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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
  • Intersheet spacing control and controllability of a copier paper path

    Publication Year: 1998 , Page(s): 726 - 730 vol.2
    Cited by:  Papers (3)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (568 KB)  

    This paper presents a control and controllability approach for a copier paper path. The paper path transports sheets from the feeder to the image transfer section. At arrival time, every sheet must synchronize with the photoreceptor. The hybrid character of the system makes classical control approaches difficult. A control scheme that controls intersheet spacings is proposed. A controllability analysis illustrates the influence of system geometry and actuators on system controllability for simplified system dynamics. Combined with a disturbance model, this can lead to an optimal paper path design strategy. An experimental setup was built for disturbance identification and control scheme evaluation View full abstract»

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  • A multilevel modular control architecture for image reproduction

    Publication Year: 1998 , Page(s): 704 - 709 vol.2
    Cited by:  Papers (1)  |  Patents (1)
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    This paper presents a specific modular control architecture for an `electrophotographic' type printing technology. First, a detailed survey of various printing technologies is discussed. Then we address the following key issues: 1) controlling a printing system; 2) the tone reproduction curve; and 3) a specific multilevel modular control architecture that the authors have successfully designed, developed and tested on bench fixtures. Results from applying the discrete linear state feedback control theory to stabilize the multivariable loops are discussed. Finally, we conclude with what was learned while implementing a complex multivariable control system in an industrial environment 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 (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 orientation, the attitude control of the vehicle is achieved through a quaternion based error. A Lyapunov-like analysis is used to prove the error convergence. A numerical simulation presented shows the performance of the control scheme in a case study involving a full-dimensional task View full abstract»

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  • Invertible piecewise linear approximations for color reproduction

    Publication Year: 1998 , Page(s): 716 - 720 vol.2
    Cited by:  Papers (2)
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    We consider the use of linear splines with variable knots for the approximation of unknown functions from data, motivated by control and estimation problems arising in color systems management. Unlike most popular nonlinear-in-parameters representations, piecewise linear (PL) functions can be simply inverted in a closed form. For the one-dimensional case, we present a study comparing PL and neural network (NN) approximations for several function families. Preliminary results suggest that PL, in addition to their analytical benefits, are at least competitive with NN in terms of sum square error, computational effort and training time View full abstract»

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  • Modeling and control of a gravitational wave detector

    Publication Year: 1998 , Page(s): 736 - 740 vol.2
    Cited by:  Patents (1)
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    Large-scale gravitational-wave detectors like VIRGO or LIGO are currently under construction. These Michelson interferometers use multiple optical cavities with kilometer-scale arms lengths. In order for the detector to be operational the lengths of the cavity should be controlled. Hence a knowledge of the dynamic response of the interferometer is needed in order to operate it. In this paper a linear control model relating the lengths to control and the measured signals is derived. Finally, this model is used after inversion to recover the error signals. An H∞ controller is then used to control the interferometer. A nonlinear simulation of the interferometer shows a well behaviour of both the extraction method and the closed loop system 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)
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    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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  • A practical computational technique for mobile robot navigation

    Publication Year: 1998 , Page(s): 1323 - 1327 vol.2
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (476 KB)  

    This paper addresses a practical motion planning strategy which navigates a rigid robot in a static known environment. Unlike the conventional local approaches called the artificial potential field method, a major effort is first directed toward solving elliptic boundary problems expressed by the equation of heat conduction. According to the temperature behaviors calculated at each grid point, the reasonable direction of heat flow is then searched through the free space and is exploited for robot navigation purposes. A computer simulation based on finite-difference techniques shows an obstacle-avoiding and local minima-free motion with the shortest path between the start and goal View full abstract»

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  • Observers for hyperchaos synchronization with application to secure communications

    Publication Year: 1998 , Page(s): 1016 - 1020 vol.2
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    In this paper hyperchaos synchronization is restated as a nonlinear observer design issue. This approach leads to a systematic tool which guarantees synchronization of a wide class of hyperchaotic systems via a scalar signal. By exploiting this result, we propose to combine conventional cryptographic methods and synchronization of chaotic circuits to design hyperchaos-based cryptosystems. This makes a new contribution to the development of communication systems with higher security View full abstract»

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  • Robust sliding mode control of induction motor (IM) drive without speed sensor

    Publication Year: 1998 , Page(s): 1021 - 1025 vol.2
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    Speed sensorless control of IM drive depends on the estimation of internal state variables which are based on measured terminal voltages and currents. In high performance systems the estimation of the magnitude and spatial orientation of rotor flux relies on dynamic model of IM and different estimation schemes differ with respect to robustness and accuracy. In this paper a modified adaptive sliding observer for robust estimation of rotor flux and motor speed of the variable structure system controlled IM drive is discussed. All the theoretical issues are verified by simulation and experimental results View full abstract»

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  • Flow-shop scheduling in the metal industry

    Publication Year: 1998 , Page(s): 925 - 929 vol.2
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    In the metal industry, the processing of a part requires first the heating of the ingot, and when the ingot has reached the desired temperature, it is then launched in the shop and processed by the machines. In a flow-shop environment, a part cools down and its processing time on each machine is increased, to a point where it may be necessary to stop the operations on that part, and reheat it before processing can be resumed. This introduces a state dependence in the processing times. Since the scheduling problem requires the knowledge of the processing times of the jobs, thus the processing times themselves depend on the schedule. We consider the problem of scheduling the jobs if the processing times are schedule dependent. We review the main results in the literature in a deterministic environment View full abstract»

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  • Drive flexibility and friction in control of hydraulic actuators: a robust adaptive nonlinear control design

    Publication Year: 1998 , Page(s): 1409 - 1413 vol.2
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    In this paper, a robust adaptive nonlinear controller is presented for hydraulic actuators. The model utilized for the hydraulic actuators includes nonlinear relations between the flow velocity and the pressure, parametric uncertainties due to environmental changes, bulk modulus, inertia mass, oil temperature and valve dynamics. Moreover, transmission flexibility and friction in the drive are considered in the control synthesis. Utilizing our earlier results in robust adaptive nonlinear control and friction compensation, we present a control design methodology for dealing with the aforementioned parametric and dynamic uncertainties in hydraulic actuators. The efficacy of the advocated control design methodology is shown through simulation studies View full abstract»

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  • Energy management optimization of integrated generation systems by fuzzy logic control

    Publication Year: 1998 , Page(s): 969 - 974 vol.2
    Cited by:  Papers (1)
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    Energy flow management (EFM) is a very important task for integrated generation systems (IGS) designers and planners because in practice the amount of renewable source for long time operating is unknown depending on meteorological conditions. The wide variety of renewable energy sources and their highly site-specific and variable nature are coupled with different types of load demand claim for efficient and reliable EFM of IGSs. The forecasting errors of the meteorological data and model calculated must be taken into account to avoid poor performance in calculating required power. Fuzzy sets enable to handle these uncertainties and so making reliable and efficient EFM of IGS. In this paper a fuzzy logic approach has been used to address the EFM problems in IGS. As a case of study a proposed rule based EFM strategy has been implemented to a small sized IGS experimental prototype assembled in the frame of the project of the European Union “Combined multiple renewable energy source systems simulator”. The results show relevant improvement in energy performance, so as problems that rise by fuzzy logic application in IGS. Comparison with simulation results from an in house developed logistical program embedding conventional EFM are pointed out as the fuzzy EFM reduces fuel consumption and increases the penetration of renewable sources 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)
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    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 signals which can be used to back propagate through the controller in each stage. This technique can generate dynamic walking gaits along a pre-specified reference trajectory on sloping terrain View full abstract»

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  • Speed control of two-mass resonant system by new simple adaptive control scheme

    Publication Year: 1998 , Page(s): 1120 - 1124 vol.2
    Cited by:  Papers (4)
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    A new simple adaptive control scheme is introduced for torsional vibration control in a two-mass motor drive system, in which a motor and load are connected via a flexible shaft. It is clarified that only three adjustable parameters can successfully compensate for variations in load, modeling error and stepwise torque disturbances, even without using a velocity sensor of the load. The validity of the proposed algorithm is examined in simulation and experimental studies View full abstract»

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  • Extended 2-delay model reference adaptive control algorithms with application to a real system

    Publication Year: 1998 , Page(s): 1115 - 1119 vol.2
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    We propose new extended methods for designing 2-delay model reference adaptive control systems. These methods are applicable to real systems which have unstable or poorly dumped zeros. Moreover, in the proposed methods, instead of forcing the tracking error at each sampling instance to be zero, the controller is optimized such that steady state input for a class of desired outputs can be reduced in its amplitude and close to that of continuous-time control. In order to confirm the effectiveness of the proposed method, computer simulations and extensive experiments are carried out using the positioning system with a DD motor. It is shown that the proposed methods can be successfully applied View full abstract»

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  • Multiple sensor fault detection in heat exchanger systems

    Publication Year: 1998 , Page(s): 741 - 745 vol.2
    Cited by:  Papers (1)
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    A two stage strategy for fault detection, isolation and estimation of multiple gross measurement errors (faults) in a class of systems described simultaneously by linear and bilinear equations is presented. The first stage consists of the detection and isolation of gross measurement errors intervening only in the linear equations. The second stage deals with the detection and isolation of gross measurement errors intervening on the bilinear equations by using corrected measurements of the preceding stage. A generalised likelihood ratio (GLR) method is employed to detect and to isolate the faults. An application of the proposed strategy to a heat exchanger system is presented in which the process model consists of a set of linear and bilinear equations. Simulations were performed to test the efficiency of the proposed method View full abstract»

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  • Multilevel PWM rectifier-multilevel inverter cascade. Application to the speed control of the PMSM

    Publication Year: 1998 , Page(s): 1031 - 1035 vol.2
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (300 KB)  

    This paper studies the control of the multilevel PWM rectifier-multilevel inverter permanent magnet synchronous machine (PMSM) cascade. We present the field oriented speed control of the PMSM, and develop the control model of the three-level inverters by using the generating functions. We propose a new calculated strategy of the inverter which uses its control model. We show the problem of the middle point of the inverter input DC voltage source. A solution to this problem is to control this input DC voltage and then the potential of its middle point by a feedback control of the three-level PWM rectifier. Thus, we present a control loop of these three-level PWM rectifiers in order to control the input DC voltage of the inverters and the current in the network. This drive system finds applications in high power and high speed drive fields such as the electric traction 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
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    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 thrust and flux of a LIM. The main objective in the new thrust estimation method and the fuzzy controller is realizing an online and efficient controller for a LIM. A simulation program is provided for investigation of the LIM transient behavior which shows a suitable performance of the proposed method 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
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    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 causes the constant-velocity regions to be shifted away from the desired locations and increases the duration of the scanning cycle. A procedure is developed to eliminate the drawbacks of the input shaping process. As the robustness of the shaping process is increased, the scanning velocity must also be increased to hold the cycle time constant. Since low scanning velocities are often desired, an engineering trade-off arises between robustness and scanning velocity. A process is developed that explicitly balances this trade-off View full abstract»

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  • H-based robust torque control of harmonic drive systems under free- and constrained-motion applications

    Publication Year: 1998 , Page(s): 990 - 994 vol.2
    Cited by:  Papers (1)
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    In this paper the torque control of a harmonic drive system for constrained-motion and free-motion applications is examined in detail. A nominal model for the system is obtained in each case from experimental frequency responses of the system, and the deviation of the system from the model is encapsulated by a multiplicative uncertainty. Robust torque controllers are designed using these information in an H-framework, and implemented on two different setups. From time and frequency domain experiments, it is shown that the closed-loop system retains robust stability, while improving the tracking performance exceptionally well View full abstract»

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  • Application of LS and EKF techniques to the identification of underwater vehicles

    Publication Year: 1998 , Page(s): 1084 - 1088 vol.2
    Cited by:  Papers (9)
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    The modelling and identification of an open-frame underwater vehicle for marine applications is considered. The goal of this work is to demonstrate that modelling and identification of small underwater vehicles is feasible at low cost: the identification has been accomplished using only standard on-board devices. First, the selection of a model for such vehicles is discussed, as well as a suitable identification method. The parameters of the selected model are identified in two steps: based on least squares (LS) and extended Kalman filter (EKF) techniques. The results of the identification applied to experimental data are presented and discussed View full abstract»

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  • Attitude control of a tumbler system with rotational joints using a gyroscope

    Publication Year: 1998 , Page(s): 756 - 760 vol.2
    Cited by:  Papers (1)
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    We develop an unstable structure (a tumbler system with joints) that has circular arc type bottoms, which is a model of a biped walking robot. Its attitude is controlled by using a small gyroscope. This paper describes the design of the feedback control system which controls the attitude by supporting one of the leg and driving the crotch joints. The basic feedback control system is a one-input two-output (SIMO) system. The H control theory is used to design the compensator. The results of our experiment on the designed control system show that we successfully stabilized the control of the tumbler system with rotational joints 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
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    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 best fitting controller in the latest population is accepted as the solution. Adaptability for any real-time process changes is achieved by using an online neural network model for evaluating trial solutions. The proposed technique is demonstrated through simulations by applying to the control a chemical reactor View full abstract»

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