Highlights the role of the dual Youla parameterization in identification for control, when the Youla parameters are used for control design. The well known Hansen scheme is first modified in order to estimate the Youla parameters separately. The modification naturally arises when the ultimate objective of the identification is to use these estimates directly for control design.
{"title":"Identification with the Youla parameterization in identification for control","authors":"P. Ansay, M. Gevers, V. Wertz","doi":"10.1109/ACC.1999.783156","DOIUrl":"https://doi.org/10.1109/ACC.1999.783156","url":null,"abstract":"Highlights the role of the dual Youla parameterization in identification for control, when the Youla parameters are used for control design. The well known Hansen scheme is first modified in order to estimate the Youla parameters separately. The modification naturally arises when the ultimate objective of the identification is to use these estimates directly for control design.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"253 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115664199","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 methodology capable of computing a time-to-rollover (TTR) index in real-time is verified by using test data of two sports-utility vehicles (SUV)-a 1988 Suzuki Samurai and a 1997 Jeep Cherokee. First, simple yaw-roll models are constructed based on the test data. The TTR is computed from the simple model and then corrected by using an artificial neural network. The TTR generated by the neural network is then verified against the data for the two test vehicles.
{"title":"A real-time rollover threat index for sports utility vehicles","authors":"Bo-Chiuan Chen, H. Peng","doi":"10.1109/ACC.1999.783564","DOIUrl":"https://doi.org/10.1109/ACC.1999.783564","url":null,"abstract":"The methodology capable of computing a time-to-rollover (TTR) index in real-time is verified by using test data of two sports-utility vehicles (SUV)-a 1988 Suzuki Samurai and a 1997 Jeep Cherokee. First, simple yaw-roll models are constructed based on the test data. The TTR is computed from the simple model and then corrected by using an artificial neural network. The TTR generated by the neural network is then verified against the data for the two test vehicles.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"42 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120995185","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 paper presents a robust fault diagnosis scheme for detecting and approximating state and sensor faults occurring in a class of nonlinear multi-input multi-output systems. The changes in the system dynamics due to a fault are modeled as nonlinear functions of the control input and measured output variables. Both state and sensor faults can be modeled as slowly developing (incipient) or abrupt, with each component of the state/sensor fault vector being represented by a separate time profile. The robust fault diagnosis scheme utilizes online approximators and adaptive nonlinear filtering techniques to obtain estimates of the fault functions. Robustness, fault sensitivity and stability conditions of the learning scheme are rigorously derived.
{"title":"Robust fault diagnosis of state and sensor faults in nonlinear multivariable systems","authors":"A. B. Trunov, M. Polycarpou","doi":"10.1109/ACC.1999.782900","DOIUrl":"https://doi.org/10.1109/ACC.1999.782900","url":null,"abstract":"The paper presents a robust fault diagnosis scheme for detecting and approximating state and sensor faults occurring in a class of nonlinear multi-input multi-output systems. The changes in the system dynamics due to a fault are modeled as nonlinear functions of the control input and measured output variables. Both state and sensor faults can be modeled as slowly developing (incipient) or abrupt, with each component of the state/sensor fault vector being represented by a separate time profile. The robust fault diagnosis scheme utilizes online approximators and adaptive nonlinear filtering techniques to obtain estimates of the fault functions. Robustness, fault sensitivity and stability conditions of the learning scheme are rigorously derived.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121081066","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 dynamic stiffness of hydraulic servomechanisms has often been recognized as a significant performance issue in a variety of applications, the most notable of which includes flight control actuation. A hydraulic servomechanism is said to be "stiff" if it exhibits acceptable rejection of force disturbances within the control bandwidth. In this paper, an approach to feedback design for robust tracking and robust disturbance rejection is developed via the quantitative feedback theory (QFT) technique. As a result, it is shown that reasonable tracking and disturbance rejection specifications can be met by means of a fixed (i.e., nonadaptive), single loop controller. Robust tracking and robust disturbance rejection specifications are mapped into equivalent bounds on the (parametrically uncertain) sensitivity function; hence, the frequency ranges in which tracking or disturbance rejection specifications dominate become immediately obvious. In this paper, a realistic nonlinear differential equation model of the hydraulic servomechanism is developed, the linear parametric frequency response properties of the open loop system are analyzed, and the aforementioned QFT design procedure is carried out.
{"title":"Feedback design for robust tracking and robust stiffness in flight control actuators using a modified QFT technique","authors":"D. Thompson, J. Pruyn, A. Shukla","doi":"10.1109/ACC.1999.783141","DOIUrl":"https://doi.org/10.1109/ACC.1999.783141","url":null,"abstract":"The problem of dynamic stiffness of hydraulic servomechanisms has often been recognized as a significant performance issue in a variety of applications, the most notable of which includes flight control actuation. A hydraulic servomechanism is said to be \"stiff\" if it exhibits acceptable rejection of force disturbances within the control bandwidth. In this paper, an approach to feedback design for robust tracking and robust disturbance rejection is developed via the quantitative feedback theory (QFT) technique. As a result, it is shown that reasonable tracking and disturbance rejection specifications can be met by means of a fixed (i.e., nonadaptive), single loop controller. Robust tracking and robust disturbance rejection specifications are mapped into equivalent bounds on the (parametrically uncertain) sensitivity function; hence, the frequency ranges in which tracking or disturbance rejection specifications dominate become immediately obvious. In this paper, a realistic nonlinear differential equation model of the hydraulic servomechanism is developed, the linear parametric frequency response properties of the open loop system are analyzed, and the aforementioned QFT design procedure is carried out.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125793425","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}
New regulations for emission control make urgent the performance improvement of the cascade engine-TWC (three-way catalytic converters). An important problem is minimization of the harmful emissions during the transient warm-up phase (where the largest amount of dangerous emissions is concentrated). In this perspective, dynamical TWC models, simple enough for online computation, are required. We present a distributed parameters TWC model suitable for the design and test of warm-up control strategies, obtained by considering an infinite adsorption rate between gas and substrate. The integration algorithm is based partly on a 'method of lines' space-discretization, partly on the 'method of characteristics' for 'quasi linear' hyperbolic PDEs, the separation being allowed by a two time scale analysis of the system. The model has been identified, through a purposely designed genetic algorithm, and validated on experimental data.
{"title":"A two-time-scale infinite-adsorption model of three way catalytic converters","authors":"L. Glielmo, S. Santini, G. Serra","doi":"10.1109/ACC.1999.786557","DOIUrl":"https://doi.org/10.1109/ACC.1999.786557","url":null,"abstract":"New regulations for emission control make urgent the performance improvement of the cascade engine-TWC (three-way catalytic converters). An important problem is minimization of the harmful emissions during the transient warm-up phase (where the largest amount of dangerous emissions is concentrated). In this perspective, dynamical TWC models, simple enough for online computation, are required. We present a distributed parameters TWC model suitable for the design and test of warm-up control strategies, obtained by considering an infinite adsorption rate between gas and substrate. The integration algorithm is based partly on a 'method of lines' space-discretization, partly on the 'method of characteristics' for 'quasi linear' hyperbolic PDEs, the separation being allowed by a two time scale analysis of the system. The model has been identified, through a purposely designed genetic algorithm, and validated on experimental data.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125862487","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}
Small parameter variations are inevitable in physically controlled dynamical systems. The article examines the extent to which optimal control systems satisfy genericity and structural stability which are the key qualitative properties required of any model that is applicable physically. It is claimed that optimal control systems are neither generic nor structurally stable. It is then suggested how to approach the design of generic and structurally stable systems.
{"title":"Qualitative control of feedback systems","authors":"O. Nwokah, G. Happawana, E. Borzova, D. Afolabi","doi":"10.1109/ACC.1999.783604","DOIUrl":"https://doi.org/10.1109/ACC.1999.783604","url":null,"abstract":"Small parameter variations are inevitable in physically controlled dynamical systems. The article examines the extent to which optimal control systems satisfy genericity and structural stability which are the key qualitative properties required of any model that is applicable physically. It is claimed that optimal control systems are neither generic nor structurally stable. It is then suggested how to approach the design of generic and structurally stable systems.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123307051","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 control strategy is presented for nonlinear DPSs. The methodology stems from the use of symmetry groups that determine the group-invariant solutions of a differential system. An invariance condition on the prolonged space of the differential system provides the basis for a distributed control law. Examples illustrate the methodology.
{"title":"A study on the control of nonlinear distributed parameter systems","authors":"S. Godasi, A. Karakas, A. Palazoglu","doi":"10.1109/ACC.1999.783210","DOIUrl":"https://doi.org/10.1109/ACC.1999.783210","url":null,"abstract":"A control strategy is presented for nonlinear DPSs. The methodology stems from the use of symmetry groups that determine the group-invariant solutions of a differential system. An invariance condition on the prolonged space of the differential system provides the basis for a distributed control law. Examples illustrate the methodology.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125350591","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 popular automatic steering control approach for passenger cars is to decouple the yaw motion from lateral motion by using yaw rate feedback. It has been shown that by re-defining the control position at a frequency-dependent distance ahead of the vehicle, the yaw dynamics can also be decoupled. In this paper, open-loop experimental tests are conducted at different vehicle speeds to verify the effectiveness of this dynamic look-ahead scheme. A fully equipped Buick LeSabre sedan is utilized as a test platform in this experimental study. Both the vehicle yaw rate and lateral acceleration frequency response data are obtained in the experimental tests by applying frequency sweeping techniques at different vehicle longitudinal velocities. It is shown that a decoupled input-output vehicle dynamics can be obtained by applying the dynamic look-ahead scheme to the open-loop frequency response data.
{"title":"Experimental study of dynamic look-ahead scheme for vehicle steering control","authors":"Chieh Chen, H. Tan","doi":"10.1109/ACC.1999.782347","DOIUrl":"https://doi.org/10.1109/ACC.1999.782347","url":null,"abstract":"A popular automatic steering control approach for passenger cars is to decouple the yaw motion from lateral motion by using yaw rate feedback. It has been shown that by re-defining the control position at a frequency-dependent distance ahead of the vehicle, the yaw dynamics can also be decoupled. In this paper, open-loop experimental tests are conducted at different vehicle speeds to verify the effectiveness of this dynamic look-ahead scheme. A fully equipped Buick LeSabre sedan is utilized as a test platform in this experimental study. Both the vehicle yaw rate and lateral acceleration frequency response data are obtained in the experimental tests by applying frequency sweeping techniques at different vehicle longitudinal velocities. It is shown that a decoupled input-output vehicle dynamics can be obtained by applying the dynamic look-ahead scheme to the open-loop frequency response data.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125662829","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}
We address the problem of Dirichlet and Neumann boundary control of the Kuramoto-Sivashinsky equation on the domain [0, 1]. We note that, while the uncontrolled Dirichlet problem is asymptotically stable when an "anti-diffusion" parameter is small, and unstable when it is large (the critical value of the parameter), the uncontrolled Neumann problem is never asymptotically stable. We develop a Neumann feedback law that guarantees L/sup 2/-global exponential stability and H/sup 2/-global asymptotic stability for small values of the anti-diffusion parameter. The more interesting problem of boundary stabilization when the anti-diffusion parameter is large remains open. Our proof of global existence and uniqueness of solutions of the closed-loop system involves construction of a Green function and application of the Banach contraction mapping principle.
{"title":"Boundary control of the Kuramoto-Sivashinsky equation with low anti-dissipation","authors":"Weijiu Liu, M. Krstić","doi":"10.1109/ACC.1999.783208","DOIUrl":"https://doi.org/10.1109/ACC.1999.783208","url":null,"abstract":"We address the problem of Dirichlet and Neumann boundary control of the Kuramoto-Sivashinsky equation on the domain [0, 1]. We note that, while the uncontrolled Dirichlet problem is asymptotically stable when an \"anti-diffusion\" parameter is small, and unstable when it is large (the critical value of the parameter), the uncontrolled Neumann problem is never asymptotically stable. We develop a Neumann feedback law that guarantees L/sup 2/-global exponential stability and H/sup 2/-global asymptotic stability for small values of the anti-diffusion parameter. The more interesting problem of boundary stabilization when the anti-diffusion parameter is large remains open. Our proof of global existence and uniqueness of solutions of the closed-loop system involves construction of a Green function and application of the Banach contraction mapping principle.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115189353","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 global exponential stabilization by boundary feedback for the Korteweg-de Vries-Burgers equation on the domain [0,1] is considered. We derive a control law of the form u(0)=u/sub x/(1)=u/sub xx/(1)-k[u(1)/sup 3/+ u(1)]=0, where k is a sufficiently large positive constant, and prove that it guarantees L/sup 2/-global exponential stability, H/sup 1/-global asymptotic stability, and H/sup 1/ semi-global exponential stability. The closed-loop system is shown to be well posed.
{"title":"Controlling nonlinear water waves: boundary stabilization of the Korteweg-de Vries-Burgers equation","authors":"Weijiu Liu, M. Krstić","doi":"10.1109/ACC.1999.786108","DOIUrl":"https://doi.org/10.1109/ACC.1999.786108","url":null,"abstract":"The problem of global exponential stabilization by boundary feedback for the Korteweg-de Vries-Burgers equation on the domain [0,1] is considered. We derive a control law of the form u(0)=u/sub x/(1)=u/sub xx/(1)-k[u(1)/sup 3/+ u(1)]=0, where k is a sufficiently large positive constant, and prove that it guarantees L/sup 2/-global exponential stability, H/sup 1/-global asymptotic stability, and H/sup 1/ semi-global exponential stability. The closed-loop system is shown to be well posed.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122714710","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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