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IEE Proceedings - Control Theory and Applications

Issue 4 • Date Jul 1998

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Displaying Results 1 - 9 of 9
  • design of switching surfaces for sliding-mode control with nonmatching disturbances

    Publication Year: 1998, Page(s):435 - 441
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (664 KB)

    An ℋ-norm guaranteed cost design for sliding surfaces in variable structure controllers is presented. This procedure is suitable for approximate rejection of nonmatching disturbances. Both unstructured signal disturbances and structured convex-bounded model uncertainties are considered. A state-space convex optimisation approach, via linear matrix inequalities, is employed i... View full abstract»

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  • Robust position/force control of robot manipulators during constrained tasks

    Publication Year: 1998, Page(s):427 - 433
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (648 KB)

    An approach employing sliding-mode based smooth robust compensators has been developed for simultaneous position and force control of an uncertain robot manipulator performing constrained tasks in the presence of environmental stick-slip friction. Under the proposed approach, the robot manipulator can exert a preset amount of force on the environment while tracking along a desired trajectory with ... View full abstract»

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  • Simulation approach and causality evaluation for an active noise control system

    Publication Year: 1998, Page(s):423 - 426
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (364 KB)

    An approach to simulate the performance of an active noise control system is proposed. The simulated result is shown to be a good approximation to that of a real system. By means of this approach some examples which may not be easily realisable in practical implementations are studied. Results concerning causality and filtered-x-type algorithms are interesting. Simulations show that the investigat... View full abstract»

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  • Minimal state-space model realisation of a nonlinear helicopter

    Publication Year: 1998, Page(s):415 - 422
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (640 KB)

    The observer-Kalman filter/eigensystem realisation algorithm is applied to the problem of generating a minimal state-space model realisation from a nonlinear helicopter model. The paper presents an interim result using a 10th order linear model, discusses the implications of this and generates some general guidelines before applying the technique to a model. The outcome is a linear realisation whi... View full abstract»

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  • Intelligent control for handling motion nonlinearity in a retrofitted machining table

    Publication Year: 1998, Page(s):403 - 408
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (684 KB)

    For low cost automation, a traditional manually operated milling machine with a lead-screw transmission system was retrofitted with an AC servo-motor. This old fashioned machining table has nonlinear time-varying behaviour caused by obvious backlash and irregular coulomb friction of the sliding surfaces. It is difficult to design an appropriate classical controller for this complicated dynamic sys... View full abstract»

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  • Cluster analysis of NARMAX models for signal-dependent systems

    Publication Year: 1998, Page(s):409 - 414
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (576 KB)

    The structure of NARMAX models is described. No new algorithm for structure selection is proposed, but rather the paper investigates how different model structures are produced by a large class of nonlinearities in the system which generates the data. The concept of term clusters is used to understand how different types of terms are required to model nonlinear systems. A term cluster generating m... View full abstract»

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  • Global exponential stabilisation for nonlinear singularly perturbed systems

    Publication Year: 1998, Page(s):377 - 382
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (460 KB)

    A globally exponentially stabilising composite feedback control is proposed for a general class of nonlinear singularly perturbed systems. The chosen design manifold becomes an exact integral manifold and the trajectories of the closed-loop systems, starting from any initial states, are steered along the integral manifold to the origin for all sufficiently small singular perturbation parameters &e... View full abstract»

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  • Digital redesign and performance evaluation using the energy resemblance index (ERI)

    Publication Year: 1998, Page(s):383 - 392
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (764 KB)

    Proposes a new performance index, the energy resemblance index (ERI), to address the performance evaluation and design issues in the digital redesign of analogue control systems. The ERI is defined as the ratio of the integral of the square error (ISE) of the continuous-time system over the error sequence energy (ESE) of the redesigned digital system. By directly transforming the analogue controll... View full abstract»

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  • Fuzzy neural systems for controlling sound localisation in stereophonic reproduction

    Publication Year: 1998, Page(s):393 - 401
    Cited by:  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1200 KB)

    Presents a fuzzy logic control (FLC) approach which leads to a stereophonic reproduction controller for localising an auditory image in the desired direction and at the expected distance. Since an auditory event is usually less precisely resolved than the physical sound space, the auditory event need not coincide with a physical sound source, and can occur at a position where nothing is visible to... View full abstract»

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