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Control Applications, 2002. Proceedings of the 2002 International Conference on

Date 18-20 Sept. 2002

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  • Proceedings of the 2002 IEEE International Conference on Control Applications (Cat. No.02CH37330)

    Publication Year: 2002
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    Freely Available from IEEE
  • Who's intelligent? Wheelchair, driver or both?

    Publication Year: 2002 , Page(s): 760 - 765
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (422 KB) |  | HTML iconHTML  

    Intelligent wheelchair control has been a topic for many research projects in recent years, but few developments have been successfully transferred from the research to service or commercial domains. This paper addresses some of the reasons for the failure of technology transfer, and offers suggestions for more successful exploitation of research effort in the future. The paper illustrates the key issues through the author's experience in participating in several research projects, funded by the European Union, charities and UK government agencies, and in bringing the CALL Centre Smart Wheelchair to the market. View full abstract»

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  • Stabilizing control design of fully linearizable systems via estimated states

    Publication Year: 2002 , Page(s): 1333 - 1338 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    This paper is concerned with the problem of designing stabilizing controllers for nonlinear systems using feedback linearization with estimated states. It is assumed that the systems under consideration are fully linearizable, but the full state is not completely accessible, so that an observer is included in the loop. Sufficient conditions are set to guarantee that the overall system trajectories asymptotically converge to those obtained with feedback linearization using the true states, so that a stabilizing control law can be established. Our results are applied to the stabilizing control design for a model of an experimental prototype of magnetic levitation system, assuming that only the state representing object position is measured at the output, and thus, not assuming that the full state is measured. The behaviour of our control scheme is illustrated by simulation results. View full abstract»

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  • General Index of Authors, Speakers & Chairs

    Publication Year: 2002 , Page(s): 1345 - 1351
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  • Estimating exhaust manifold pressure in a turbocharged diesel engine

    Publication Year: 2002 , Page(s): 701 - 706 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (398 KB) |  | HTML iconHTML  

    The problem of estimating the exhaust manifold pressure in a turbocharged diesel engine is considered. The reciprocated engine causes the air-flow in the exhaust manifold to oscillate with a frequency that is a multiple of the engine speed. As a result of the oscillating airflow the pressure in the exhaust manifold will also oscillate. This oscillation makes it difficult and expensive to measure the pressure. Instead an observer for the exhaust manifold pressure is proposed. The observer is model-based, and the performance of the observer is evaluated by simulations. View full abstract»

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  • Positioning trajectory generator with nonlinear constraints

    Publication Year: 2002 , Page(s): 1177 - 1182 vol.2
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (454 KB) |  | HTML iconHTML  

    A smooth trajectory generator useful in motion control systems is presented. The considered generator is a second order nonlinear system which receives as input a step reference signal and provides as output a smooth reference signal satisfying proper nonlinear constraints on the state variables as, for example, bounds on the first time-derivative x˙ of the output x, or bounds expressed in the form |x¨| ≤ UM(x). The imposed constraints can also be changed during system operation without modifying the system stability. Moreover, almost minimum time response is ensured with guaranteed no overshoot. Finally, the performance of the the nonlinear generator is tested through simulation. View full abstract»

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  • Computer-aided distribution network designing system

    Publication Year: 2002 , Page(s): 796 - 801 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (493 KB) |  | HTML iconHTML  

    To enhance distribution efficiency, optimizing a large-scale distribution network is necessary. However, in such a network, there are hundreds of distribution/collection locations, and dozens of distribution centers each having tens or hundreds of trucks. Furthermore, the network's optimality should be considered from various aspects such as social, political, and environmental factors, which needs human decision. Thus, the design to optimize such a distribution network is a large-scale combinatorial and man-in-the-loop problem. To solve this problem, a computer-aided distribution network designing system is proposed, which has intelligent genetic algorithm and goal-oriented strategic knowledge based control framework. The former guarantees interactive responsiveness and realizes experts' level accuracy. The latter supports to design optimal networks through almost automatically designing distribution networks that satisfy human input goals. Experimental results proved that the proposed method was useful for supporting the design of large-scale distribution networks totally optimal from various aspects such as social or political factors. View full abstract»

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  • Integrated control in a power production system - a case story on multi-level advanced control

    Publication Year: 2002 , Page(s): 897 - 902 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (439 KB) |  | HTML iconHTML  

    As the largest power producer in Denmark, Elsam is the owner of a power production system, which includes different kinds of production units, e.g. coal-fired, oil-fired and biomass-fired thermal units, and wind turbines. The power market in Denmark is a commercialized market and still, a number of constraints and regulations are imposed on the power producers. This means that Elsam, as a power producer, is facing a complex system optimization problem as well as a complex plant optimization problem. The utilization of advanced control at all levels in the power production system and the integration between these levels play a very important role in optimizing the overall performance. The problem of performance optimization is introduced as a distributed multilevel control problem and a number of advanced control examples ranging from low-level control to energy management control show the importance of optimisation at each level and the importance of integration between the levels. View full abstract»

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  • Integration and synchronization of discrete formalisms and continuous models in Modelica

    Publication Year: 2002 , Page(s): 1189 - 1194 vol.2
    Cited by:  Patents (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (515 KB) |  | HTML iconHTML  

    Many complex technical systems such as airplanes or chemical plants consist of hybrid physical components and purely discrete controllers. In order to aid the design process of such systems, some requirements have to be met as closely as possible: the hybrid physical and the discrete components have to be modeled vividly, the resulting components of the model have to be integrated intuitively into a complete model, and this model has to be simulated efficiently. Numerical integration and discrete-event simulation have to be synchronized. We discuss how the object-oriented modeling language Modelica meets these requirements. View full abstract»

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  • Vision based controller for autonomous aerial refueling

    Publication Year: 2002 , Page(s): 1138 - 1143 vol.2
    Cited by:  Papers (2)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (451 KB) |  | HTML iconHTML  

    Autonomous aerial refueling is an important capability for unmanned aerial vehicles. This paper develops a candidate autonomous probe-and-drogue aerial refueling controller for an existing vision based relative position sensor and navigation system. The feasibility of the combined sensor-navigator-controller is demonstrated by a simulated UAV docking maneuver to a moving drogue in light turbulence. Results indicate that the controller can provide precise aerial refueling with good disturbance rejection characteristics. View full abstract»

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  • Robotic eye/arm coordination via visual servoing

    Publication Year: 2002 , Page(s): 742 - 747 vol.2
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    Robotic eye/arm coordination has recently enjoyed much attention. This paper presents the coordinated control of the eyes in the robotic binocular head and the robot arm. This paper proposes an image-based visual servo control method for the binocular head, which integrates the kinematics of both the robotic head and cameras with the dynamics of the head to obtain an image-based dynamic equation. The fuzzy sliding mode control algorithm is applied to the image-based dynamic equation for the robotic head to trace the target and keep it at the centers of both image planes of two CCD cameras in the presence of model uncertainties and disturbances. Additionally, this paper proposes a coordinated visual guided control strategy for the eyes in the robotic head and robot arm, which is an end point open-loop control method. The coordinated control strategy proposed herein is based on the coordination transformation from the head to the arm, which is calibrated off-line. To illustrate and verify the theoretical derivations, a robot arm equipped with a laser pointer is controlled to focus a laser beam on a moving size-changing target on the screen of a monitor, while the eyes in a binocular head trace the target. View full abstract»

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  • Fuzzy control of a neutralization process

    Publication Year: 2002 , Page(s): 1032 - 1037 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (447 KB) |  | HTML iconHTML  

    This paper studies the control of a pH neutralization process by using a fuzzy controller. As the process to be controlled is highly nonlinear the PI-type fuzzy controller used generally is not able to control the system adequately. For this, based on prior knowledge, the pH neutralization process is divided into fuzzy regions such as high-gain, medium-gain and low-gain, and an auxiliary variable is used to detect the process operation region. Then the fuzzy logic controller designed using this auxiliary variable as input, can give satisfactory performance in all regions. This controller was tested in real-time on a bench plant. Online results show that the designed control system allows the plant to operate in a range of pH values, despite perturbations and variations of the plant parameters, obtaining good performance at the desired workings points. View full abstract»

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  • Deterministic method for obtaining nominal and uncertainty models of CD drives

    Publication Year: 2002 , Page(s): 637 - 642 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (461 KB) |  | HTML iconHTML  

    In this paper a deterministic method for obtaining the nominal and uncertainty models of the focus loop in a CD-player is presented based on parameter identification and measurements in the focus loop of 12 actual CD drives that differ by having worst-case behaviors with respect to various properties. The method provides a systematic way to derive a nominal average model as well as a structured multiplicative input uncertainty model, and it is demonstrated how to apply μ-theory to design a controller based on the models obtained that meets certain robust performance criteria. View full abstract»

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  • Dynamics of atomic force microscopes: experiments and simulations

    Publication Year: 2002 , Page(s): 1126 - 1131 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (423 KB) |  | HTML iconHTML  

    This paper focuses on how AFM in-contact dynamics change with amplitude of disturbance, i.e. sample surface topography, and force set-point. The models presented by El Rifai et al. (2000, 2001) were used to compare simulations to experimental results. The models were able to reproduce experimental behavior observed in frequency response data and AFM images. Three main effects were observed, namely, changes in the DC gain, in modal damping, and in the pole-zero pattern. The results were analyzed and explanations were provided. These large changes in the dynamics of the AFM impose a challenge on its feedback system. It requires a controller that provides robust performance to ensure high fidelity of data and reduce image artifacts. Consequently, the selection of scan parameters should be tied-in to controller parameters to achieve potentially higher levels of performance. View full abstract»

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  • Robust stability of multilinear affine polynomials

    Publication Year: 2002 , Page(s): 1327 - 1332 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (392 KB) |  | HTML iconHTML  

    This paper deals with the robust stability problem of multilinear affine polynomials. By multilinear affine polynomials, we mean an uncertain polynomial family consisting of multiples of independent uncertain polynomials of the form P(s, q) = l0(q)+l1(q)s+···+ln(q)sn whose coefficients depend linearly on q = [q1, q2, ..., qq]T and the uncertainty box is Q = {q : qi∈[q_i_, q~i~], i = 1, 2, ...., q}. Using the geometric structure of the value set of P(s, q), a powerful edge elimination procedure is proposed for computing the value set of multilinear affine polynomials. In order to construct the value set of a multilinear affine polynomial, the mapping theorem can be used. However, in this case, it is necessary to find the images of all vertex polynomials and then taking the convex hull of the images of the vertex polynomials in the complex plane which is a computationally expensive procedure. On the other hand, the approach of the present paper greatly reduces the number of the images of vertex polynomials which are crucial for the construction of the value set. Using the proposed approach for construction of the value set of multilinear affine polynomials together with the zero exclusion principle, a robust stability result is given. The proposed stability result is important for the robust stability of control systems with multilinear affine transfer functions. View full abstract»

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  • Design and implementation of a real-time pan-tilt visual tracking system

    Publication Year: 2002 , Page(s): 736 - 741 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (534 KB) |  | HTML iconHTML  

    Due to the increasing need in the security and surveillance system, the problem of automatically tracking a moving target by a visual servo system is a research topic which deserves more investigation. Whether a visual tracking system can successfully track a moving target in real-time or not, it relies heavily on the performance of motion estimation technique. The region-based matching method and motion energy method are two of the existing popular motion estimation techniques. These two methods have been modified to meet the requirement of real-time execution in this study. In addition, a prototype real-time pan-tilt visual tracking system is developed as a test platform to investigate the performance of both methods. Experimental results indicate that both methods exhibit satisfactory performances. View full abstract»

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  • Development of an Internet home control system

    Publication Year: 2002 , Page(s): 1120 - 1125 vol.2
    Cited by:  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (461 KB) |  | HTML iconHTML  

    This paper presents the development of an Internet home control system based on the emerging wireless technologies of Bluetooth and WAP. It describes the hardware and software design considerations in the overall development of a system which enables users to operate electrical appliances remotely using WAP phones, thus obviating the need for a physical connection to the Internet. View full abstract»

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  • Third order trajectory generator satisfying velocity, acceleration and jerk constraints

    Publication Year: 2002 , Page(s): 1165 - 1170 vol.2
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (486 KB) |  | HTML iconHTML  

    A third order continuous-time trajectory generator useful in motion control systems is presented. The proposed nonlinear system receives as input a standard reference signal r(t) (step, ramp, etc.) and provides as output a smooth signal x(t) satisfying the following constraints on velocity, acceleration and jerk: Vmin ≤ x˙(t) ≤ Vmax, Amin ≤ x¨(t) ≤ Amax and |x¨˙| ≤ U. The generated trajectory tracks the reference signal in minimum time compatible with the constraints on the time derivatives. The performance of the presented trajectory generator is tested in simulation. View full abstract»

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  • A case study of highway traffic flow model - model validation and simulation

    Publication Year: 2002 , Page(s): 978 - 983 vol.2
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    In this paper, we present the traffic flow study of the section of Minnesota State Highway 194 between Arlington Avenue and Trinity Road, one of the most heavily traveled and congested roadways in Duluth, Minnesota. Due to the initial unsatisfactory results we found using the Papageorgiou's (1983) traffic flow model, we revised the model while retaining key logical elements. Based on the real data collected from the remote traffic microwave sensor based traffic detector, we identify the model parameters which give the best coincidence between the calibrated model and the real process. The model parameter identification procedure is formulated as an optimization problem which is solved by nonlinear programming. Our simulation results show reasonably good traffic flow estimation with acceptably small error on that road section. View full abstract»

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  • LPV-based gain scheduling technique applied to a turbo fan engine model

    Publication Year: 2002 , Page(s): 713 - 718 vol.2
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (441 KB) |  | HTML iconHTML  

    Linear parameter varying (LPV) system based gain scheduling design is applied to a nonlinear jet engine model. A major shortcoming of LPV based gain scheduling techniques is the transformation step of the nonlinear system into an LPV system. It is crucial to have an accurate LPV model to design a controller meeting the performance specifications. Here, the nonlinear model is transformed into an LPV system using velocity based linearization. The derived state feedback controller has, under the assumption of a correct transformation, a guaranteed L2 performance for the considered operating range. The performance of the controller is illustrated by simulations of the closed loop system. View full abstract»

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  • Efficient implementation of min-max model predictive control with bounded uncertainties

    Publication Year: 2002 , Page(s): 651 - 656 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (436 KB) |  | HTML iconHTML  

    Min-Max Model Predictive Control (MMMPC) is one of the strategies used to control plants subject to bounded uncertainties. The implementation of MMMPC suffers a large computational burden due to the complex numerical optimization problem that has to be solved at every sampling time. This paper shows how to overcome this by transforming the original problem into a reduced min-max problem whose solution is much simpler. In this way, the range of processes to which MMMPC can be applied is considerably broadened. Proofs based on the properties of the cost function and simulation examples are given in the paper. View full abstract»

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  • On the design of sampled-data model-reference control systems

    Publication Year: 2002 , Page(s): 886 - 891 vol.2
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    Design rules for a sampled-data controller which forces a linear continuous-time SISO system to track the output of a reference model while minimizing the influence of stochastic disturbance based on the LQG problem formulation are presented, and its advantages against GPC are illustrated on examples. View full abstract»

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  • Application of a predictive sliding mode controller to a heat exchanger

    Publication Year: 2002 , Page(s): 1219 - 1224 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (374 KB) |  | HTML iconHTML  

    This paper describes the stability properties of a predictive sliding mode controller developed by the authors. The controller is compared with a generalized predictive controller and a sliding mode controller, which are applied to a representative group of linear plants. Structured uncertainties are considered in a systematic manner. Normalized stability radius in the parametric uncertainties domain is also provided for each nominal model of study. The controllers are applied to a heat exchanger in order to show the predictive sliding mode controller robustness. View full abstract»

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  • Experimental and robustness analysis of a multivariable control for vertical dynamic of a high speed craft

    Publication Year: 2002 , Page(s): 1070 - 1075 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (363 KB) |  | HTML iconHTML  

    This paper deals with post design robustness analysis of fast ferries vertical dynamic controllers, and experimental study of a PD multivariable control. First a PD multivariable control is designed, then we consider the discrepancy between the real system and the nominal design model. This discrepancy can be expressed as structured uncertainties by linear fractional transformations. These uncertainties include linearization errors and unmodeled dynamics. Finally we validate the design control by an experimental study. View full abstract»

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  • Internal interconnections in TMP processes

    Publication Year: 2002 , Page(s): 1010 - 1015 vol.2
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (415 KB) |  | HTML iconHTML  

    The casing pressure dynamics of a thermomechanical wood-chip refiner are studied in this paper. Interest focuses on the internal interconnections, which can cause oscillations in the process. Linear dynamics are considered when analysing the interconnected process from a process control perspective. Control strategies are discussed and a grey-box model for parameter estimation is derived and compared with standard black-box models. The grey-box models are shown to reflect the effects of time-delayed internal interconnection more efficiently than black-box models. View full abstract»

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