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Date 21-23 June 1989

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Displaying Results 1 - 25 of 528
  • Proceedings of the 1989 American Control Conference

    Publication Year: 1989, Page(s): 1
    IEEE is not the copyright holder of this material | PDF file iconPDF (25 KB)
    Freely Available from IEEE
  • Copyright page

    Publication Year: 1989, Page(s): 2
    IEEE is not the copyright holder of this material | PDF file iconPDF (22 KB)
    Freely Available from IEEE
  • Foreword

    Publication Year: 1989, Page(s): 3
    Cited by:  Papers (1)
    Request permission for commercial reuse | PDF file iconPDF (110 KB)
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  • AACC Awards

    Publication Year: 1989, Page(s):4 - 6
    IEEE is not the copyright holder of this material | PDF file iconPDF (462 KB)
    Freely Available from IEEE
  • Operating Committee

    Publication Year: 1989, Page(s): 7
    IEEE is not the copyright holder of this material | PDF file iconPDF (55 KB)
    Freely Available from IEEE
  • Program Committee

    Publication Year: 1989, Page(s): 7
    IEEE is not the copyright holder of this material | PDF file iconPDF (55 KB)
    Freely Available from IEEE
  • Technical program

    Publication Year: 1989, Page(s):8 - 34
    IEEE is not the copyright holder of this material | PDF file iconPDF (1654 KB)
    Freely Available from IEEE
  • Indirect Adaptive Feed-Forward Tracking Controllers

    Publication Year: 1989, Page(s):1 - 6
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (482 KB)

    This paper presents a general indirect adaptive feed-forward control scheme for the purpose of tracking time varying signals. An approach which allows independent design of the adaptive identifier and the feed-forward tracking controller is given and so is the characterization of its tracking performance. When disturbances and unmodeled dynamics exist, methods such as signal filtering, dead zone a... View full abstract»

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  • On Adaptive Tuning for Linear Distributed Systems using Compensator Prior Knowledge

    Publication Year: 1989, Page(s):7 - 12
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (469 KB)

    In this paper we address the problem of adaptive controller tuning for continuous, linear time invariant (LTI) distributed systems which are stabilizable with finite dimensional LTI compensators. We use the word tuning to underscore the fact that the main task of the adaptive controller is not stabilization, but to adjust its parameters to improve performance. Our main concern is the incorporation... View full abstract»

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  • Expert Hierarchical Adaptive Control

    Publication Year: 1989, Page(s):13 - 18
    Cited by:  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (524 KB)

    The goal of this work is to develop an expert, hierarchical control scheme that adapts its structure in accordance with its knowledge about the plant. When the process is poorly defined, a coarse control action is provided by a rule-based controller. The next stage of the controller is a multiple model adaptive control procedure that is chosen if the system identifies an approximate model of the p... View full abstract»

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  • Adaptive Time-Optimal Control of Flexible Structures

    Publication Year: 1989, Page(s):19 - 24
    Cited by:  Papers (8)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (484 KB)

    The Extended Proximate Time-Optimal Servo (XPTOS) developed in [8] is analyzed for stability using new techniques. The XPTOS system operates in closed loop, and blends in its structure the characteristics of a time-optimal control law and the fine tracking properties of a properly tuned linear regulator. This study is addressed to the (idealized) case of flexible structures that contain a single o... View full abstract»

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  • A Comparison of Feedback Linearization and Singular Perturbation Techniques for the Control of Flexible Joint Robots

    Publication Year: 1989, Page(s):25 - 30
    Cited by:  Papers (9)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (459 KB)

    Analytical and experimental results comparing feedback linearization and singular perturbation control techniques for flexible joint robots are presented. The feedback linearization approach results in a globally decoupled linear system which can be controlled using techniques of linear system theory. The singular perturbation approach exploits a natural time-scale separation that results from lar... View full abstract»

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  • Robustness Investigation of Adaptive Control Under Reference Model Switching for a Cylindrical Robot

    Publication Year: 1989, Page(s):31 - 38
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (467 KB)

    Space robots are expected to play a significant role in future space missions. This requires a thorough investigation into the capabilities of such robots. A typical task that will need to be performed by the space robot is the capture and manipulation of large objects. This could increase the mass of the robot by as much as 100%. Additionally, the object capture task will require the robot to han... View full abstract»

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  • Robust Pole Assignment for Computed Torque Robotic Manipulators Control

    Publication Year: 1989, Page(s):37 - 41
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (287 KB)

    Robotic manipulator control designers often assume accurate knowledge of the system parameters. In practice, such as assumption will often lead to unacceptable deterioration in controller performance and robust approaches for the design of manipulator controllers are required. In this paper, the computed torque method is used to reduce the manipulator controller design to a linear problem. A robus... View full abstract»

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  • Design of Nonlinear Adaptive Tracking Controllers for Industrial Robots

    Publication Year: 1989, Page(s):42 - 47
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (337 KB)

    This paper proposes a controller for a class of industrial robots which fully handles system nonlinearity and adaptively estimates plant parameters. Using a nonlinear input transformation, we obtain a system which is linear in the transformed inputs. The resulting system is then controlled with a continious-time PD tracking controller. The critical part of this scheme is estimating the parameters ... View full abstract»

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  • Elastically Coupled Precision Pointing by Slew-Induced Deformation Shaping

    Publication Year: 1989, Page(s):48 - 53
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (461 KB)

    Computed torques for pointing and tracking require compensation for slew-induced structural, forebody/aftbody, or optical train alignment deformations. Thus even if only line-of-sight variables are to be commanded yet full state feedback is needed, with consequent high bandwidth control requirements. The solution investigated here is to decouple the unwanted deformation state by feedforward of the... View full abstract»

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  • A Multivariable Self-Tuning Controller for Injection Molding Machines

    Publication Year: 1989, Page(s):54 - 61
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (796 KB)

    The stochastic dynamic characteristics of an injection molding machine are discussed and the mainly controlled parameters of the process are determined. A multivariable self-tuning controller with explicit method for this dynamic system is then proposed. The effectiveness of the controller is proved by the corresponding computer simulation. On the basis of on-line adjusting function for the weight... View full abstract»

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  • Neural Networks in GTA Weld Modeling and Control

    Publication Year: 1989, Page(s):62 - 67
    Cited by:  Papers (1)  |  Patents (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (476 KB)

    Solutions to modeling the Gas Tungsten Arc(GTA) Welding process using a non-conventional technique is presented here. This approach is a non-linear modeling technique employing neural networks which has exhibited the potential to learn to model the time response of a non-linear, multivariable system. This paper examines the feasibility of this approach an alternative to existing techniques Potenti... View full abstract»

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  • Estimation of Time Varying Parameters in Discrete Time Dynamic Systems: A Tool Wear Estimation Example

    Publication Year: 1989, Page(s):68 - 74
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (557 KB)

    The recursive least squares, Kalman filter, and basis function methods for the estimation of time varying parameters are described and compared for a particular example problem. A generalization of these methods for estimation of time varying parameters is presented, based on an adaptive Kalman filter algorithm. The adaptive Kalman filter (or adaptive observer) utilizes a state model with unknown ... View full abstract»

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  • Stability of the Optimal Locus System

    Publication Year: 1989, Page(s):75 - 80
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (426 KB)

    The optimal locus is a new real-time control method for processes subject to constraints that vary as the process progresses. This paper analyze of the stability conditions of an optimal-locus based system. A general stability criterion is found for optimizing a quadratic cost function of a process subject to linear varying constraints. View full abstract»

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  • Feedrate Optimization for Machine Tool Control Subject to Contour Error Constraints

    Publication Year: 1989, Page(s):81 - 86
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (394 KB)

    Optimization techniques are applied to feedrate and voltage control in order to improve performance of biaxial contouring systems. This is done by maintaining contour error within a prescribed tolerance while tracking the trajectory in minimum time. In addition to the error constraint, the current and voltage constraints are required to keep the motors from overloading. The design of the controlle... View full abstract»

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  • Trajectory Planning for High Speed Multiple Axis Contouring Systems

    Publication Year: 1989, Page(s):87 - 94
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (624 KB)

    In the high speed coordinated motion of multiple axis linear systems two objectives must be achieved: 1) specified position accuracy and 2) well behaved actuator torque output. Objective (1) can be achieved through the design of an appropriate feedforward controller and (2) is achieved both through feedforward controller design and trajectory planning. Since actuator saturation will result in loss... View full abstract»

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  • Dicode - An Expert System for Designing Distillation Column Controls

    Publication Year: 1989, Page(s):95 - 100
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (339 KB)

    An expert system for designing control systems for distillation columns, called DICODE (DItillation COlumn Design Expert), has been developed. This expert system was the result of a joint project between researchers at the University of Maryland and E.I. Dupont & Co. The expert system contains approximately 300 rules and it has gone through extensive prototyping. This paper focuses on the ... View full abstract»

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  • A Case-Study of Multivariable Control for a Multicomponent Distillation Unit on a Pilot Plant Scale

    Publication Year: 1989, Page(s):101 - 106
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (499 KB)

    Robust multivariable control strategies based on H¿¿-minimization are developed for a pilot plant distillation unit consisting of two coupled distillation columns for the separation of the mixture Methanol/Ethanol/n-Propanol. A comparison is made between several control strategies in nonlinear simulation and experiment. Controller design is based on transfer function matrices describing... View full abstract»

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  • The Design of Squaring Compensators for the Feedback Control of Nonsquare Processes

    Publication Year: 1989, Page(s):107 - 113
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (663 KB)

    An improved method to design control systems for nonsquare processes, processes in which the number of inputs and outputs are not equal, is presented. The control system utilizes squaring compensators that, when combined with the nonsquare process, form a square system that is decentrally controlled. The compensators are designed to reduce row and column interaction of the square system over a par... View full abstract»

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