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IEEE Control Systems

Issue 3 • Date June 1997

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Displaying Results 1 - 9 of 9
  • 1996 IEEE Control Systems Award

    Publication Year: 1997, Page(s):112 - 115
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    Freely Available from IEEE
  • Robust control prevents car skidding

    Publication Year: 1997, Page(s):23 - 31
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (892 KB)

    The author discusses a system of robust unilateral decoupling of car steering dynamics. Its effect is that the driver has to concern himself much less with disturbance attenuation. The important quick reaction to disturbance torques is done by the automatic feedback system. The yaw dynamics no longer interfere with the path-following task of the driver. The safety advantages have been demonstrated... View full abstract»

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  • An elliptic friction drive element using an ICPF actuator

    Publication Year: 1997, Page(s):60 - 68
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (852 KB)

    The ionic conducting polymer gel film (ICPF) actuator, which has advantages such as low driving voltage, high speed, and underwater motion, was discovered in 1992. This article presents a new actuator element using the ICPF which generates an elliptic motion, as used in ultrasonic motors, to drive objects by friction. A method of forming a pattern of ICPF on a membrane was developed for production... View full abstract»

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  • Design and experimentation of a jump impact controller

    Publication Year: 1997, Page(s):99 - 106
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (784 KB)

    An impact/force controller known as jump impact controller (JIC) is designed and evaluated experimentally. JIC is derived by representing dynamics of collision in terms of a jump linear system where the jumps of system dynamics can be described by a state-dependent stochastic process. Thus, JIC provides robustness to the uncertainties in the environment dynamics as well as the location of the coll... View full abstract»

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  • Variable structure control of shape memory alloy actuators

    Publication Year: 1997, Page(s):80 - 88
    Cited by:  Papers (71)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (940 KB)

    A shape memory alloy (SMA) actuator consisting of a number of thin NiTi fibers woven in a counter rotating helical pattern around supporting disks is first described. This structure accomplishes a highly efficient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being limited strain. Time domain open loop experiments were then condu... View full abstract»

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  • Modeling piezoelectric stack actuators for control of micromanipulation

    Publication Year: 1997, Page(s):69 - 79
    Cited by:  Papers (322)  |  Patents (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    A nonlinear lumped-parameter model of a piezoelectric stack actuator has been developed to describe actuator behavior for purposes of control system analysis and design, and, in particular, for microrobotic applications requiring accurate position and/or force control. In formulating this model, the authors propose a generalized Maxwell resistive capacitor as a lumped-parameter causal representati... View full abstract»

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  • 300 years of optimal control: from the brachystochrone to the maximum principle

    Publication Year: 1997, Page(s):32 - 44
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1740 KB)

    An historical review of the development of optimal control from the publication of the brachystochrone problem by Johann Bernoulli in 1696. Ideas on curve minimization already known at the time are briefly outlined. The brachystochrone problem is stated and Bernoulli's solution is given. Bernoulli's personality and his family are discussed. The article then traces the development of the necessary ... View full abstract»

    Freely Available from IEEE
  • Nonlinear design of active suspensions

    Publication Year: 1997, Page(s):45 - 59
    Cited by:  Papers (103)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1000 KB)

    This article develops a new nonlinear backstepping design for the control of active suspension systems, which improves the inherent tradeoff between ride quality and suspension travel. The novelty is in the use of a nonlinear filter whose effective bandwidth depends on the magnitude of the suspension travel. This intentional introduction of nonlinearity, which is readily accommodated by backsteppi... View full abstract»

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  • Motion planning of a pneumatic robot using a neural network

    Publication Year: 1997, Page(s):89 - 98
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1376 KB)

    Integration of sensing and motion planning plays a crucial role in autonomous robot operation. We present a framework for sensor-based robot motion planning that uses learning to handle arbitrarily configured sensors and robots. The theoretical basis of this approach is the concept of the perceptual control manifold that extends the notion of the robot configuration space to include sensor space. ... View full abstract»

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As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

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Editor-in-Chief
Jonathan P. How
jhow@mit.edu