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Control Systems Technology, IEEE Transactions on

Issue 6 • Date Nov. 2002

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Displaying Results 1 - 17 of 17
  • Author index

    Publication Year: 2002 , Page(s): 912 - 915
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  • Subject index

    Publication Year: 2002 , Page(s): 915 - 926
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  • A robust velocity field control

    Publication Year: 2002 , Page(s): 888 - 894
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (523 KB) |  | HTML iconHTML  

    This paper is devoted to velocity field control (VFC) of uncertain robotic manipulators. We propose a proportional-integral (PI)-type controller derived from modeling error compensation ideas and singular perturbation theory, that requires a minimum knowledge of the plant (i.e., constant estimate of the inertia matrix). It is shown that semiglobal practical stabilization is achieved; that is, given any compact set of initial velocity field errors, there exist PI control gains which guarantee that the robot tracks a desired velocity field with arbitrary accuracy. The proposed controller was experimentally evaluated on a two degrees-of-freedom arm. View full abstract»

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  • Linear parameter varying controller for automated lane guidance: experimental study on tractor-trailers

    Publication Year: 2002 , Page(s): 793 - 806
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (616 KB) |  | HTML iconHTML  

    Proposes a linear parameter-varying (LPV) controller design for automated lane keeping for vehicles. The lane keeping objective is to keep the vehicle centered with respect to the lane boundaries by applying appropriate steering action. Most current implementation of lane keeping controllers were based on linear synthesis techniques because linear techniques offer a direct tradeoff between steering action, passenger comfort, robustness, and tracking performance. However, linear methods assume constant longitudinal velocity of the vehicle for controller synthesis. It is known that the position response of the vehicle to the steering input varies significantly with the longitudinal velocity of the vehicle. The LPV design technique deals with this issue by synthesizing a velocity dependent controller. The controller minimizes the induced L2 norm of the closed loop from the road curvature to the tracking error. The design has been successfully implemented on a tractor-trailer vehicle and experiments conducted up to longitudinal velocity of 60 mi/h are presented. View full abstract»

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  • Experimental evaluation of adaptive predictive control for rotor vibration suppression

    Publication Year: 2002 , Page(s): 895 - 901
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (592 KB) |  | HTML iconHTML  

    An on-line active control technique for suppressing rotor vibration is proposed. Linear voice coil motors mounted on a ball bearing housing are used for generating counter forces to cancel the transverse vibrations of shaft due to imbalance, misalignment, and so forth. Controllers are designed by using the impulse response-based model predictive control (IMPC) and generalized predictive control (GPC). Recursive-least-square (RLS) method is employed for real-time system identification. Multiple channel active control systems are implemented on the platform of a digital signal processor (DSP). Experimental evaluation indicated that the proposed methods were effective in suppressing the periodic disturbances due to constant as well as variable rotor speed. In particular, GPC has achieved the most satisfactory performance in terms of vibration attenuation and convergence speed. View full abstract»

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  • Closed-loop compensation of kinematic error in harmonic drives for precision control applications

    Publication Year: 2002 , Page(s): 759 - 768
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2099 KB)  

    We present nonlinear control algorithms to compensate for kinematic error in harmonic drives, thus forming a solid basis to improve their performance in precision positioning applications. Kinematic error, defined as deviation between expected and actual output positions, influences performance by producing static positioning error and inducing dynamic vibration effects. Its compensation is difficult because of its nonlinear behavior and dependence on drive type, assembly, environmental conditions, and drive load. The Lyapunov-based closed-loop control algorithms presented in this paper compensate for the kinematic error irrespective of its form in setpoint and trajectory tracking applications. Simulation and experimental results obtained with a dedicated harmonic drive test setup verify the effectiveness of the proposed controllers. View full abstract»

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  • Multiobjective optimal suspension control to achieve integrated ride and handling performance

    Publication Year: 2002 , Page(s): 807 - 821
    Cited by:  Papers (32)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1032 KB) |  | HTML iconHTML  

    A multiobjective optimal control strategy is pursued for finding feedback control laws used in controlled suspensions for automotive vehicles. The balanced vehicle ride and handling performances are the main concern of the paper. The ride performance (car body performance) is characterized by an H2 system norm, and the handling performance (wheel performance) is characterized by an H system norm, and the control method optimizes the mixed H2/H performances. The H2 and H system norms used in the mixed H2/H performance optimization are scaled by the corresponding open-loop norms such that the relative importance of the individual variables can be reflected in the performance index for the vector variables. The comparison between passive and controllable suspensions shows in simulation the advantages of this optimal control strategy. The simulation result also shows that the invariant point for controlled suspensions in the quarter car case exists in the seven degree-of-freedom model. View full abstract»

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  • Dynamic second-order sliding mode control of the hovercraft vessel

    Publication Year: 2002 , Page(s): 860 - 865
    Cited by:  Papers (40)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (449 KB) |  | HTML iconHTML  

    A suitable combination of the differential flatness property and the second-order sliding mode controller design technique is proposed for the specification of a robust dynamic feedback multivariable controller accomplishing prescribed trajectory tracking tasks for the earth coordinate position variables of a hovercraft vessel model. View full abstract»

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  • WMR control via dynamic feedback linearization: design, implementation, and experimental validation

    Publication Year: 2002 , Page(s): 835 - 852
    Cited by:  Papers (188)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (959 KB) |  | HTML iconHTML  

    The subject of the paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on the laboratory prototype SuperMARIO, a two-wheel differentially driven mobile robot, is described in detail. To assess the quality of the proposed controller, we compare its performance with that of several existing control techniques in a number of experiments. The obtained results provide useful guidelines for WMR control designers. View full abstract»

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  • Application of iterative learning control to an exothermic semibatch chemical reactor

    Publication Year: 2002 , Page(s): 822 - 834
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (582 KB) |  | HTML iconHTML  

    Focuses on the temperature control of a semibatch chemical reactor used for fine chemicals production. Such a reactor is equipped with a heating/cooling system composed of different thermal fluids. Without extensive modeling investigations, a feedback-feedforward control strategy is proposed for ensuring the tracking performance of the desired temperature profile. Such a strategy is derived from a family of the iterative learning control (ILC) algorithms named batch model predictive control (BMPC). Learning is achieved without requiring a detailed knowledge of the system, which may be affected by unknown but repetitive disturbances. The learning control solution is based on the minimization of a linear quadratic cost function. The synthesis of the proposed strategy is studied, and improvements of the algorithm features are proposed. First, guaranteed convergence of the algorithm is illustrated in a few experimental runs. Second, some practical considerations for the removal of high-frequency disturbance effects are outlined to improve the achieved performance. Third, a robust supervisory control procedure is employed to choose the right fluid and to reduce the superfluous fluid changeovers, mainly when different fluids are available. Finally, experimental results are presented to illustrate the practical appeal and effectiveness of the proposed scheme. View full abstract»

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  • Tracking and maneuver regulation control for nonlinear nonminimum phase systems: application to flight control

    Publication Year: 2002 , Page(s): 780 - 792
    Cited by:  Papers (56)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (766 KB)  

    We study the problem of tracking control and maneuver regulation control for a nonlinear nonminimum phase control system. First, a tracking controller, consisting of feedforward and static-state feedback, is designed to guarantee uniform asymptotic trajectory tracking. The feedforward is determined by solving a stable noncausal inversion problem. Constant feedback gains are determined based on linear quadratic regulator (LQR) optimization and assumed satisfaction of a robustness inequality. A maneuver regulation controller is obtained from the tracking controller by introducing a suitable state projection that is related to the LQR feedback gains. Properties of the closed loop, including local asymptotic convergence of the transverse errors are described. A multivariable flight control problem is used to demonstrate the approach. View full abstract»

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  • LPV control of a 6-DOF vehicle

    Publication Year: 2002 , Page(s): 883 - 887
    Cited by:  Papers (26)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (388 KB) |  | HTML iconHTML  

    A linear parameter varying (LPV) controller design example for the position and attitude control of a spacecraft is presented. The six degree-of freedom (DOF) model including the aerodynamics is described. Simulations with the nonlinear 6-DOF model show the usefulness of the design procedure. The practical problem of "fast dynamics" in the controller is solved by an ad hoc method based on the use of a single quadratic Lyapunov function with pole clustering constraints for each frozen linear time invariant (LTI) system in the parameter variation set. The results show that the method facilitates simulation and allows for addressing implementation aspects such as the sampling rate. View full abstract»

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  • Roundness error compensation in lathe turning through 2-D ARMAX model based FCC

    Publication Year: 2002 , Page(s): 902 - 911
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (512 KB) |  | HTML iconHTML  

    This paper describes the design, simulation, and implementation of a two-dimensional (2-D) exogenous autoregressive moving average (ARMAX) model-based forecasting compensatory control (FCC) system for a lathe turning machine. The 2-D ARMAX model is used to represent the relative motion errors between the workpiece and the cutting tool in the longitudinal and radial directions. Here, the formulation of recursive ARMAX models is necessary to account for the variation of the cutting force, which is the exogenous input to this process. The parameters are estimated online by means of the recursive extended least square (RELS) method. The predicted motion errors, which will adversely affect the workpiece roundness, are compensated by means of a two-axis piezoactuator. An offline simulation model has been developed to find the most suitable model order and parameters. The application of the proposed system to both simulated and actual cutting data has confirmed the effectiveness of the proposed strategy. Experiments revealed that the maximum roundness improvement achieved could be as high as 66% while the average roundness improvement is found to be 52%, which proved the effectiveness of the proposed FCC system. View full abstract»

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  • Design and implementation of the control system for an inverter-fed synchronous motor drive

    Publication Year: 2002 , Page(s): 853 - 859
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (513 KB) |  | HTML iconHTML  

    Developments in power electronic switches and low-cost computational hardware have made it possible to design and implement modern control strategies for variable speed drives. Such an attempt has been made in this work for a voltage source inverter-fed synchronous motor (SM) drive. Certain important issues in design including the speed controller, generation of reference currents, state feedback linearization, dynamic control of currents, as well as a reduced order observer have been resolved. The proposed scheme is validated through extensive numerical simulations and a laboratory scale implementation. View full abstract»

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  • Nonlinear fuzzy H guidance law with saturation of actuators against maneuvering targets

    Publication Year: 2002 , Page(s): 769 - 779
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (718 KB) |  | HTML iconHTML  

    A nonlinear H guidance law based on a fuzzy model is proposed for tactical missiles pursuing maneuvering targets in three-dimensional (3-D) space. In the proposed guidance scheme, the relative motion equations between the missile and target are first interpolated piecewise by Takagi-Sugeno linear fuzzy models. Then, a nonlinear fuzzy H guidance law is designed to eliminate the effects of approximation error and external disturbances to achieve the desired goal. The linear matrix inequality (LMI) technique is then employed to treat this H optimal guidance design in consideration of control constraints. Finally, the problem is further transformed into a standard eigenvalue problem so that it can be efficiently solved via a convex optimization algorithm, which is available from a numerical computation software. View full abstract»

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  • Experimental evaluation of position control methods for hydraulic systems

    Publication Year: 2002 , Page(s): 876 - 882
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (540 KB) |  | HTML iconHTML  

    Presents a unified and systematic assessment of ten position control strategies for a hydraulic servo system with single-ended cylinder driven by a proportional directional control valve. We aim at identifying those methods that achieve better tracking, have a low sensitivity to system uncertainties, and offer a good balance between development effort and end results. A formal approach for solving this problem relies on several practical metrics, which is introduced herein. Their choice is important, as the comparison results between controllers can vary significantly, depending on the selected criterion. Apart from the quantitative assessment, we also raise aspects which are difficult to quantify, but which must stay in attention when considering the position control problem for this class of hydraulic servo systems. View full abstract»

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  • Multiobjective control of a four-link flexible manipulator: a robust H approach

    Publication Year: 2002 , Page(s): 866 - 875
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (698 KB) |  | HTML iconHTML  

    Presents an approach to robust H control of a real multilink flexible manipulator via regional pole assignment. We first show that the manipulator system can be approximated by a linear continuous uncertain model with exogenous disturbance input. The uncertainty occurring in an operating space is assumed to be norm-bounded and enter into both the system and control matrices. Then, a multiobjective simultaneous realization problem is studied. The purpose of this problem is to design a state feedback controller such that, for all admissible parameter uncertainties, the closed-loop system simultaneously satisfies both the prespecified H norm constraint on the transfer function from the disturbance input to the system output and the prespecified circular pole constraint on the closed-loop system matrix. An algebraic parameterized approach is developed to characterize the existence conditions as well as the analytical expression of the desired controllers. Third, by comparing with the traditional linear quadratic regulator control method in the sense of robustness and tracking precision, we provide both the simulation and experimental results to demonstrate the effectiveness and advantages of the proposed approach. View full abstract»

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