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IEE Proceedings - Control Theory and Applications

Issue 3 • Date May 2002

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Displaying Results 1 - 10 of 10
  • Modelling and energy based nonlinear control of crane lifters

    Publication Year: 2002, Page(s):209 - 216
    Cited by:  Papers (12)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (731 KB)

    A nonlinear dynamic model for a crane lifter system is derived using the Lagrangian method. The developed dynamic model has two inputs and four outputs. Several properties of the model, such as passivity, are presented. An energy-based nonlinear control scheme is then proposed for the system. The developed scheme guarantees the asymptotic convergence of the trolley position and the hoist position ... View full abstract»

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  • MIMO nonlinear PID predictive controller

    Publication Year: 2002, Page(s):203 - 208
    Cited by:  Papers (22)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (548 KB)

    A class of nonlinear generalised predictive controllers (NGPC) is derived for multiinput multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall... View full abstract»

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  • Robust adaptive sliding mode control using fuzzy modelling for a class of uncertain MIMO nonlinear systems

    Publication Year: 2002, Page(s):193 - 201
    Cited by:  Papers (17)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (843 KB)

    A practical design that combines a fuzzy adaptation technique with sliding mode control to enhance robustness and sliding performance in a class of uncertain MIMO nonlinear systems is proposed. Using an online adaptation scheme, a fuzzy sliding mode controller is used to approximate the equivalent control in the neighbourhood of the sliding manifold. The hitting control is appended to ensure that ... View full abstract»

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  • Optimal control design for hard disk drive servosystems

    Publication Year: 2002, Page(s):237 - 242
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (639 KB)

    The authors present an optimal robust controller design for hard disk drive (HDD) actuator servosystems using direct parameter optimisation taking into account stability restrictions. First, the HDD actuator model is augmented with a state observer. A bound of the stable feedback gain is then calculated by solving a Riccati equation considering the plant parameter uncertainties. To improve the sys... View full abstract»

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  • Average performance control by static output feedback

    Publication Year: 2002, Page(s):188 - 192
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (505 KB)

    In this paper robust control design on the basis of average performance design is considered. Necessary conditions for the optimality of an ℋ2 based average performance criterion are derived in terms of an integral equation and coupled Lyapunov equations. It is furthermore shown that the results obtained are generalisations/extensions of classical results. In an illustrative exampl... View full abstract»

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  • Identification of a deterministic constant-affine state space model with known initial conditions

    Publication Year: 2002, Page(s):217 - 225
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (789 KB)

    Constant-affine state space models arise naturally from the linearisation of nonlinear state space models at either on or off equilibriums. Therefore this model structure has a clear interpretation from the dynamical systems point of view and is closely related to model-based technologies such as model-based control. In this paper, the authors investigate some properties of this model structure an... View full abstract»

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  • Maximisation of feasibility/stability regions of model predictive control for constrained linear systems

    Publication Year: 2002, Page(s):243 - 246
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (493 KB)

    Stability of model predictive control can be achieved by adding a terminal weighting term in a performance index and the feasibility/stability region largely depends on the choice of the terminal weighting term and associated terminal control laws. For constrained linear systems, a new method to estimate feasibility/stability regions directly, which is different from existing methods where the sta... View full abstract»

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  • H output feedback control for delay systems with nonlinear and parametric uncertainties

    Publication Year: 2002, Page(s):226 - 236
    Cited by:  Papers (13)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (879 KB)

    Robust H output feedback control is considered for linear systems with multiple time-varying delays and with nonlinear and parametric uncertainties in the state, input and measurement output, appearing in all system matrices. Firstly, some new sufficient conditions in the form of the GBRL (generalised bounded real lemma) are derived, which are more convenient to deal with control... View full abstract»

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  • Fuzzy controller for flexible-link robot arm by reduced-order techniques

    Publication Year: 2002, Page(s):177 - 187
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1134 KB)

    The design and analysis of a large-scale control system should be based on the best available knowledge instead of the simplest available model when treating uncertainties in the system. Therefore, a large-scale system is better treated by knowledge-based methods such as fuzzy logic, neural networks, expert systems, etc. This paper concentrates on fuzzy logic using the singular perturbation approa... View full abstract»

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  • Optimum structures of digital controllers in sampled-data systems: a roundoff noise analysis

    Publication Year: 2002, Page(s):247 - 255
    Cited by:  Papers (6)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (759 KB)

    The effect of roundoff noise in a digital controller is analysed for a sampled-data system in which the digital controller is implemented in a state-space realisation. A new measure, called averaged roundoff noise gain, is derived. Unlike the traditionally used measure, where the analysis is performed based on an equivalent digital control system, this newly defined averaged roundoff noise gain al... View full abstract»

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