Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24574
Fen Wu
In this paper, we address the analysis and state-feedback synthesis problems for linear parameter-varying (LPV) systems with parameter-varying time delays. It is assumed that the state-space data and the time delays depend on parameters that are measurable in real-time and vary in a compact set with bounded variation rates. We explore the delay-dependent stability and the induced L2 norm performance of these systems using parameter-dependent Lyapunov functions. In addition, the state-feedback control synthesis problem is examined when a variable state delay is present. Both analysis and synthesis conditions are formulated in terms of linear matrix inequalities (LMIs) that can be solved via efficient interior-point algorithms.
{"title":"Delay-Dependent Induced L2Norm Analysis and Control for LPV Systems With State Delays","authors":"Fen Wu","doi":"10.1115/imece2001/dsc-24574","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24574","url":null,"abstract":"\u0000 In this paper, we address the analysis and state-feedback synthesis problems for linear parameter-varying (LPV) systems with parameter-varying time delays. It is assumed that the state-space data and the time delays depend on parameters that are measurable in real-time and vary in a compact set with bounded variation rates. We explore the delay-dependent stability and the induced L2 norm performance of these systems using parameter-dependent Lyapunov functions. In addition, the state-feedback control synthesis problem is examined when a variable state delay is present. Both analysis and synthesis conditions are formulated in terms of linear matrix inequalities (LMIs) that can be solved via efficient interior-point algorithms.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80411540","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24628
X. Zhang, W. Xu, S. Nair, V. Chellaboina
A stable strain feedback control design is proposed for a flexible two-link manipulator using a model with partial differential equations directly. Stability is established using a Lyapunov-based design.
{"title":"PDE Control of a Flexible Two-Link Manipulator","authors":"X. Zhang, W. Xu, S. Nair, V. Chellaboina","doi":"10.1115/imece2001/dsc-24628","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24628","url":null,"abstract":"\u0000 A stable strain feedback control design is proposed for a flexible two-link manipulator using a model with partial differential equations directly. Stability is established using a Lyapunov-based design.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81536004","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24631
M. Ivanescu, N. Bîzdoaca, D. Cojocaru, N. Popescu, D. Popescu
A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic system formed by tentacle manipulators grasping a commune object with hard contact points. The control system contains two parts: the first component is a conventional controller, which implements a control strategy based on the Lyapunov stability, and the second is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established The fuzzy controller was developed using Matlab and Simulink software. Simulation results are presented and discussed.
{"title":"A Fuzzy Controller for Tentacle Cooperative Robots","authors":"M. Ivanescu, N. Bîzdoaca, D. Cojocaru, N. Popescu, D. Popescu","doi":"10.1115/imece2001/dsc-24631","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24631","url":null,"abstract":"\u0000 A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic system formed by tentacle manipulators grasping a commune object with hard contact points. The control system contains two parts: the first component is a conventional controller, which implements a control strategy based on the Lyapunov stability, and the second is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established The fuzzy controller was developed using Matlab and Simulink software. Simulation results are presented and discussed.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"39 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81609287","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24506
C. J. Li, Chongchan Lee, Sun’an Wang
The goal of this study is to develop a reasoning device and a diagnostic rule extraction methodology based on fuzzy neural network. This paper describes a method to obtain a fuzzy neural network classifier from labeled training data sets and algorithms to extracted linguistic diagnostic rules from such a trained fuzzy neural network. Benchmark comparisons were performed using three data sets from three different fields of applications. The proposed methodology was shown to outperform all the existing methods that were compared.
{"title":"Diagnosis and Diagnostic Rule Extraction Using Fuzzy Neural Network","authors":"C. J. Li, Chongchan Lee, Sun’an Wang","doi":"10.1115/imece2001/dsc-24506","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24506","url":null,"abstract":"\u0000 The goal of this study is to develop a reasoning device and a diagnostic rule extraction methodology based on fuzzy neural network. This paper describes a method to obtain a fuzzy neural network classifier from labeled training data sets and algorithms to extracted linguistic diagnostic rules from such a trained fuzzy neural network. Benchmark comparisons were performed using three data sets from three different fields of applications. The proposed methodology was shown to outperform all the existing methods that were compared.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"114 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78541239","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24589
R. Guerra, R. Haber, A. Alique, C. Peres, S. Ros
The nonlinear behavior and complexity of machining processes have motivated researchers to use fuzzy model to effect process supervision. The main idea of this paper concerns the application of fuzzy logic and clustering techniques to develop a fuzzy model of the milling process aiming at the optimization of machine-tool performance and the overall machining process. A brief description of the algorithm employed is given, focused on the fuzzy c-mean technique (FCM). The results indicate that the FCM criterion is suitable for modeling complex processes such as the milling process. The fuzzy model obtained serves as foundation to develop complex supervisory systems.
{"title":"Fuzzy Modeling on the Basis of FCM Technique: A Case Study Aiming at Process Supervision","authors":"R. Guerra, R. Haber, A. Alique, C. Peres, S. Ros","doi":"10.1115/imece2001/dsc-24589","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24589","url":null,"abstract":"\u0000 The nonlinear behavior and complexity of machining processes have motivated researchers to use fuzzy model to effect process supervision. The main idea of this paper concerns the application of fuzzy logic and clustering techniques to develop a fuzzy model of the milling process aiming at the optimization of machine-tool performance and the overall machining process. A brief description of the algorithm employed is given, focused on the fuzzy c-mean technique (FCM). The results indicate that the FCM criterion is suitable for modeling complex processes such as the milling process. The fuzzy model obtained serves as foundation to develop complex supervisory systems.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"25 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87720637","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24616
R. Dubey, S. Zekri, A. Gage
Transportation is an area that needs to be studied from a disability perspective. Different types of barriers exist when it comes to enabling persons with disability to comfortably perform routine activities such as driving a vehicle. Some of these barriers are due to lack of quantitative assessment techniques that will determine physical capabilities and ergonomic parameters related to the disabled person. The objective of this paper is to design an intelligent haptic interface for quantitative assessment of driving capabilities of persons with disabilities. A twenty two year old subject with Muscular Dystrophy was introduced to the task of steering wheel control. This task tested the subject’s ability to control different steering wheel diameters, angles of orientation, and fatigue after an extended control period.
{"title":"Design of Haptic Interfaces to Assess the Driving Capabilities of People With Disabilities","authors":"R. Dubey, S. Zekri, A. Gage","doi":"10.1115/imece2001/dsc-24616","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24616","url":null,"abstract":"\u0000 Transportation is an area that needs to be studied from a disability perspective. Different types of barriers exist when it comes to enabling persons with disability to comfortably perform routine activities such as driving a vehicle.\u0000 Some of these barriers are due to lack of quantitative assessment techniques that will determine physical capabilities and ergonomic parameters related to the disabled person. The objective of this paper is to design an intelligent haptic interface for quantitative assessment of driving capabilities of persons with disabilities.\u0000 A twenty two year old subject with Muscular Dystrophy was introduced to the task of steering wheel control. This task tested the subject’s ability to control different steering wheel diameters, angles of orientation, and fatigue after an extended control period.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83342489","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24607
J. Cheong, W. Chung, Y. Youm
The precise modeling of multi-link flexible robot is hard to obtain and even if we can get it, it is difficult to use in on-line control tasks. Due to these reasons, a simplified model is often used to describe the robot dynamics instead of using complex dynamic model. In the simplified model, however, parameter mismatch and structural modeling error are inevitable. To compensate these uncertainties, an adaptive control is formulated in this paper after separating the system into rigid and flexible subsystems. A simple direct parameter update rule is presented considering the flexible subsystem. Different from most of adaptive control schemes in multi-link flexible robots, which is indirect model-independent approach, the proposed adaptive control is a direct one and good for fast suppression of vibration of uncertain and untuned systems. We verify the effectiveness of the proposed algorithm through experiments.
{"title":"Enhancement of Vibration Suppression for Multi-Link Flexible Robots Using Direct Parameter Adaptation","authors":"J. Cheong, W. Chung, Y. Youm","doi":"10.1115/imece2001/dsc-24607","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24607","url":null,"abstract":"\u0000 The precise modeling of multi-link flexible robot is hard to obtain and even if we can get it, it is difficult to use in on-line control tasks. Due to these reasons, a simplified model is often used to describe the robot dynamics instead of using complex dynamic model. In the simplified model, however, parameter mismatch and structural modeling error are inevitable. To compensate these uncertainties, an adaptive control is formulated in this paper after separating the system into rigid and flexible subsystems. A simple direct parameter update rule is presented considering the flexible subsystem. Different from most of adaptive control schemes in multi-link flexible robots, which is indirect model-independent approach, the proposed adaptive control is a direct one and good for fast suppression of vibration of uncertain and untuned systems. We verify the effectiveness of the proposed algorithm through experiments.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84696362","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24619
B. Chung, Sooyong Lee
Force guided assembly is a control scheme to guide a workpiece based on a stored map from forces to a correction of motion. Based on the geometry of the workpiece and its kinematic behavior in interacting with the environment, the functional map relating the correction of motion to force measurements is generated and stored as a control law. Central to the design of force guided control is how to synthesize this functional map. Although these explicit force-guided controls are a useful concept, particularly for the monitoring of assembly processes, there are inherent difficulties in applying it to real world problems. In real assembly lines, pipe insertion task, for instance, has been performed only by human workers. Skilled workers insert pipes by perturbing the pipes in order to avoid jamming as well as to determine which way to correct the motion. According to them, the skilled workers monitor obstructing forces in response to the applied perturbation, and modify their motion accordingly. The proposed perturbation/correlation method was motivated by this human perception and action : perturbing the pipe, observing the reaction to the perturbation and correcting the trajectory. In this paper, we propose a novel technique for acquiring effective force information despite sensor noise and friction. Instead of simply receiving force signals from the process, we give perturbation to the robot and measure the reaction forces to the perturbation. By taking the correlation between the perturbation signal and the reaction forces, reliable and useful information for guiding the robot would be extracted. It is expected that this perturbed force measurement provides much richer force information than that of stationary measurement. The perturbation/Correlation method presented in this paper is not only effective for reducing friction, but also effective for obtaining useful information for guiding the robot towards a desired direction. Preliminary experimental results with one directional perturbation are shown in this paper. Extensive mathematical analysis shows the potential application to assemblies in higher dimension.
{"title":"Robotic Assembly Based on Human Perception and Action","authors":"B. Chung, Sooyong Lee","doi":"10.1115/imece2001/dsc-24619","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24619","url":null,"abstract":"\u0000 Force guided assembly is a control scheme to guide a workpiece based on a stored map from forces to a correction of motion. Based on the geometry of the workpiece and its kinematic behavior in interacting with the environment, the functional map relating the correction of motion to force measurements is generated and stored as a control law. Central to the design of force guided control is how to synthesize this functional map. Although these explicit force-guided controls are a useful concept, particularly for the monitoring of assembly processes, there are inherent difficulties in applying it to real world problems.\u0000 In real assembly lines, pipe insertion task, for instance, has been performed only by human workers. Skilled workers insert pipes by perturbing the pipes in order to avoid jamming as well as to determine which way to correct the motion. According to them, the skilled workers monitor obstructing forces in response to the applied perturbation, and modify their motion accordingly. The proposed perturbation/correlation method was motivated by this human perception and action : perturbing the pipe, observing the reaction to the perturbation and correcting the trajectory.\u0000 In this paper, we propose a novel technique for acquiring effective force information despite sensor noise and friction. Instead of simply receiving force signals from the process, we give perturbation to the robot and measure the reaction forces to the perturbation. By taking the correlation between the perturbation signal and the reaction forces, reliable and useful information for guiding the robot would be extracted. It is expected that this perturbed force measurement provides much richer force information than that of stationary measurement. The perturbation/Correlation method presented in this paper is not only effective for reducing friction, but also effective for obtaining useful information for guiding the robot towards a desired direction. Preliminary experimental results with one directional perturbation are shown in this paper. Extensive mathematical analysis shows the potential application to assemblies in higher dimension.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"81 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90580263","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24541
Xi Wei, G. Rizzoni
Increasing demand for hybrid electric vehicle designs requires automated modeling and simulation tools to construct a design space search. Composability and scalability are highly desirable in these simulators to provide design candidates. To achieve effective and efficient automation of the design space search, a scaling approach with moderate complexity and consideration of component nonlinear characteristics is necessary in sizing powertrain components, especially energy converters. The Willans line approach proposed in this paper provides models that are sufficiently accurate but not excessively complicated and permits the derivation of a scalable supervisory control algorithm for overall energy consumption minimization. The scalable models and the control strategy can be adapted to various vehicle drivetrain configurations, providing a scalable and composable simulation tool for vehicle powertrain rapid designing. Scaling results of the Willans line approach are compared with real data and another scaling method in a “forward”, quasi-static simulator.
{"title":"A Scalable Approach for Energy Converter Modeling and Supervisory Control Design","authors":"Xi Wei, G. Rizzoni","doi":"10.1115/imece2001/dsc-24541","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24541","url":null,"abstract":"\u0000 Increasing demand for hybrid electric vehicle designs requires automated modeling and simulation tools to construct a design space search. Composability and scalability are highly desirable in these simulators to provide design candidates. To achieve effective and efficient automation of the design space search, a scaling approach with moderate complexity and consideration of component nonlinear characteristics is necessary in sizing powertrain components, especially energy converters. The Willans line approach proposed in this paper provides models that are sufficiently accurate but not excessively complicated and permits the derivation of a scalable supervisory control algorithm for overall energy consumption minimization. The scalable models and the control strategy can be adapted to various vehicle drivetrain configurations, providing a scalable and composable simulation tool for vehicle powertrain rapid designing. Scaling results of the Willans line approach are compared with real data and another scaling method in a “forward”, quasi-static simulator.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"60 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90949127","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}
Force control is an effective means of improving the quality and productivity of machining operations. Force process models are difficult to accurately generate and, thus, there are large variations in the model parameters. This has lead to investigations into robust control techniques; however, these approaches have not directly accounted for process effects. A robust force controller is developed in this paper based on Quantitative Feedback Theory. This controller is novel in that it accounts for the inherent force-feed nonlinearity in metal cutting processes and it explicitly compensates for process effects. The controller is verified via simulations and experiments, and the results demonstrate that process compensation allows for tighter performance bounds to be achieved and greatly reduced performance variation as process parameters vary.
{"title":"Robust Machining Force Control With Process Compensation","authors":"S. I. Kim, R. Landers, A. Galip Ulsoy","doi":"10.1115/1.1580849","DOIUrl":"https://doi.org/10.1115/1.1580849","url":null,"abstract":"\u0000 Force control is an effective means of improving the quality and productivity of machining operations. Force process models are difficult to accurately generate and, thus, there are large variations in the model parameters. This has lead to investigations into robust control techniques; however, these approaches have not directly accounted for process effects. A robust force controller is developed in this paper based on Quantitative Feedback Theory. This controller is novel in that it accounts for the inherent force-feed nonlinearity in metal cutting processes and it explicitly compensates for process effects. The controller is verified via simulations and experiments, and the results demonstrate that process compensation allows for tighter performance bounds to be achieved and greatly reduced performance variation as process parameters vary.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"28 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76887320","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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