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IEE Proceedings - Control Theory and Applications

Issue 1 • Date Jan 2001

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Displaying Results 1 - 12 of 12
  • Robust H filtering for polytopic uncertain systems via convex optimisation

    Publication Year: 2001, Page(s):55 - 59
    Cited by:  Papers (17)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (428 KB)

    A robust H filtering technique is proposed for convex polytopic uncertain systems. By applying a bounded real lemma to the error dynamics and using the Schur complement with the appropriate change of variables, a nonlinear matrix inequality is obtained. It is then shown that the congruence transformation, with some newly defined variables, converts this nonlinear matrix inequalit... View full abstract»

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  • Extreme stability margins of interval systems

    Publication Year: 2001, Page(s):70 - 80
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (848 KB)

    The paper deals with the problem of calculating exact extreme stability margins of interval systems consisting of interval plants and fixed controllers based on Bode envelopes. Algorithms are first presented to find the exact extreme phases of an interval real-rational function at a given frequency under the constraint that its module is equal to a given constant. These algorithms are computationa... View full abstract»

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  • Method for designing PI-type fuzzy controllers for induction motor drives

    Publication Year: 2001, Page(s):61 - 69
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (660 KB)

    The paper illustrates a new systematic method for designing PI-type fuzzy controllers for direct field-oriented controlled induction motor drives. First, linear and decoupled models expressing the dynamics of speed, rotor flux, direct and in-quadrature stator currents are derived using a nonlinear static compensator and choosing convenient input variables. Then, to guide the dynamics of the above ... View full abstract»

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  • Tuning of PID controllers with fuzzy logic

    Publication Year: 2001, Page(s):1 - 8
    Cited by:  Papers (79)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (620 KB)

    The paper presents a comparison between different methods, based on fuzzy logic, for the tuning of PID controllers. Specifically considered are different control structures in which a fuzzy mechanism is adopted to improve the performances given by Ziegler-Nichols parameters. To verify the full capabilities of each controller, genetic algorithms are used to tune the parameters of the fuzzy inferenc... View full abstract»

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  • Neural network-based tracking control for robotic systems using only position feedback

    Publication Year: 2001, Page(s):25 - 34
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (732 KB)

    An adaptive neural network-based position feedback tracking control scheme for robotic systems involving plant uncertainties and external disturbances is proposed. The developed controller is based on a neural network system and a linear reduced-order observer. The resulting closed-loop system guarantees a transient and asymptotic performance, in the sense that the tracking error locally converges... View full abstract»

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  • Switching on the derivative of control to reduce chatter

    Publication Year: 2001, Page(s):88 - 96
    Cited by:  Papers (6)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (628 KB)

    When applying a classical sliding-mode control based on variable structure systems, a high-frequency chatter appears. This phenomenon, caused by discontinuous control, is usually undesirable for most practical applications. The paper proposes a robust control law for decreasing the chatter based on a generalised sliding-mode control that switches on the derivative of control instead of the control... View full abstract»

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  • Adaptive learning controller for autonomous mobile robots

    Publication Year: 2001, Page(s):49 - 54
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (472 KB)

    An adaptive learning controller is proposed for tracking of nonholonomic mobile robots. It consists of an exponential learning control scheme for velocity dynamics and a reference velocity control scheme for the kinematic steering system. In the adaptive learning controller, the velocity dynamics learning control tracks the reference velocity by learning the inverse function of robot dynamics, whi... View full abstract»

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  • Modelling study, analysis and robust servo control of pneumatic cylinder actuator systems

    Publication Year: 2001, Page(s):35 - 42
    Cited by:  Papers (13)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (512 KB)

    A modelling study on pneumatic cylinder actuator systems is carried out based on the standard orifice theory. The pneumatic cylinder actuators are modelled as a cascade connection of two nonlinear subsystems affine in the control input. The model validation has been conducted by comparing open-loop system dynamic responses obtained through simulation and experiments. Finally, a class of robust ser... View full abstract»

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  • Nonlinear constrained predictive control applied to a coupled-tanks apparatus

    Publication Year: 2001, Page(s):17 - 24
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (528 KB)

    The paper deals with the development and application to experimental equipment of fast constrained predictive control algorithms based on feedback linearisation. Rather than using the quadratic programming optimisation, a computationally much cheaper alternative based on interpolation and linear programming is deployed. Despite its undemanding computational nature, this algorithm is found to perfo... View full abstract»

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  • Inversion of matrices and matrix functions as a nonlinear discrete system: stability and sensitivity analysis

    Publication Year: 2001, Page(s):43 - 48
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (448 KB)

    A technique for the recursive inversion of matrices and matrix functions is presented. The proposed method can be modelled as a discrete nonlinear dynamic system. Convergence, stability and robustness properties are discussed and eventually verified through various numerical experiments View full abstract»

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  • Automotive engine speed control: A robust nonlinear control framework

    Publication Year: 2001, Page(s):81 - 87
    Cited by:  Papers (9)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (548 KB)

    A controller design procedure based on sliding-mode techniques is presented for speed control in an automotive engine. Only the engine speed and manifold pressure measurements are available to the control law. It is assumed that the load-torque disturbance on the engine is not known, while uncertainties in the system parameters are also taken into consideration. The engine acceleration is estimate... View full abstract»

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  • Analytic predictive controllers for nonlinear systems with ill-defined relative degree

    Publication Year: 2001, Page(s):9 - 16
    Cited by:  Papers (8)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (652 KB)

    The paper addresses the problem of the control of nonlinear systems with ill-defined relative degree. The analytic solution to an optimal tracking problem in terms of a generalised predictive performance index is presented, where the output tracking error is predicted by Taylor series approximation up to an arbitrarily chosen order. It is shown that the optimal control for nonlinear systems with i... View full abstract»

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