Pub Date : 1988-06-15DOI: 10.1109/ACC.1988.4173078
Zhang Jingxin, Lang Shijun
This paper is concerned with adaptive control of a class of multivariable nonlinear systems which can be characterized by a stochastic multivariable Hammerstein model whose linear part possesses an arbitrary interactor matrix. A simple suboptimal control law is derived which provides an efficient way to the control of the multivariable Hammerstein model systems whose linear part is not necessarily minimum phase. A direct adaptation scheme is presented to implement the control law and the global convergence of the algorithm is established.
{"title":"Adaptive Control of a Class of Multivariable Nonlinear Systems and Convergence Analysis","authors":"Zhang Jingxin, Lang Shijun","doi":"10.1109/ACC.1988.4173078","DOIUrl":"https://doi.org/10.1109/ACC.1988.4173078","url":null,"abstract":"This paper is concerned with adaptive control of a class of multivariable nonlinear systems which can be characterized by a stochastic multivariable Hammerstein model whose linear part possesses an arbitrary interactor matrix. A simple suboptimal control law is derived which provides an efficient way to the control of the multivariable Hammerstein model systems whose linear part is not necessarily minimum phase. A direct adaptation scheme is presented to implement the control law and the global convergence of the algorithm is established.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"51 1","pages":"2009-2014"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85747822","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789854
J. Granito, J. Hedrick
A new servo design methodology for MIMO linear systems subject to unknown disturbances with output feedback which we the call `Split Control Method' is presented. In this method the control action is decomposed into two parts. One part is designed using Variable Structure Systems techniques and produces a rough motion around the desired state space trajectory. The other part is designed using the Model Based Compensator - Loop Transfer Recovery method, and acts as a fine tuner that brings the system output to the desired trajectory. Both designs are independent and stability of each design guarantees at least nominal stability of the combined system. Finally a switching disturbance is introduced to compensate for unknown external disturbances. For a nth order plant the resulting compensator is of order 2n. A 4th order, 2 input - 2 output example is shown. This servo design technique is restricted to minimum phase invertible plants and its extention to nonlinear systems is very promising.
{"title":"The Split Control Method for MIMO Servo Design","authors":"J. Granito, J. Hedrick","doi":"10.23919/ACC.1988.4789854","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789854","url":null,"abstract":"A new servo design methodology for MIMO linear systems subject to unknown disturbances with output feedback which we the call `Split Control Method' is presented. In this method the control action is decomposed into two parts. One part is designed using Variable Structure Systems techniques and produces a rough motion around the desired state space trajectory. The other part is designed using the Model Based Compensator - Loop Transfer Recovery method, and acts as a fine tuner that brings the system output to the desired trajectory. Both designs are independent and stability of each design guarantees at least nominal stability of the combined system. Finally a switching disturbance is introduced to compensate for unknown external disturbances. For a nth order plant the resulting compensator is of order 2n. A 4th order, 2 input - 2 output example is shown. This servo design technique is restricted to minimum phase invertible plants and its extention to nonlinear systems is very promising.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"51 1","pages":"918-923"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73773348","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790118
H. Rhemann, G. Schwarz, T. Badgwell, M. L. Darby, D. White
Fluid Catalytic Cracking Units in oil refineries are prime candidates for implementation of advanced control functions for both operational and economic reasons. This paper discusses an actual advanced control implementation project on a commercial unit. Three specific advanced control techniques are emphasized-multivariable predictive control, performance adaptive control, and on-line optimization.
{"title":"Application of Advanced Controls to a Refinery Fluid Catalytic Cracking Unit","authors":"H. Rhemann, G. Schwarz, T. Badgwell, M. L. Darby, D. White","doi":"10.23919/ACC.1988.4790118","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790118","url":null,"abstract":"Fluid Catalytic Cracking Units in oil refineries are prime candidates for implementation of advanced control functions for both operational and economic reasons. This paper discusses an actual advanced control implementation project on a commercial unit. Three specific advanced control techniques are emphasized-multivariable predictive control, performance adaptive control, and on-line optimization.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"47 1","pages":"2340-2346"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73826203","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 : 1988-06-15DOI: 10.1109/ACC.1988.4172886
V. Cheng, B. Sridhar
In this paper, we consider nap-of-the-earth (NOE) rotorcraft flight as one of the applications in which obstacle avoidance plays a key role, and investigate the prospects of automating the guidance functions of NOE flight. Based on a proposed structure for the guidance functions, we identify obstacle detection and obstacle avoidance as the two critical components requiring substantial advancement before an automatic guidance system can be realized. We discuss the major sources of difficulties in developing these two components, including sensor requirements for which we provide a systematic analysis.
{"title":"Considerations for Automated Nap-of-the-Earth Rotorcraft Flight","authors":"V. Cheng, B. Sridhar","doi":"10.1109/ACC.1988.4172886","DOIUrl":"https://doi.org/10.1109/ACC.1988.4172886","url":null,"abstract":"In this paper, we consider nap-of-the-earth (NOE) rotorcraft flight as one of the applications in which obstacle avoidance plays a key role, and investigate the prospects of automating the guidance functions of NOE flight. Based on a proposed structure for the guidance functions, we identify obstacle detection and obstacle avoidance as the two critical components requiring substantial advancement before an automatic guidance system can be realized. We discuss the major sources of difficulties in developing these two components, including sensor requirements for which we provide a systematic analysis.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"42 1","pages":"967-976"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73858070","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789978
P. Kopacek, N. Girsule, R. Probst
The authors have been involved over some years in Educaton in Robotics in Austrian Universities. In addition to lectures, seminar as well as laboratory courses are offered for students of different fields of interest. For these purposes some software packages were developed at both Universities. The paper starts with a short summary of results of a report completed by the working group "Education in Robotics and Manufacturing" of the IFAC-EDOCOM. In the following, several software packages illustrating kinematics and kinetics, conventional and "advanced" control algorithms of robots are shortly described and discussed. Two new programming languages - ROBASIC and ROPASCAL - developed mainly for educational purposes will be also described.
{"title":"Education in Robotics by Means of PC's","authors":"P. Kopacek, N. Girsule, R. Probst","doi":"10.23919/ACC.1988.4789978","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789978","url":null,"abstract":"The authors have been involved over some years in Educaton in Robotics in Austrian Universities. In addition to lectures, seminar as well as laboratory courses are offered for students of different fields of interest. For these purposes some software packages were developed at both Universities. The paper starts with a short summary of results of a report completed by the working group \"Education in Robotics and Manufacturing\" of the IFAC-EDOCOM. In the following, several software packages illustrating kinematics and kinetics, conventional and \"advanced\" control algorithms of robots are shortly described and discussed. Two new programming languages - ROBASIC and ROPASCAL - developed mainly for educational purposes will be also described.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"26 1","pages":"1606-1611"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74720246","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 : 1988-06-15DOI: 10.1109/ACC.1988.4172777
S. Fassois, K. Eman, S. M. Wu
A computationally efficient approach to stochastic ARMA modeling of wide-sense stationary signals is proposed. The discrete estimator minimizes a modified version of the likelihood function by using exclusively linear techniques and circumventing the high computational complexity of the Maximum Likelihood (ML) method. The proposed approach is thus easy to implement, requires no second order statistical information, and is shown to produce high quality estimates at a very modest computational cost. A recursive version of the algorithm, suitable for on-line implementation, is also developed, and, certain modeling strategy issues discussed. The effectiveness of the proposed approach is finally established through numerical simulations and comparisons with other suboptimum schemes.
{"title":"A Suboptimum Maximum Likelihood Approach to Parametric Signal Analysis","authors":"S. Fassois, K. Eman, S. M. Wu","doi":"10.1109/ACC.1988.4172777","DOIUrl":"https://doi.org/10.1109/ACC.1988.4172777","url":null,"abstract":"A computationally efficient approach to stochastic ARMA modeling of wide-sense stationary signals is proposed. The discrete estimator minimizes a modified version of the likelihood function by using exclusively linear techniques and circumventing the high computational complexity of the Maximum Likelihood (ML) method. The proposed approach is thus easy to implement, requires no second order statistical information, and is shown to produce high quality estimates at a very modest computational cost. A recursive version of the algorithm, suitable for on-line implementation, is also developed, and, certain modeling strategy issues discussed. The effectiveness of the proposed approach is finally established through numerical simulations and comparisons with other suboptimum schemes.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"53 1","pages":"406-413"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74602544","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790108
D. Yeung, G. Bekey
This paper provides a framework for a class of methods to solve the adaptive load balancing problem in flexible manufacturing systems. The control system is composed of a group of associative learning automata which interact with each other in a game-theoretic sense. Each automaton makes use of a global reinforcement signal for learning the control strategy under different state input. The control actions suggested by the automata interact through a constraint satisfaction network to give a globally legal set of control actions. Using existing techniques in neural network research, we propose one particular method of the class by implementing both the associative reinforcement learning and the constraint satisfaction modules by connectionist networks. Comparisons of this method with other related studies will be discussed. We expect our current simulation work to provide empirical support for future analytical study.
{"title":"Adaptive Load Balancing Between Mobile Robots Through Learning in an Artificial Neural System","authors":"D. Yeung, G. Bekey","doi":"10.23919/ACC.1988.4790108","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790108","url":null,"abstract":"This paper provides a framework for a class of methods to solve the adaptive load balancing problem in flexible manufacturing systems. The control system is composed of a group of associative learning automata which interact with each other in a game-theoretic sense. Each automaton makes use of a global reinforcement signal for learning the control strategy under different state input. The control actions suggested by the automata interact through a constraint satisfaction network to give a globally legal set of control actions. Using existing techniques in neural network research, we propose one particular method of the class by implementing both the associative reinforcement learning and the constraint satisfaction modules by connectionist networks. Comparisons of this method with other related studies will be discussed. We expect our current simulation work to provide empirical support for future analytical study.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"52 1","pages":"2299-2304"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74623024","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790145
Z. M. Moursi, J. Raptis, M. Sawan
The model-following problem has been expressed as an LQ-problem, and robustness achieved by including an exponential factor in the cost integrand. In this paper the observer-based case is considered and the inherent robustness of the model-following control for systems expressed in the second canonical form with respect to uncertainties in the system parameters is demonstrated.
{"title":"A Robust Observer-Based Model-Following Control","authors":"Z. M. Moursi, J. Raptis, M. Sawan","doi":"10.23919/ACC.1988.4790145","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790145","url":null,"abstract":"The model-following problem has been expressed as an LQ-problem, and robustness achieved by including an exponential factor in the cost integrand. In this paper the observer-based case is considered and the inherent robustness of the model-following control for systems expressed in the second canonical form with respect to uncertainties in the system parameters is demonstrated.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"1 1","pages":"2500-2501"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76799854","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789736
R. Peña, Athanasios Sideris
A computer program implementing the algorithm in [2,3,4] for computing the Multivariable Stability Margin to check the robust stability of feedback systems with real parametric uncertainty is proposed. An example demonstrating the performance of the program is discussed.
{"title":"A General Program to Compute the Multivariable Stability Margin for Systems with Parametric Uncertainty","authors":"R. Peña, Athanasios Sideris","doi":"10.23919/ACC.1988.4789736","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789736","url":null,"abstract":"A computer program implementing the algorithm in [2,3,4] for computing the Multivariable Stability Margin to check the robust stability of feedback systems with real parametric uncertainty is proposed. An example demonstrating the performance of the program is discussed.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"42 1","pages":"317-322"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76935778","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789934
L. Sciavicco
Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degree-of-freedom's (DOF's) can be exploited to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. Finally, a case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.
{"title":"On the Use of Redundancy in Robot Kinematic Control","authors":"L. Sciavicco","doi":"10.23919/ACC.1988.4789934","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789934","url":null,"abstract":"Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degree-of-freedom's (DOF's) can be exploited to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. Finally, a case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"23 1","pages":"1370-1375"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78212090","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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