Pub Date : 1988-06-15DOI: 10.23919/ACC.1988.4789947
V. L. Jones, Sally C. Rice, H. Waites
Control Dynamics has recently completed the ACES (Active Control Technique Evaluation for Spacecraft) Program, which was funded by Wright-Patterson AFB and NASA/MSFC. The ACES Program involved the experimental evaluation of three LSS (Large Space Structures) control desip techniques at the LSS GTF (Ground Test Facility) at NASA/MSFC (1). The three techniques were developed under the ACOSS (Active Control Of Space Structures) Program specifically for application to LSS. The techniques included FAMESS (Filter Accommodated Model Error Sensitivity Suppression), HAC/LAC (High Authority Control/Low Authority Control), and Positivity. This paper examines some of the lessons that have been learned during the course of the ACES Program.
{"title":"ACES Program: Lessons Learned","authors":"V. L. Jones, Sally C. Rice, H. Waites","doi":"10.23919/ACC.1988.4789947","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789947","url":null,"abstract":"Control Dynamics has recently completed the ACES (Active Control Technique Evaluation for Spacecraft) Program, which was funded by Wright-Patterson AFB and NASA/MSFC. The ACES Program involved the experimental evaluation of three LSS (Large Space Structures) control desip techniques at the LSS GTF (Ground Test Facility) at NASA/MSFC (1). The three techniques were developed under the ACOSS (Active Control Of Space Structures) Program specifically for application to LSS. The techniques included FAMESS (Filter Accommodated Model Error Sensitivity Suppression), HAC/LAC (High Authority Control/Low Authority Control), and Positivity. This paper examines some of the lessons that have been learned during the course of the ACES Program.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"177 1","pages":"1453-1455"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83395456","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.1988.4789992
J. Doyle, K. Glover, P. Khargonekar, B. Francis
Simple state-space formulas are presented for a controller solving a standard H∞-problem. The controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG (i.e., H2) theory. This paper is also intended to be of tutorial value, so a standard H2-solution is developed in parallel.
{"title":"State-space solutions to standard H2 and H∞ control problems","authors":"J. Doyle, K. Glover, P. Khargonekar, B. Francis","doi":"10.23919/ACC.1988.4789992","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789992","url":null,"abstract":"Simple state-space formulas are presented for a controller solving a standard H∞-problem. The controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG (i.e., H2) theory. This paper is also intended to be of tutorial value, so a standard H2-solution is developed in parallel.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"42 1","pages":"1691-1696"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87383447","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.1988.4789771
Yoshihiko Nakamura
This paper discusses the force distribution problem in coordination of multiple robotic mechanisms. To define the more physically motivated criterion in choosing internal forces, the relationship between the elastic strain energy stored in the object and the forces and moments applied by robotic mechanisms is discussed. Based on the several assumptions, it is shown that the elastic strain energy of object is represented as a quadratic form of the forces and moments. We propose to minimize the object strain energy in choosing the internal forces and moments. The minimal strain energy criterion is identical to the minimal force criterion when all the spring constants of object are uniform at all the contact points and all the directions of each contact point. The algorithms for the minimal strain energy criterion are proposed for both of the case where each robotic manipulator grasps the object rigidly and the case where robotic fingers grasp the object with frictional point contacts.
{"title":"Minimizing Object Strain Energy for Coordination of Multiple Robotic Mechanisms","authors":"Yoshihiko Nakamura","doi":"10.23919/ACC.1988.4789771","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789771","url":null,"abstract":"This paper discusses the force distribution problem in coordination of multiple robotic mechanisms. To define the more physically motivated criterion in choosing internal forces, the relationship between the elastic strain energy stored in the object and the forces and moments applied by robotic mechanisms is discussed. Based on the several assumptions, it is shown that the elastic strain energy of object is represented as a quadratic form of the forces and moments. We propose to minimize the object strain energy in choosing the internal forces and moments. The minimal strain energy criterion is identical to the minimal force criterion when all the spring constants of object are uniform at all the contact points and all the directions of each contact point. The algorithms for the minimal strain energy criterion are proposed for both of the case where each robotic manipulator grasps the object rigidly and the case where robotic fingers grasp the object with frictional point contacts.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"20 1","pages":"499-509"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88192478","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.1988.4789836
R. Yedavalli
This paper addresses the aspect of stability robustness analysis for linear continuous time systems with structured parametric uncertainty. New results on upper bounds for robust stability are presented for two types of functional dependence of uncertain parameters in the perturbation matrix, namely i) linear dependence and ii) a special quadratic variation in a scalar parameter. The technique presented generalizes the available results into a unified framework and offers improved bounds over the existing ones by fully exploiting the structure (dependency among parameters) of the uncertainty.
{"title":"Stability Robustness Measures under Dependent Uncertainty","authors":"R. Yedavalli","doi":"10.23919/ACC.1988.4789836","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789836","url":null,"abstract":"This paper addresses the aspect of stability robustness analysis for linear continuous time systems with structured parametric uncertainty. New results on upper bounds for robust stability are presented for two types of functional dependence of uncertain parameters in the perturbation matrix, namely i) linear dependence and ii) a special quadratic variation in a scalar parameter. The technique presented generalizes the available results into a unified framework and offers improved bounds over the existing ones by fully exploiting the structure (dependency among parameters) of the uncertainty.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"47 1","pages":"820-823"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91291714","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.1988.4789823
S. Bai, F. Salam
The so-called e1-modification law proposed by Narendra and Annaswamy (1987) has been studied through a prototype adaptve control system, with a single unknown pole and an unknown constant disturbance at its input. This paper reveals that using this law in the case of regulation the system possesses multiple equilibria and undergoes various bifurcations.
{"title":"Disturbance-Generated Bifurcation in an Adaptive System with e1-Modification Law","authors":"S. Bai, F. Salam","doi":"10.23919/ACC.1988.4789823","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789823","url":null,"abstract":"The so-called e1-modification law proposed by Narendra and Annaswamy (1987) has been studied through a prototype adaptve control system, with a single unknown pole and an unknown constant disturbance at its input. This paper reveals that using this law in the case of regulation the system possesses multiple equilibria and undergoes various bifurcations.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"48 1","pages":"772-773"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91345323","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.1988.4172828
K. Fagervik, Olli Konstari, R. von Schalien
The on-line simulation presented in this paper involves balance orientated modeling principles combined with suitable phenomenological expressions, which tie the balance contributions together, thus reducing the number of needed measurement variables. However, as the phenomenological expressions often are inaccurate, they can be provided with open parameters, which continuously are estimated from the real process environment. In this way the model has become an adaptive on-line model. As an adaptive model is able of predicting future behaviour very accurately even of strongly non linear processes, it can be utilized for computing the set-values for control loops, which may be strongly coupled. The use of the presented adaptive simulation is demonstrated by means of a developed adaptive on-line simulator connected with a batch evaporative pilot plant crystallizer for sugar. Special attention has been paid to the automation of this non linear process.
{"title":"Control of Batch Evaporative Crystallization of Sugar by Means of Adaptive Simulation","authors":"K. Fagervik, Olli Konstari, R. von Schalien","doi":"10.1109/ACC.1988.4172828","DOIUrl":"https://doi.org/10.1109/ACC.1988.4172828","url":null,"abstract":"The on-line simulation presented in this paper involves balance orientated modeling principles combined with suitable phenomenological expressions, which tie the balance contributions together, thus reducing the number of needed measurement variables. However, as the phenomenological expressions often are inaccurate, they can be provided with open parameters, which continuously are estimated from the real process environment. In this way the model has become an adaptive on-line model. As an adaptive model is able of predicting future behaviour very accurately even of strongly non linear processes, it can be utilized for computing the set-values for control loops, which may be strongly coupled. The use of the presented adaptive simulation is demonstrated by means of a developed adaptive on-line simulator connected with a batch evaporative pilot plant crystallizer for sugar. Special attention has been paid to the automation of this non linear process.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"74 1","pages":"677-683"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90368684","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.1988.4789873
M. Safonov, R. Chiang
The calculation of the balancing transformation required in Moore's "balanced-transformation" model reduction procedure tends to be badly conditioned, especially for non-minimal models that stand to benifit the most from model reduction. In this paper it is shown that the Moore reduced model can be computed directly without balancing via projections defined in terms of arbitary bases for the left and right eigenspaces associated with the "large" eigenvalues of the product PQ of the reachability and controllablility grammians. Two methods for computing these bases are proposed, one based on the ordered Schur decomposition of PQ and the other based on the Cholesky factors of P and Q. The algorithms perform reliably even for non-minimal models.
{"title":"A Schur Method for Balanced Model Reduction","authors":"M. Safonov, R. Chiang","doi":"10.23919/ACC.1988.4789873","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789873","url":null,"abstract":"The calculation of the balancing transformation required in Moore's \"balanced-transformation\" model reduction procedure tends to be badly conditioned, especially for non-minimal models that stand to benifit the most from model reduction. In this paper it is shown that the Moore reduced model can be computed directly without balancing via projections defined in terms of arbitary bases for the left and right eigenspaces associated with the \"large\" eigenvalues of the product PQ of the reachability and controllablility grammians. Two methods for computing these bases are proposed, one based on the ordered Schur decomposition of PQ and the other based on the Cholesky factors of P and Q. The algorithms perform reliably even for non-minimal models.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"34 1","pages":"1036-1040"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90649318","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.1988.4789939
N. Viswanadham, K. Minto
A new scheme for robust estimation of the partial state of linear time-invariant multivariable systems is presented, and it is shown how this may be used for the detection of sensor faults in such systems. We consider an observer to be robust if it generates a faithful estimate of the plant state in the face of modelling uncertainty or plant perturbations. Using the Stable Factorization approach we formulate the problem of optimal robust observer design by minimizing an appropriate norm on the estimation error. A logical candidate is the 2-norm, corresponding to an H¿ optimization problem, for which solutions are readily available. In the special case of a stable plant, the optimal fault diagnosis scheme reduces to an internal model control architecture.
{"title":"Robust Observer Design with Application to Fault Detection","authors":"N. Viswanadham, K. Minto","doi":"10.23919/ACC.1988.4789939","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789939","url":null,"abstract":"A new scheme for robust estimation of the partial state of linear time-invariant multivariable systems is presented, and it is shown how this may be used for the detection of sensor faults in such systems. We consider an observer to be robust if it generates a faithful estimate of the plant state in the face of modelling uncertainty or plant perturbations. Using the Stable Factorization approach we formulate the problem of optimal robust observer design by minimizing an appropriate norm on the estimation error. A logical candidate is the 2-norm, corresponding to an H¿ optimization problem, for which solutions are readily available. In the special case of a stable plant, the optimal fault diagnosis scheme reduces to an internal model control architecture.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"100 1","pages":"1393-1399"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76985005","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.1988.4789894
D. Auslander, R. Horowitz
The Mechanical Engineering departmnt at the University of Califomia, Berkeley, has a long history of activity in the area of control systems. The control system curriculum covers undergraduate and graduate courses in theory, application, and implementation of control. Research projects cover a wide variety of major topics in control and dynamic systms, with an emphasis on the control of mechanical systems.
{"title":"Mechanical Engineering Control System Curriculum","authors":"D. Auslander, R. Horowitz","doi":"10.23919/ACC.1988.4789894","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789894","url":null,"abstract":"The Mechanical Engineering departmnt at the University of Califomia, Berkeley, has a long history of activity in the area of control systems. The control system curriculum covers undergraduate and graduate courses in theory, application, and implementation of control. Research projects cover a wide variety of major topics in control and dynamic systms, with an emphasis on the control of mechanical systems.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"38 1","pages":"1151-1156"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78144185","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.1988.4789930
Shay-Ping T. Wang, C. Kuo
The success of a robot force and position (hybrid) control scheme relies very much upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and envirornment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control even under severe modeling errors.
{"title":"Nonlinear Robust Hybrid Control of Robot Manipulators","authors":"Shay-Ping T. Wang, C. Kuo","doi":"10.23919/ACC.1988.4789930","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789930","url":null,"abstract":"The success of a robot force and position (hybrid) control scheme relies very much upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and envirornment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control even under severe modeling errors.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"138 1","pages":"1345-1350"},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75082561","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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