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Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Date 4-4 Sept. 1998

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  • Proceedings of the 1998 IEEE International Conference on Control Applications [front matter]

    Publication Year: 1998, Page(s):iii - vii
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    Freely Available from IEEE
  • Index of authors

    Publication Year: 1998, Page(s):1427 - 1435
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    Freely Available from IEEE
  • Digital-signal-processor based multirate control of a two-link flexible-joint robot

    Publication Year: 1998, Page(s):1210 - 1214 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Concurrent with the development of multirate strategies, there have been increasing applications of digital signal processors (DSPs) in high-speed control. This paper presents the design and implementation of a multirate PD controller for a two-link flexible-joint robot. The controller was implemented using the TI DSP TMS320C30 evaluation module. Two multirate algorithms, namely multirate output P... View full abstract»

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  • Double-pendulum gantry crane dynamics and control

    Publication Year: 1998, Page(s):1205 - 1209 vol.2
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    Payload manipulation using gantry cranes presents a challenging control problem because of the inherent system flexibility. If the crane is equipped with a large-mass hook and the payload is sufficiently small, then the problem is complicated because the crane can exhibit double-pendulum dynamics. This paper explores the double-pendulum effect for gantry cranes. A simple command shaping method is ... View full abstract»

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  • An approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters

    Publication Year: 1998, Page(s):882 - 886 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    This study considers the set-point regulation control problem of a rigid-link flexible-joint electrically driven robot manipulator with model uncertainties and an unknown payload. The proposed control scheme is derived from the contraction mapping theorem. The resulting controller is essentially based on a simple linear controller View full abstract»

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  • Input shaping for constant-velocity scanning with flexible sensors

    Publication Year: 1998, Page(s):1200 - 1204 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    During scanning operations there is often the need to maintain a constant velocity. If the system has flexibility, then vibration can corrupt the scanning. This paper investigates the use of input shaping to reduce vibrations in systems that perform constant-velocity scanning operations. Input shaping can greatly reduce vibration and improve the constant-velocity motion. However, input shaping cau... View full abstract»

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  • Batch scheme Hartley modulating functions method for the detection and estimation of jumps in a class of convolvable nonlinear systems

    Publication Year: 1998, Page(s):838 - 842 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    Convolvable nonlinear continuous-time dynamical systems with parameters which may switch among a finite set of values are considered. A novel scheme, called the Hartley modulating functions (HMF) method, is proposed for the detection and estimation of physical parameter jumps given noisy observations. The HMF-method converts the nonlinear differential equation describing the convolvable nonlinear ... View full abstract»

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  • Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

    Publication Year: 1998, Page(s):877 - 881 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback based on the linear system theory. Applications of the results to the set-poin... View full abstract»

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  • Global robust tracking with disturbance attenuation for unmanned underwater vehicles

    Publication Year: 1998, Page(s):1094 - 1098 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    We present a solution to the global reference tracking problem with disturbance attenuation for a general model of an underwater vehicle. For such a system the use of robust control schemes is mandatory, due to the significant model uncertainty and the strong influence of external disturbances such as the underwater current. The approach described consists of designing a nonlinear control law base... View full abstract»

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  • A design study for thermal control of a CVD reactor for YBCO

    Publication Year: 1998, Page(s):1194 - 1199 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    Active thermal control of a reactor for YBa2Cu3 O7-x chemical vapor deposition is studied using a nonlinear heat transfer model validated by preliminary component testing. LQR and LQE methods are applied to the linearized model for observer-based control. Convergence rates of the controller and observer are indicated by closed-loop eigenvalues, and the disturbance ... View full abstract»

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  • Bipedal trajectory control based on neurofuzzy networks

    Publication Year: 1998, Page(s):802 - 806 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    This paper presents a bipedal trajectory control technique based on a neurofuzzy controller and a neural network emulator. The neurofuzzy controller is a five-layered neurofuzzy network, it provides the control signals in each stage of a walking gait. The neural network emulator is a conventional three-layered feedforward neural network. It emulates the robotic dynamics and provides the error sign... View full abstract»

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  • Control of DC-DC converters in the chaotic regime

    Publication Year: 1998, Page(s):832 - 837 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    The Ott-Grebogi-Yorke (OGY) method (1990) is used to control the chaotic behaviour of a boost DC-DC converter under current-mode control. This is achieved by synchronization of the converter with a reference model that describes the simplified dynamics of the converter. The idea is to make the samples of the inductor current of the converter to follow a sequence generated by a simple first order m... View full abstract»

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  • Robust nonlinear control of a class of partially observed processes: application to continuous bioreactors

    Publication Year: 1998, Page(s):1271 - 1275 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    We study the design of dynamic nonlinear robust output feedback for the stabilization of a class of continuously stirred bioreactors. In this paper, we propose a new robust approach in which all the uncertainties are considered as bounded disturbances. This method allows one to design dynamically bounds on unmeasured variables, that are conditioned to measurements and to given bounds on initial co... View full abstract»

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  • PID tuning for integrating processes

    Publication Year: 1998, Page(s):873 - 876 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    A new PID tuning rule is derived for integrating processes. We base our method on the loop-shaping H design with the observation that the H controllers can be interpreted as PID controllers and that for some choice of pre-compensator the `design indicator' is independent of plant constants. Simulation results show that our PID settings work well compared with ot... View full abstract»

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  • Adaptive tracking control of underwater vehicle-manipulator systems

    Publication Year: 1998, Page(s):1089 - 1093 vol.2
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    An adaptive control law based on a sliding mode approach for the tracking problem of underwater vehicle manipulator systems (UVMS) is developed. Based on the body-fixed and joint-space coordinates dynamic model, the proposed control law avoids the inversion of the system Jacobian, thus overcoming the occurrence of kinematic singularities. Furthermore, to avoid representation singularities of the o... View full abstract»

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  • An unified approach to controls for unbalanced compensation in active magnetic bearings

    Publication Year: 1998, Page(s):1063 - 1067 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    This paper investigates the control for unbalanced compensation in active magnetic bearings from a viewpoint of output regulation. In an analytical study, the complex-variable description is used, which makes the manipulation of equations easier. A general form of the controller achieving displacement, current or force regulation is presented. The derived controllers in a complex-variable form are... View full abstract»

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  • Design of a magnetic levitation and propulsion system with two degrees of freedom

    Publication Year: 1998, Page(s):1190 - 1193 vol.2
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    The design of a magnetic levitation system with two degrees of freedom is described in this paper. The system proposed is constructed as a linear motor and can be based either on repulsion or attraction. Levitation and propulsion are obtained through convenient currents applied to a set of forty fixed coils, generating forces that move a vehicle-coil. The electromagnetic fields generated by these ... View full abstract»

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  • Global robust output feedback tracking control of robot manipulators

    Publication Year: 1998, Page(s):897 - 901 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    This paper addresses the problem of global output feedback, link position tracking control of robot manipulators in the presence of parametric uncertainty and additive bounded disturbances. Specifically, a Lyapunov-based robust controller is designed to ensure that the link position tracking error is globally, uniformly and ultimately bounded even if only link position measurements are available f... View full abstract»

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  • Analytical solution for a separate state and parameter SDRE observer for a CSI-fed induction motor

    Publication Year: 1998, Page(s):1286 - 1291 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    A two-stage observer, for separate state and parameter estimation, based on the state dependent Riccati equation (SDRE) filter methodology, is applied to the third-order model of an induction machine which includes both electrical and mechanical dynamics (under the assumptions of linear magnetic circuits). The motor parameters are assumed to be known and constant, while the load torque is assumed ... View full abstract»

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  • Integration of mobile robot into virtual reality testbed

    Publication Year: 1998, Page(s):1302 - 1306 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A combination of virtual reality and networking technologies has provided a basis for virtual environments distributed over a communication network. This paper presents a framework for using these technologies in robotics applications. A robot can be controlled in a virtual environment by creating a corresponding virtual robot and by merging virtual with actual data. In case of mobile robots, the ... View full abstract»

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  • Adaptive geno-fuzzy control of process plants via perpetual evolution

    Publication Year: 1998, Page(s):797 - 801 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    This paper presents an adaptive mechanism based on genetic algorithms for basic fuzzy controllers. The concept of “perpetual evolution” is proposed as a novel strategy for using genetic search to tune fuzzy controllers in real-time. In this way, a population of potential fuzzy controllers evolves continuously over the time responding to changes in the environment. At a given time, the ... View full abstract»

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  • A new thrust estimation method for online control of thrust and flux of a LIM using a fuzzy space-vector controller

    Publication Year: 1998, Page(s):932 - 936 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    A new method is proposed for estimating the thrust of linear induction motors (LIMs) which has a suitable performance in a wide range of thrust variations. This eliminates the thrust control problems encountered in low frequency and thrust levels. A new formula is proved showing the high flexibility of multi-level inverters. A fuzzy space-vector controller is adapted for decoupling control of thru... View full abstract»

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  • Time optimal switching commands by adaptive genetic algorithms

    Publication Year: 1998, Page(s):827 - 831 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    Many of the most effective algorithms used to solve minimum time control problems need a suitable starting input solution. The choice of a correct starling policy is necessary to avoid suboptimal solutions. Since it is not always easy to dispose a suitable initial policy, it is necessary to estimate it numerically. This problem is studied by means of a two phase adaptive genetic algorithm using no... View full abstract»

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  • Discrete-event modeling and control of manufacturing systems

    Publication Year: 1998, Page(s):781 - 785 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    In this article discrete-event state equations are applied to model and control manufacturing systems. Their input and output variables and the state itself are formulated in a suitable space of event sequences. Events are defined as pairs (fact, time), the fact being an element of the quantity space of the manufacturing objects produced, consumed and used by the process to be controlled. Real-tim... View full abstract»

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  • Vector control of induction motor by a spiral vector theory

    Publication Year: 1998, Page(s):1265 - 1270 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    In this paper the authors propose a vector control of induction machine by the spiral vector theory. This method permits to establish the performance equations of the induction machine in function only one phase variables of the stator and rotor. The equations obtained are basically used in the field oriented control. The simulation results give a good decoupling between the air gap flux and elect... View full abstract»

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