By Topic

Control Systems Technology, IEEE Transactions on

Issue 3 • Date May 2004

Filter Results

Displaying Results 1 - 20 of 20
  • Table of contents

    Page(s): c1 - c4
    Save to Project icon | Request Permissions | PDF file iconPDF (44 KB)  
    Freely Available from IEEE
  • IEEE Transactions on Control Systems Technology publication information

    Page(s): c2
    Save to Project icon | Request Permissions | PDF file iconPDF (34 KB)  
    Freely Available from IEEE
  • Design of simultaneously stabilizing controllers and its application to fault-tolerant lane-keeping controller design for automated vehicles

    Page(s): 329 - 339
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (456 KB) |  | HTML iconHTML  

    Simultaneous stabilization deals with the following question: given a finite number of LTI plants P1,P2,...Pk does there exist a single LTI controller C such that each of the feedback interconnections (Pi,C) (i=1,2,...,k) is internally stable? This paper presents a new methodology for the design of simultaneously stabilizing controllers for two or more plants that satisfy a sufficient condition. A classic result from simultaneous-stability theory is invoked to cast the sufficient condition as a linear matrix inequality (LMI). It is shown that in this setting, the problem of design of simultaneously stabilizing controllers can be reduced to that of a standard H control problem. The technique developed is applied to the design of a fault-tolerant controller for lane-keeping control of automated vehicles. The controller makes the system insensitive to a failure in either one of two lateral error measuring sensors used for lane-keeping control. Experimental results confirm the efficacy of the design and reinforce analytical predictions of performance. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Observer-based fuzzy adaptive control for a class of nonlinear systems: real-time implementation for a robot wrist

    Page(s): 340 - 351
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (408 KB) |  | HTML iconHTML  

    This paper examines the tracking control problem for a class of feedback linearizable nonlinear systems for which there is no available analytic model. Based on the ability of fuzzy systems to approximate any nonlinear mapping, the unknown nonlinear system is represented by a Takagi-Sugeno (TS) fuzzy system. First, we represent the nonlinear plant with an adaptive TS fuzzy system, where the parameters are adjusted via adaptive laws according to the Lyapunov and passivity theories. Then, a fuzzy adaptive feedback linearizing controller is designed under the constraint that only the output of the plant is available for measurement. According to this constraint, a plant state observer is introduced in the proposed control structure. Finally, the feasibility of the proposed methodology is experimentally validated with a real-time implementation. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal control of parallel hybrid electric vehicles

    Page(s): 352 - 363
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (448 KB) |  | HTML iconHTML  

    In this paper, a model-based strategy for the real-time load control of parallel hybrid vehicles is presented. The aim is to develop a fuel-optimal control which is not relying on the a priori knowledge of the future driving conditions (global optimal control), but only upon the current system operation. The methodology developed is valid for those problem that are characterized by hard constraints on the state-battery state-of-charge (SOC) in this application-and by an arc cost-fuel consumption rate-which is not an explicit function of the state. A suboptimal control is found with a proper definition of a cost function to be minimized at each time instant. The "instantaneous" cost function includes the fuel energy and the electrical energy, the latter related to the state constraints. In order to weight the two forms of energy, a new definition of the equivalence factors has been derived. The strategy has been applied to the "Hyper" prototype of DaimlerChrysler, obtained from the hybridization of the Mercedes A-Class. Simulation results illustrate the potential of the proposed control in terms of fuel economy and in keeping the deviations of SOC at a low level. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Disturbance-rejection high-precision motion control of a Stewart platform

    Page(s): 364 - 374
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (584 KB)  

    A simple robust autodisturbance rejection controller (ADRC) in linkspace is proposed to realize high precision tracking control of a general 6 degrees of freedom (DOF) Stewart platform in this paper. In practice, the performance of the controlled system is limited by how to select the high-quality differential signal in the presence of disturbances and measurement noise. Moreover, unmodeled nonlinear friction provides degradation on the motion precision. So, a nonlinear tracking differentiator in the feedforward path and an extended states observer in the feedback path are designed to obtain high quality differential signal and the real action component of unknown disturbance signals including nonlinear friction without a precise mathematical model. The nonlinear PD (proportional derivative) controller is used to synthesize the control action to give a superior performance. Extensive simulations and experimental results are presented to verify the effectiveness and ease of engineering implementation of the proposed method. The developed ADRC controller is simple and directly intuitive to the practitioners. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Preview-based optimal inversion for output tracking: application to scanning tunneling microscopy

    Page(s): 375 - 386
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (456 KB) |  | HTML iconHTML  

    Optimal inversion of system dynamics can be used to design inputs that achieve precision output tracking. However, a challenge in implementing the optimal-inversion approach is that the resulting inverse input tends to be noncausal. The noncausality of the optimal inverse implies that the desired output trajectory must be pre-specified and cannot be changed online. Therefore, the optimal inverse can only be used in trajectory-planning applications (where the desired output is known in advance for all future time). The main contribution of this article is the development of a technique to compute the noncausal optimal inverse when the desired output trajectory is known in advance for only a finite time interval. This future time interval, during which the desired output trajectory is specified, is referred to as the preview time. Additionally, this article develops a time-domain implementation of the optimal inverse and quantifies the required preview time in terms of the specified accuracy in output tracking, the system dynamics, and the cost function used to develop the optimal inverse. The proposed approach is applied to precision (subnanoscale) positioning of a scanning tunneling microscope (STM), which is a key enabling tool in emerging nanotechnologies. Experimental results are presented which show that finite preview of the desired output trajectory is sufficient to operate the STM at high speeds. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Incremental verification and synthesis of discrete-event systems guided by counter examples

    Page(s): 387 - 401
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (584 KB) |  | HTML iconHTML  

    This article presents new approaches to system verification and synthesis based on subsystem verification and the novel combined use of counterexamples and heuristics to identify suitable subsystems incrementally. The scope of safety properties considered is limited to behavioral inclusion and controllability. The verification examples considered provide a comparison of the approaches presented with straightforward state exploration and an understanding of their applicability in an industrial context. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Selection of model parameters for off-line parameter estimation

    Page(s): 402 - 412
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (400 KB) |  | HTML iconHTML  

    Mechanistic dynamic models often contain unknown parameters whose values are difficult to determine even with highly specialized laboratory experiments. A practical approach is to estimate such parameters from available process data. Typically only a subset of the parameters can be estimated due to restrictions imposed by the model structure, lack of measurements, and limited data. We present a simple parameter selection method which accounts for the first two factors independent of the data available for parameter estimation. The magnitude of each parameter effect on the measured variables is quantified by applying principal-component analysis to the steady-state parameter-output sensitivity matrix. The uniqueness of each parameter effect is determined by computing the minimum distance between the sensitivity vector of the particular parameter and the vector spaces spanned by sensitivity vectors of the parameters already selected for estimation. A recursive algorithm that provides a tradeoff between the magnitude and linear independence of parameter effects yields a ranking of the parameters according to their inherent ease of estimation. The parameter-selection procedure is applied to the problem of kinetic parameter estimation for an industrial model of a polymerization reactor. For this specific example, the proposed method yields superior estimation results than those obtained with a parameter-selection technique based on the Fisher information matrix (FIM). View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix

    Page(s): 413 - 421
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (304 KB) |  | HTML iconHTML  

    By exploiting properties of the joint-space mass-inertia matrix of flexure-jointed hexapods (or Stewart platforms), a new decoupling method is proposed. The new decoupling method, through a static input-output mapping, transforms the highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) channels. Controls for these SISO channels are far simpler than their multiple-input multiple-output (MIMO) counterparts. Prior decoupling control methods imposed severe constraints on the allowable geometry and payload. The new method loosens and removes these constraints, thus greatly expanding the applications. Based on the new decoupling method, identification algorithms using the constrained least squares (CLS) and the symmetric positive definite estimation (SPDE) methods are introduced to estimate the joint-space mass-inertia matrix using payload accelerations and base forces. These identification algorithms can be used for precision payload calibration, thus improving performance and removing the labor required to design the control for different payloads. The new decoupling method, together with the identification algorithms, is experimentally compared with earlier techniques. These experimental results indicate that the new approach is practical and improves performance. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A parametric model of an eddy current electric machine for automotive braking applications

    Page(s): 422 - 427
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (400 KB) |  | HTML iconHTML  

    An enhanced polynomial-based parametric model of an eddy current electric machine for automotive braking applications has been introduced in this paper. The parametric model captures the steady state torque-speed-current characteristics of the eddy current brake. A two-stage estimation process has been introduced to identify the coefficients of the retarder model from experimental data through a least square type algorithm. The model is then validated via on-vehicle test data. A controller to generate eddy current machine command can be designed using the proposed parametric model which could be computationally more efficient. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of a nonlinear variable-gain fuzzy controller for FACTS devices

    Page(s): 428 - 438
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (384 KB) |  | HTML iconHTML  

    The paper presents the design of a nonlinear variable-gain fuzzy controller for a flexible ac transmission systems (FACTS) device like the unified power flow controller (UPFC) to enhance the transient stability performance of power systems. The fuzzy controller uses a numerical consequent rule base of the Takagi-Sugeno type, which can be either linear- or nonlinear-producing control-gain variation over a very wide range. This type of fuzzy control is expected to be more robust and effective in damping electromechanical oscillations of the power systems in comparison with the conventional PI regulators used for UPFC control. Computer simulation results validate the superior performance of this controller. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Passivity-based control of switched reluctance motors with nonlinear magnetic circuits

    Page(s): 439 - 448
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (256 KB) |  | HTML iconHTML  

    In this paper, the control of switched reluctance motors is approached from a passivity-based control perspective. The proposed controller solves the torque/speed/position tracking problem by exploiting the passivity properties of the machine. The methodology design considers the feedback decomposition of the motor model into one electrical and one mechanical passive systems and is divided into the following three steps: control of the electrical subsystem to achieve current tracking, definition of the desired current behavior to assure torque tracking, and design of a speed/position control loop. The main characteristics of the presented result are: it belongs to the class of control schemes that take into account the saturation effects present in stator windings and, regarding torque generation, it considers the use of sharing functions. The contribution of the paper is threefold: The controller design is developed using energy-dissipation ideas, the mathematical formalization of the current engineering practice of controlling this kind of machines with a cascade approach, and an extension to previously reported passivity-based controllers for electric machines in the sense that Blondel-Park transformability properties are not required. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Identification and open-loop tracking control of a piezoelectric tube scanner for high-speed scanning-probe microscopy

    Page(s): 449 - 454
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (280 KB) |  | HTML iconHTML  

    Fast and precise positioning is a basic requirement for nanotechnology applications. Many scanning-probe microscopes (SPM) use a piezoelectric tube scanner for actuation with nanometer resolution in all three spatial directions. Due to the dynamics of the actuator, the imaging speed of the SPM is limited. By applying model-based open-loop control, the dynamic behavior of the scanner can be compensated, reducing the displacement error, topographical artifacts, modulation of the interaction force, and modulation of the relative tip-sample velocity. The open-loop controlled system enables imaging of up to 125-μm-sized samples at a line scan rate of 122 Hz, which is about 15 times faster than the commercial system. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • New tuning and identification methods for unstable first order plus dead-time processes based on pseudoderivative feedback control

    Page(s): 455 - 464
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (408 KB) |  | HTML iconHTML  

    The use of pseudoderivative feedback (PDF) in the control and identification of unstable first order plus dead-time (UFOPDT) processes is investigated. Several new methods for tuning the PDF feedback controller are presented. In contrast to known tuning rules for conventional proportional integral derivative (PID) controllers, which result in excessive overshoot in the closed-loop response, the proposed control structure and tuning methods ensure a smooth response to set-point changes, fast attenuation of step-load disturbances, and satisfactory robustness against parametric uncertainty. Moreover, two simple methods for identifying the UFOPDT process parameters, based on this controller structure, are proposed in this paper. Both methods rely on a single experiment on a closed-loop system with a step change in the set point of a PDF controller. They are very accurate, as well as simpler and less sensitive than existing identification methods. Finally, an application of the proposed identification and tuning methods to an open-loop unstable bioreactor with hard input constraints and significant measurement delay is presented. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Automotive gas turbine regulation

    Page(s): 465 - 473
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (272 KB) |  | HTML iconHTML  

    A multivariable model of an automotive gas turbine, obtained from the linearized system equations is investigated. To facilitate vehicle speed changes, whilst protecting the system against thermal damage, control of the power turbine inlet gas temperature and gas generator speed is proposed by feedback regulation. Fuel flow and the power turbine nozzle area variations are the selected, manipulatable inputs. Owing to the limited control energy available for regulation purposes a multivariable, optimum, minimum control effort strategy is employed in the inner loop controller design study. Simulated, open and closed loop system responses are presented for purposes of comparison. Significant improvements in the transient response interaction reaction times and low steady state output interaction achieved using passive compensation and output feedback alone. Simplification of the closed loop configuration is proposed in the final implementation without performance penalties. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Force tracking impedance control of robot manipulators under unknown environment

    Page(s): 474 - 483
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (368 KB) |  | HTML iconHTML  

    In this paper, a new simple stable force tracking impedance control scheme that has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness as well as in robot dynamic model is proposed. The uncertainties in robot dynamics are compensated by the robust position control algorithm. After contact, in force controllable direction the new impedance function is realized based on a desired force, environment stiffness and a position error. The new impedance function is simple and stable. The force error is minimized by using an adaptive technique. Stability and convergence of the adaptive technique are analyzed for a stable force tracking execution. Simulation studies with a three link rotary robot manipulator are shown to demonstrate the robustness of the proposed scheme under uncertainties in robot dynamics, and little knowledges of environment position and environment stiffness. Experimental results are carried out to confirm the proposed controller's performance. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Multimode piezoelectric shunt damping with a highly resonant impedance

    Page(s): 484 - 491
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (320 KB) |  | HTML iconHTML  

    This brief paper proposes a novel impedance structure for piezoelectric shunt damping. The impedance has a highly resonant nature and can be considered as a feedback controller applying a high gain at each resonance frequency of the base structure. Closed-loop stability of the system is proved and robustness properties of the associated controller are studied. Experimental results, demonstrating the effectiveness of the proposed procedure are presented. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Leading the field since 1884 [advertisement]

    Page(s): 492
    Save to Project icon | Request Permissions | PDF file iconPDF (217 KB)  
    Freely Available from IEEE
  • IEEE Transactions on Control Systems Technology Information for authors

    Page(s): c3
    Save to Project icon | Request Permissions | PDF file iconPDF (37 KB)  
    Freely Available from IEEE

Aims & Scope

The IEEE Control Systems Society publishes high-quality papers on technological advances in the design, realization, and operation of control systems.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Thomas Parisini
Professor
Dept. of Electrical, Electronic, and Computer Engineering
University of Trieste
Via Valerio 10
Trieste  34127  34127  Italy
eic-ieeetcst@units.it
Phone:+39 334 6936615
Fax:+39 040 5583460