pure quaternion method for the boost phase guidance. The quaternion based guidance method is computationally efficient and free of singularities while the conventional methods based on Euler angles are not. An algorithm for the prediction of intercept point is also included for the sake of completeness. A 6-Degree-Of-Freedom simulation including an interceptor and a target is conducted to demonstrate that the quaternion based method is suitable for the boost phase guidance for exoatmospheric interceptors.
{"title":"A Quaternion Formulation for Boost Phase Attitude Estimation, Guidance and Control of Exoatmospheric Interceptors","authors":"G. Chatterji, M. Tahk","doi":"10.23919/ACC.1989.4790436","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790436","url":null,"abstract":"This paper describes the boost phase guidance of the space interceptor system for exoatmospheric missile engagements. A space interceptor equipped with 2 booster motors is considered. The boost phase guidance is realized through the attitude control, which, in turn, controls the direction of the thrust vector of booster motors. A quaternion method devoid of trigonometric function computations is proposed for the attitude command generation. The quaternion attitude command is expressed as an error quaternion that represents the difference between the current attitude and the desired attitude determined by the guidance law. The error quaternion computation is then combined with existing quaternion algorithms for attitude determination and attitude control, resulting in a pure quaternion method for the boost phase guidance. The quaternion based guidance method is computationally efficient and free of singularities while the conventional methods based on Euler angles are not. An algorithm for the prediction of intercept point is also included for the sake of completeness. A 6-Degree-Of-Freedom simulation including an interceptor and a target is conducted to demonstrate that the quaternion based method is suitable for the boost phase guidance for exoatmospheric interceptors.","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":"130544822","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.1989.4790254
T. Subrahmanian, N. L. Ricker
This paper re-examines one of the cases studied by Zafiriou. The problem is reduced to a SISO system, allowing the QP problem to be simplified such that the factors leading to instability become readily apparent. We show that several "tricks of the trade" used in model predictive control (MPC) can reduce the likelihood of unstable behavior, but it is impossible to guarantee stability for all possible distudxnces when the output is constained, even when there is no plant-model mismatch
{"title":"Stability Issues in Model-Based Predictive Control with Output Constraints","authors":"T. Subrahmanian, N. L. Ricker","doi":"10.23919/ACC.1989.4790254","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790254","url":null,"abstract":"This paper re-examines one of the cases studied by Zafiriou. The problem is reduced to a SISO system, allowing the QP problem to be simplified such that the factors leading to instability become readily apparent. We show that several \"tricks of the trade\" used in model predictive control (MPC) can reduce the likelihood of unstable behavior, but it is impossible to guarantee stability for all possible distudxnces when the output is constained, even when there is no plant-model mismatch","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"49 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":"130695374","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.1989.4790333
D. Rhode, P. Kokotovic
A pseudogradient adaptive approach for slow adaptation is developed combining sensitivity results from the 1960's and recent developments in averaging and integral manifold methods. In this approach, the parametrization and number of parameters are not related to the plant order. Sufficient conditions for parameter convergence are developed using a-priori knowledge of a feedback system consisting of the plant and a nominal controller.
{"title":"Parameter Convergence Conditions Independent of Plant Order","authors":"D. Rhode, P. Kokotovic","doi":"10.23919/ACC.1989.4790333","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790333","url":null,"abstract":"A pseudogradient adaptive approach for slow adaptation is developed combining sensitivity results from the 1960's and recent developments in averaging and integral manifold methods. In this approach, the parametrization and number of parameters are not related to the plant order. Sufficient conditions for parameter convergence are developed using a-priori knowledge of a feedback system consisting of the plant and a nominal controller.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"129 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":"132498954","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.1989.4790210
E. Rogers, D. Owens
An error actuated output feedback controller for a sub-class of linear multipass processes designated as `differential unit memory' is defined. Further, the design of this controller for closed-loop stbility is considered. In particular, a recently developed computationally feasible stability test is used to present some preliminary work on this problem.
{"title":"Output Feedback Control of Linear Multipass Processes","authors":"E. Rogers, D. Owens","doi":"10.23919/ACC.1989.4790210","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790210","url":null,"abstract":"An error actuated output feedback controller for a sub-class of linear multipass processes designated as `differential unit memory' is defined. Further, the design of this controller for closed-loop stbility is considered. In particular, a recently developed computationally feasible stability test is used to present some preliminary work on this problem.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"19 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":"132034840","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.1989.4790239
M. Buhler, L. Whitcomb, F. Levin, D. Koditschek
This paper illustrates the use of the Yale XP/DCS - a dual-board real-time distributed control module based upon the INMOS Transputer family of microprocessors ¿ for high performance real-time motion control applications. The XP/DCS complements the the Transputer's 1.5 Mflop computational rate and four independent on-chip 20 Mbps DMA communication engines, by providing a bidirectional latched 32 bit bus extension with full handshaking support for easy customization of the I/O capabilities of any node. After contrasting this design with commercially available alternatives we describe three particular applications presently underway in the Yale Robotics Laboratory. We conclude by reporting some initial experiments concerning the effect of code distribution and message passing protocols upon sampling rate.
{"title":"A Distributed Message Passing Computational and I/O Engine for Real-Time Motion Control","authors":"M. Buhler, L. Whitcomb, F. Levin, D. Koditschek","doi":"10.23919/ACC.1989.4790239","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790239","url":null,"abstract":"This paper illustrates the use of the Yale XP/DCS - a dual-board real-time distributed control module based upon the INMOS Transputer family of microprocessors ¿ for high performance real-time motion control applications. The XP/DCS complements the the Transputer's 1.5 Mflop computational rate and four independent on-chip 20 Mbps DMA communication engines, by providing a bidirectional latched 32 bit bus extension with full handshaking support for easy customization of the I/O capabilities of any node. After contrasting this design with commercially available alternatives we describe three particular applications presently underway in the Yale Robotics Laboratory. We conclude by reporting some initial experiments concerning the effect of code distribution and message passing protocols upon sampling rate.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"25 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":"132098882","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.1989.4790412
A. Helmicki, C. Jacobson, C. Nett
In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H∞ norm error bounds are given and convergence in the noise free and the uniformly bounded deterministic noise case are established. The assumptions made on the unknown system are minimal and are limited throughout the paper to a lower bound on the decay rate of the unknown system and an upper bound on the gain of the unknown system. Given this information an experiment and a construction are specified: the experiment involves obtaining a specified number of frequency measurements of the unknown systems at a set of specified frequencies; the construction uses this experimental data to generate an identified model with prescribed H∞ norm error tolerance to the unknown system. The resulting model identification process is highly efficient from a computational point of view.
{"title":"H∞ identification of stable LSI systems: a scheme with direct application to controller design","authors":"A. Helmicki, C. Jacobson, C. Nett","doi":"10.23919/ACC.1989.4790412","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790412","url":null,"abstract":"In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H∞ norm error bounds are given and convergence in the noise free and the uniformly bounded deterministic noise case are established. The assumptions made on the unknown system are minimal and are limited throughout the paper to a lower bound on the decay rate of the unknown system and an upper bound on the gain of the unknown system. Given this information an experiment and a construction are specified: the experiment involves obtaining a specified number of frequency measurements of the unknown systems at a set of specified frequencies; the construction uses this experimental data to generate an identified model with prescribed H∞ norm error tolerance to the unknown system. The resulting model identification process is highly efficient from a computational point of view.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"139 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":"130490932","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.1989.4790668
D. Lindner, T. Celano, E. Ide
In this paper we consider a decentralized control design for vibration suppression in the COFS-I Mast using linear DC motors for actuators. The decentralized control design is based on not well known results from power systems using root locus techniques. This approach is effective because the loop gain is low due to low actuator authority. The frequency dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the actuator, its effectiveness is reduced.
{"title":"Decentralized Control of the COFS-I Mast using Linear DC Motors","authors":"D. Lindner, T. Celano, E. Ide","doi":"10.23919/ACC.1989.4790668","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790668","url":null,"abstract":"In this paper we consider a decentralized control design for vibration suppression in the COFS-I Mast using linear DC motors for actuators. The decentralized control design is based on not well known results from power systems using root locus techniques. This approach is effective because the loop gain is low due to low actuator authority. The frequency dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the actuator, its effectiveness is reduced.","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":"131337936","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.1989.4173670
K. Rattan, B. Chiu, V. Feliu, H. B. Brown
A rule-based fuzzy control method is proposed in this paper for the control of single-link, lightweight, flexible manipulators. The objective of this method is to control the tip position of a flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a robust control scheme. The control scheme is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. The tip position is controlled by a rule-based fuzzy controller. This results in a simple control law that needs minimal computing effort and can be used for real-time control of flexible arms.
{"title":"Rule-Based Fuzzy Control of a Single-Link Flexible Manipulator in the Presence of Joint Friction and Load Changes","authors":"K. Rattan, B. Chiu, V. Feliu, H. B. Brown","doi":"10.1109/ACC.1989.4173670","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173670","url":null,"abstract":"A rule-based fuzzy control method is proposed in this paper for the control of single-link, lightweight, flexible manipulators. The objective of this method is to control the tip position of a flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a robust control scheme. The control scheme is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. The tip position is controlled by a rule-based fuzzy controller. This results in a simple control law that needs minimal computing effort and can be used for real-time control of flexible arms.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"25 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":"131706754","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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