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IEE Proceedings - Control Theory and Applications

Issue 1 • Date Jan 1996

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Displaying Results 1 - 14 of 14
  • Robust adaptive force/motion control of constrained robots

    Publication Year: 1996, Page(s):103 - 109
    Cited by:  Papers (8)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (568 KB)

    A new robust adaptive control scheme is proposed for the simultaneous force/motion control of constrained rigid robots including motor dynamics. When slow motor dynamics are present, two problems arise. First, the performance of the controller will be degraded because of the interaction between robot and motor. Second, the uncertainties in the robot are no longer in the range space of control, whi... View full abstract»

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  • Designing a reusable co-ordination module for cooperative industrial control applications

    Publication Year: 1996, Page(s):91 - 102
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1356 KB)

    Distributed artificial intelligence (DAI) systems, in which multiple agents communicate and co-operate with one another to achieve their individual and collective goals, are a promising enabling technology for constructing large real-world industrial control applications. To facilitate the development of such systems a number of generic DAI frameworks have been devised. These frameworks typically ... View full abstract»

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  • Modelling and controlling one-degree-of-freedom impacts

    Publication Year: 1996, Page(s):85 - 90
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (588 KB)

    The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compens... View full abstract»

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  • Visiplan: a knowledge-based modelling tool

    Publication Year: 1996, Page(s):73 - 84
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1544 KB)

    The paper presents Visiplan, a knowledge-based modelling language that is applied to resource allocation and sequencing problems. Expert knowledge is encapsulated throughout the whole modelling and problem solving process. This enables the user's effort to be targeted at defining what he or she wishes to solve (i.e. the problem) but not how to solve it (i.e. not the implementation details behind t... View full abstract»

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  • Adaptive scheduling algorithm based on mixed graph model

    Publication Year: 1996, Page(s):9 - 16
    Cited by:  Papers (1)  |  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (856 KB)

    This paper deals with an adaptive approach for scheduling problems, The main idea is to produce, for a class of similar problems, a special heuristic rule which is successful for problems of this class. It is realised by `tuning' the parameters of the algorithm while `learning' the peculiarities of considering a class of problems. Once trained on the sample problems (in the authors' experiments a ... View full abstract»

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  • Robust control of manipulators using the computed torque plus H compensation method

    Publication Year: 1996, Page(s):64 - 72
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (704 KB)

    A new robust control scheme called the computed torque plus H compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H control te... View full abstract»

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  • Frequency-shaping LQ control of Maglev suspension systems for optimal performance with deterministic and stochastic inputs

    Publication Year: 1996, Page(s):25 - 30
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (564 KB)

    Methods for achieving target performance specifications for suspension controllers on low-speed Maglev vehicles using linear quadratic (LQ) control are examined. In particular, a technique involving frequency-domain weightings in the performance criterion integral to reach performance targets simultaneously for stochastic and deterministic inputs is investigated. It is shown that good performance ... View full abstract»

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  • Alternative approach to aeroservoelastic design and clearance

    Publication Year: 1996, Page(s):1 - 8
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (880 KB)

    The in-flight interaction between an aircraft's flight control system (FCS), structural dynamics and unsteady aerodynamics has been of concern to aircraft designers for many years. Frequently, due to a limited understanding of the array of complex issues involved, a very conservative approach is essential to achieve a FCS which will obtain flight clearance. The paper examines the impact of the non... View full abstract»

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  • Application of Kharitonov's theorem to robustly increase the degree of Hurwitz polynomials

    Publication Year: 1996, Page(s):57 - 63
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (696 KB)

    A method of determining the exact coefficient bound, when a polynomial is extended by a single degree, is given. However, this method is unsuitable when additional coefficients with robust bounds are sought. To overcome this, an alternative approach, relying on Kharitonov's theorem, is used as the basis of an algorithm for determining robust bounds on unknown coefficients in Hurwitz polynomials ex... View full abstract»

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  • Intelligent controller design for the ship steering problem

    Publication Year: 1996, Page(s):17 - 24
    Cited by:  Papers (12)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (832 KB)

    The reason for the present upsurge of interest in intelligent control is that the present generation of control systems are incapable, to a greater or lesser extent, of dealing with problems of a certain complexity. Fortunately, the human operator (HO) is often expert in keeping the complex control systems on the right track. In this paper a method for controller design has been investigated based... View full abstract»

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  • Optimal filtering and robust fault diagnosis of stochastic systems with unknown disturbances

    Publication Year: 1996, Page(s):31 - 36
    Cited by:  Papers (36)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (544 KB)

    The paper studies the optimal filtering and robust fault diagnosis problems for stochastic systems with unknown disturbances. An optimal observer is proposed, which can produce disturbance decoupled state estimation with minimum variance for time varying systems with both noise and unknown disturbances. The existence conditions and the observer design procedure are presented. The output estimation... View full abstract»

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  • Quadratic guaranteed cost control with robust pole placement in a disk

    Publication Year: 1996, Page(s):37 - 43
    Cited by:  Papers (6)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (536 KB)

    The paper is concerned with the design of robust state feedback controllers for a class of uncertain systems with norm bounded uncertainty, where uncertainty enters into both the state and input matrices. The controller is designed to place the closed loop poles of the uncertain system in a specified disk and guarantees an upper bound on a quadratic cost function. A procedure is given for the cons... View full abstract»

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  • Nonlinear and direction-dependent dynamic process modelling using neural networks

    Publication Year: 1996, Page(s):44 - 48
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (528 KB)

    The paper discusses several methods of modelling complex nonlinear dynamics using neural networks. Particular reference is made to the problem of modelling direction-dependent relationships. A typical example of this would be top product composition control in a distillation column, where it is easier (i.e. faster) to make the product less pure than it is to make it more pure by an equivalent amou... View full abstract»

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  • Frequency based tuning of SISO controllers for two-by-two processes

    Publication Year: 1996, Page(s):49 - 56
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (584 KB)

    A systematic tuning method of SISO controllers for two-by-two processes is proposed. The first step consists of selecting, for each loop, the desired tracking closed-loop dynamics. From this information, the open-loop characteristics are deduced, leading to the frequency responses (magnitude and phase) of the unknown SISO controllers. An optimisation method is used to get a good approximation of e... View full abstract»

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