Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)

27-27 Sept. 2000

Filter Results

Displaying Results 1 - 25 of 171
  • Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)

    Publication Year: 2000
    Request permission for commercial reuse | |PDF file iconPDF (845 KB)
    Freely Available from IEEE
  • H/sub /spl infin// control of active vehicle suspensions

    Publication Year: 2000, Page(s):976 - 981
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (553 KB)

    This paper deals with the application of H/sub /spl infin// control for the design of an active suspension system. The involved vehicle is represented by a half-car model. A multivariable H/sub /spl infin// control is developed to satisfy the performance/comfort objectives. Some simulation results on typical ride conditions point out the relevance of the proposed methodology. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Vertical stabilization and plasma shape control in the ITER-FEAT tokamak

    Publication Year: 2000, Page(s):401 - 405
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (304 KB)

    This paper deals with the problem of designing a plasma current, position, and shape controller for the ITER-FEAT tokamak. Exploiting the features of the plant, we show that it is possible to design separately two control loops: a first loop which stabilizes the vertical position by means of a simple derivative action, and a second loop which drives the plasma current and the geometrical shape des... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Aggregation-based model reduction for tokamak control

    Publication Year: 2000, Page(s):395 - 400
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (560 KB)

    The use of model reduction schemes based on eigenstructure analysis is shown to be useful in the study of control problems in tokamak experiments. In particular, state aggregation techniques allow to produce reduced-order models where the physical meaning of the state variables is preserved. This turns out to be useful to obtain interesting interpretations in terms of physical quantities of the si... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Time-efficient input shaping control of container crane systems

    Publication Year: 2000, Page(s):80 - 85
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (588 KB)

    Time-efficient feedforward controls of input shaping are proposed for reducing the residual vibrations for container crane systems. Considering the change of rope length by the hoist, several versions of input shaping control are evaluated and compared over a wide range of parameters. As a result, the proposed time-efficient input shapers for container cranes are more effective than conventional s... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Automated mode inferencing for intelligent aircraft

    Publication Year: 2000, Page(s):321 - 326
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    In this paper we introduce a novel mode-sensing system for aircraft, called a mission segment identifier (MSI). Using a blend of soft-computing approaches, the MSI infers the current portion of a commanded mission from sensed aircraft state variables. This inference contributes situation awareness to a pilot-like intelligent control system for autonomous aircraft. A two-level architecture for the ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A transmission model for hardware-in-the-loop powertrain control system software development

    Publication Year: 2000, Page(s):1 - 8
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    Powertrain control systems engineers are increasingly being asked to deliver high quality products faster, under stricter emissions and fuel economy regulations as well as meet higher customer expectations. In order to meet these demands, control engineers are turning to computer-aided tools that support rapid development of quality products, such as hardware-in-the-loop (HIL) systems. In the pape... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A sliding mode controller for manipulator driven by artificial muscle actuator

    Publication Year: 2000, Page(s):668 - 673
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (336 KB)

    A sliding mode controller for a manipulator driven by an artificial muscle actuator is presented which guarantees asymptotic tracking of a desired trajectory. Based on the nonlinear characteristic of the artificial muscle tube, a dynamic model of the artificial muscle actuator is formed and exploited to derive a full dynamic model for the manipulator system. By applying the sliding mode control te... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Current, position, and shape control of tokamak plasmas: a literature review

    Publication Year: 2000, Page(s):385 - 394
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (928 KB)

    We present a survey of the recent literature papers dealing with the problem of designing a feedback control system for controlling the position, current, and shape of a tokamak plasma. Because of the intrinsic distributed parameter nature of this system, its dynamics are described by a set of partial differential equations (PDE) that cannot be directly used for the controller design. Therefore, t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Model-based PID control of constrained robot in a dynamic environment with uncertainty

    Publication Year: 2000, Page(s):74 - 79
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (416 KB)

    This paper investigates a model-based method for robot manipulator control by describing the kinematics and dynamics of constrained robot when contacting a dynamic environment. Parameters which concern kinematic constraints of robot end effector, dynamic interactions and uncertainty of environment are represented from the environment side. By using Lagrangian formula, the whole dynamic expressions... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Servo-hydraulic positioning system for the ALPINE MINER

    Publication Year: 2000, Page(s):594 - 597
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (292 KB)

    The structural elasticity and the oil compliance cannot be neglected in servo-hydraulic systems, which are subjected to heavy loads, for example, the cutting boom of a mining machine. If a conventional P, PD or PT1 controller is used for position control, this has the effect of decreasing the natural damping of the system. An increased tendency for oscillations will occur with the attempt to get t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Nonlinear state observers by gradient descent method

    Publication Year: 2000, Page(s):616 - 622
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (476 KB)

    This paper concerns with a new nonlinear state observer of deterministic general nonlinear systems; which is designed based on the gradient descent method for decreasing squared estimation errors. The convergence of the proposed observer is proved by using the Bihari type inequality which generalizes the Gronwall inequality. We confirm from various simulations that our method works very well as a ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Trajectory synthesis based on different fuzzy modeling network pruning algorithms

    Publication Year: 2000, Page(s):315 - 320
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (456 KB)

    In this paper, trajectory synthesis based on different fuzzy modeling network pruning algorithms is investigated. The learning scheme uses a fuzzy neural network as the controller. Simulations focus on refinement and a thorough understanding of the pruned fuzzy modeling network. The learning scheme can control a biped robot that satisfies prespecified constraints such as the steplength, crossing c... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Non-minimum phase output reference trajectory tracking for a PVTOL aircraft

    Publication Year: 2000, Page(s):838 - 843
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (440 KB)

    An approximate solution to the general reference trajectory tracking problem, specified in terms of a desired behavior for the non-minimum phase aircraft center of mass position coordinates, is proposed by indirectly defining a suitable trajectory tracking task for the (minimum phase) flat outputs of the system represented by an equivalence to Huygen's center of oscillation of the aircraft. The ap... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Edubot: a reconfigurable kit for control education. I. Mechanical design

    Publication Year: 2000, Page(s):50 - 55
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (532 KB)

    This paper describes the mechanical design of a reconfigurable educational robotic kit, named the Edubot. This kit can be easily assembled to perform a wide range of both linear and nonlinear control system experiments. The modular design is described and a subset of the possible configurations shown. Two prototyped designs are detailed and critiqued. A Pendubot and an Acrobot are used as case stu... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Heading-aided odometry and range-data integration for positioning of autonomous mining vehicles

    Publication Year: 2000, Page(s):279 - 284
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    An enhanced odometry technique based on the heading sensor called “clino-gyro” that fuses the data from a fiber optic gyro and a simple inclinometer is proposed. In the proposed scheme, inclinometer data are used to compensate for the gyro drift due to roll/pitch perturbation of the vehicle while moving on the rough terrain. Providing independent information about the rotation (yaw) of... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Hybrid control systems: A design case study

    Publication Year: 2000, Page(s):947 - 952
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (496 KB)

    The paper describes a design case study which explores the hybrid control of a distributed system comprising linked inverted pendulums. First a continuous controller is designed for each pendulum mechanism to provide low-level stabilization and profiled motion control. The paper then addresses the problem of developing a production-line style system using two loosely interconnected pendulum mechan... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Model-based fault tolerant control reconfiguration for discrete event systems

    Publication Year: 2000, Page(s):473 - 478
    Cited by:  Papers (2)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (584 KB)

    We describe a novel fault-tolerant approach for discrete-event systems by integrating sensor fusion within a diagnosis and control reconfiguration mechanism. This approach can automatically compute fault-tolerant control/reconfiguration actions which maintain pre-specified control objectives. Our underlying framework is based on model-based diagnostic representations and algorithms, and integrates... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • ANN-based sliding mode control for non-holonomic mobile robots

    Publication Year: 2000, Page(s):664 - 667
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (304 KB)

    The purpose of the paper is to propose a neural network-based sliding mode control law for solving the trajectory tracking problem of mobile robots. Artificial neural networks (ANN) help us choose a proper sliding surface, which is time-varying. The weights of the ANN are changed according to an adaptive algorithm to control the system state to hit a user-defined sliding surface and then slide alo... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modified evolution strategies with a diversity-based parent-inclusion scheme

    Publication Year: 2000, Page(s):379 - 384
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (536 KB)

    There are two major variants of evolution strategies: the (μ, λ) evolution strategy and the (μ+λ) evolution strategy. Back et al., in a survey paper (1997), suggested that preference of either strategy is most likely problem-dependent, and that both strategies are special cases of the general (μ, κ, λ) evolution strategy, where κ denotes the maximum life s... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Control of underactuated systems. Application to a tandem fan in a 3 DOF platform

    Publication Year: 2000, Page(s):686 - 691
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (404 KB)

    A Euler-Lagrange model for a tandem fan (TF) in a 3 DOF platform is obtained. The system can be viewed as an asymmetric top. A control strategy for underactuated systems is proposed and an application to the TF is presented. Stability is guaranteed and the tracking problem is solved View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Adaptive control of a robot carrying a time-varying payload

    Publication Year: 2000, Page(s):68 - 73
    Cited by:  Papers (1)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (440 KB)

    In this paper, we consider adaptive control of a robot carrying a time-varying payload. The robot dynamic model and its properties are given for time-varying payloads. This dynamic model and its properties are different when compared with a robot dynamic model with constant payload. A compact parameterization of the dynamics is obtained based on the payload being parameterized by a group of known ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experimental comparison of linear and nonlinear controllers for a magnetic suspension

    Publication Year: 2000, Page(s):715 - 719
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (316 KB)

    We present an experimental comparison of a linear controller and two nonlinear controllers for a simple magnetic suspension. The linear controller is the classical PID, and the nonlinear controllers are based on a strategy called interconnection and damping assignment View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Integration of COTS components with a DSP coprocessor for microstereolithography machine control

    Publication Year: 2000, Page(s):588 - 593
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (640 KB)

    Prototyping is a process of building pre-production models of a product to test various aspects of its design. Stereolithography (STL) is a rapid prototyping technique that allows us to quickly produce physical prototypes with the important benefit of reducing the time-to-market. The resulting design cost will be decreased considerably. Usually it has only an average precision of about 200 μm a... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Noncollocated passive transfer functions for a flexible link robot

    Publication Year: 2000, Page(s):971 - 975
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (340 KB)

    In this article, we apply the concept of passivity to control the position of a one-link flexible robot using the input torque at the base. Since the choice of the tip position as an output leads to a nonpassive transfer function, we propose a new choice for the output, namely, the noncollocated output measurement consisting of the angle of rotation at the hub augmented with a weighted value of th... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.