By Topic

Control Systems Technology, IEEE Transactions on

Issue 5 • Date Sept. 2004

Filter Results

Displaying Results 1 - 21 of 21
  • Table of contents

    Publication Year: 2004 , Page(s): c1
    Save to Project icon | Request Permissions | PDF file iconPDF (43 KB)  
    Freely Available from IEEE
  • IEEE Transactions on Control Systems Technology publication information

    Publication Year: 2004 , Page(s): c2
    Save to Project icon | Request Permissions | PDF file iconPDF (34 KB)  
    Freely Available from IEEE
  • Analysis and control of a flywheel hybrid vehicular powertrain

    Publication Year: 2004 , Page(s): 645 - 660
    Cited by:  Papers (12)  |  Patents (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (624 KB) |  | HTML iconHTML  

    Vehicular powertrains with an internal combustion engine, an electronic throttle valve, and a continuously variable transmission (CVT) offer much freedom in controlling the engine speed and torque. This can be used to improve fuel economy by operating the engine in fuel-optimal operating points. The main drawbacks of this approach are the low driveability and, possibly, an inverse response of the vehicle acceleration after a kick-down of the drive pedal. This paper analyzes a concept for a novel powertrain with an additional flywheel. The flywheel plays a part only in transient situations by (partly) compensating the engine inertia, making it possible to optimize fuel economy in stationary situations without loosing driveability in transients. Two control strategies are discussed. The first one focuses on the engine and combines feedback linearization with proportional control of the CVT ratio. The CVT controller has to be combined with an engine torque controller. Three possibilities for this controller are discussed. In the second strategy, focusing on control of the vehicle speed, a bifurcation occurs whenever a downshift of the CVT to the minimum ratio is demanded. Some methods to overcome this problem are introduced. All controllers are designed, using a simple model of the powertrain. They have been evaluated by simulations with an advanced model. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fast parking control of mobile robots: a motion planning approach with experimental validation

    Publication Year: 2004 , Page(s): 661 - 676
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (672 KB) |  | HTML iconHTML  

    This paper presents a solution to the general parking problem of nonholonomic mobile robots based on motion planning and tracking controller design. A new global tracking controller is first proposed to achieve global uniformly asymptotic stability and local exponential convergence. The parking problem is then transformed into a tracking one by adding a redesigned virtual trajectory to the original trajectory, thus guaranteeing practical stability with exponential convergence. Further improvement in parking performance is obtained through linearization and pole-placement methods. One feature of our approach is that fast convergence in parking and tracking can be treated at the same time without switching between two controllers. Moreover, a tuning function is used to enhance parking performance. With the proposed framework, various tracking controllers given in the literature can be adopted to handle parking problems. The effectiveness of the proposed methods is verified by several interesting experiments including parallel parking and back-into-garage parking. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal nonlinear tracking of spacecraft attitude maneuvers

    Publication Year: 2004 , Page(s): 677 - 682
    Cited by:  Papers (36)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB) |  | HTML iconHTML  

    A nonlinear-optimal control strategy is devised using Hamilton-Jacobi formulation for tracking attitude maneuvers of rigid- asymmetric spacecraft. The exact motion model employs kinematical representation by the modified Rodrigues parameters (MRP) for large principal rotations. For tracking a constant attitude trajectory, an infinite-horizon optimal control problem is posed, wherein nonlinear feedforward and feedback control torques minimize a performance index with a quadratic control cost and a fourth-order attitude and angular-velocity error cost. Closed-form solution is obtained employing a Lyapunov function of the same form as the error cost, and by solving the Hamilton-Jacobi equation. Numerical results are presented for a practical tracking case with arbitrarily large initial conditions and desired state. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Nonlinear control experiments on an axial flow compressor

    Publication Year: 2004 , Page(s): 683 - 693
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (408 KB) |  | HTML iconHTML  

    This paper describes the design of and experiments with a nonlinear feedback controller implemented on an industrial type axial compressor. Two-dimensional (2-D) actuation with a ring of bleed valves was used to prevent surge and stall instabilities. For the interstage location of the bleed valves the nonlinear controller design was based on a modified version of the Moore-Greitzer model, also presented in the paper. For downstream bleed, the experimentally determined stability region closely matched the largest region possible under the constraints of the actuators. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modeling and control of co-generation power plants: a hybrid system approach

    Publication Year: 2004 , Page(s): 694 - 705
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (440 KB) |  | HTML iconHTML  

    In this paper, the short-term scheduling optimization of a combined cycle power plant is accomplished by exploiting hybrid systems, i.e., systems evolving according to continuous dynamics, discrete dynamics, and logic rules. Discrete features of a power plant are, for instance, the possibility of turning on/off the turbines, operating constraints like minimum up and down times and the different types of start up of the turbines. On the other hand, features with continuous dynamics are power and steam output, the corresponding fuel consumption, etc. The union of these properties characterize the hybrid behavior of a combined cycle power plant. In order to model both the continuous/discrete dynamics and the switching between different operating conditions, we use the framework of mixed logic dynamical (MLD) systems. Then, we recast the economic optimization problem as a model predictive control (MPC) problem, that allows us to optimize the plant operations by taking into account the time variability of both prices and electricity/steam demands. Because of the presence of integer variables, the MPC scheme is formulated as a mixed integer linear program that can be solved in an efficient way via dedicated software. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Trajectory tracking for unmanned air vehicles with velocity and heading rate constraints

    Publication Year: 2004 , Page(s): 706 - 716
    Cited by:  Papers (63)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (400 KB) |  | HTML iconHTML  

    This paper considers the problem of constrained nonlinear trajectory tracking control for unmanned air vehicles (UAVs). We assume that the UAV is equipped with longitudinal and lateral autopilots which reduces the 12-state model to a six-state model with altitude, heading, and velocity command inputs. One of the novel features of our approach is that we explicitly account for heading rate and velocity input constraints. For a UAV, the velocity is constrained to lie between two positive constants, and therefore presents particular challenges for the control design. We propose a control Lyapunov function (CLF) approach. We first introduce a CLF for the input constrained case, and then construct the set of all constrained inputs that are feasible with respect to this CLF. The control input is then selected from this "feasible" set. The proposed approach is applied to a simulation scenario, where the UAV is assigned to transition through several targets in the presence of multiple dynamic threats. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A controller for a boost converter with harmonic reduction

    Publication Year: 2004 , Page(s): 717 - 726
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (480 KB) |  | HTML iconHTML  

    An adaptive controller for the compensation of output voltage ripple due to harmonic distortion in the input voltage is proposed for a pulse width modulated (PWM) boost converter. Following the Lyapunov approach, we designed an adaptive law to cope with uncertainties in the disturbance signals and parameters. Complexity of the proposed controller is reduced by rotations which transform the adaptive terms into a sum of resonant filters tuned at the frequencies of the harmonics under compensation, and operating on the output voltage error. To facilitate the implementation, we have tried to preserve the structure of the proposed controller as close as possible to the conventional one, which includes a voltage outer loop (basically a proportional plus integral (PI) control on the output voltage error) and an inner control loop (basically a proportional control plus a feedforward term). In the proposed controller, the bank of resonant filters appears as a refinement term added to the inner control loop. Indeed, they insert notches in the audio-susceptibility curve, which are tuned at the harmonics under compensation. Thus, in addition to the benefits of a conventional feedforward PWM control, the bank of resonant filters are able to cancel selected harmonics. Experimental results on a boost converter board, using a poorly regulated voltage source, are presented to assess the performance of our approach. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Application of multiple-model adaptive control strategy for robust damping of interarea oscillations in power system

    Publication Year: 2004 , Page(s): 727 - 736
    Cited by:  Papers (27)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (400 KB) |  | HTML iconHTML  

    This paper demonstrates the application of multiple-model adaptive control (MMAC) strategy for robust damping of low-frequency electromechanical oscillation in an interconnected power system. The control algorithm uses a model-based approach to account for the variability and uncertainty involved in the postdisturbance dynamics of the system. Conventional proportional-integral-derivative (PID) controllers are tuned to achieve the desired performance for each of these models. Using a Bayesian approach, the probability of each model representing the actual power system response is computed in each iteration. The resultant control action is derived as a probability-weighted average of the individual control moves of the controllers. This strategy has been used to design and test a damping controller for a thyristor controlled series compensator (TCSC) device installed in a prototype power system. The control scheme worked satisfactorily following possible disturbances without any prior knowledge about the specific postdisturbance dynamics. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Drive-by-wire control of automotive driveline oscillations by response surface methodology

    Publication Year: 2004 , Page(s): 737 - 741
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (168 KB) |  | HTML iconHTML  

    The first torsional mode (otherwise known as "shuffle" mode) of automotive drivelines is excited by engine torque transients and is typically around 2-5 Hz. The effect is particularly severe during step changes from the throttle pedal ("tip-in" or "tip-out"). Shuffle is manifest as a low-frequency longtitudinal acceleration oscillation which, if of sufficient magnitude, leads to driver discomfort. This brief examines the control of this aspect of "driveability" (the error between expected vehicle response and actual vehicle response to an arbitary control input) using feedforward control. The overriding principle to be obtained in this examination is the assessment of electronic throttle control in the context of rapid prototyping. The response surface methodology is adopted to achieve this goal. The potential of the electronic throttle for launch control is analyzed and investigated experimentally, confirming its effectiveness in controlling the first torsional mode. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of feedforward filters for improving tracking performances of existing feedback control systems

    Publication Year: 2004 , Page(s): 742 - 749
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    A design procedure for feedforward filters is proposed to improve the tracking performance of existing closed-loop systems. A parametric model is not required because it directly utilizes the frequency response of the closed-loop system, which can be measured accurately. This frequency-shaping approach enables the tradeoff between the quality of model-matching and the size of control efforts by adjusting weighting filters. Time domain specifications can be specified indirectly by approximating them in the frequency domain. The procedure is intuitively simple for SISO systems. Generalization for MIMO systems is possible by formulating convex optimization problems. A feedforward filter is designed and implemented on a nanopositioning system for semiconductor manufacturing, to improve its transient response. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Kalman filter-based maximum a posteriori probability detection of boiling water reactor stability

    Publication Year: 2004 , Page(s): 750 - 756
    Cited by:  Papers (1)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (232 KB) |  | HTML iconHTML  

    A diagnostic system has been developed to determine the global system stability characteristics of an operating boiling water reactor (BWR) using the average power range monitor (APRM) signal as an input. A Kalman filter-based monitor is used to identify the stability characteristics of a BWR using an "M-ary" hypothesis testing scheme. Each hypothesis, i.e., system model with slightly different stability characteristics, is represented by one of several Kalman filters operating in parallel. In addition to calculating the current estimate of the system's states, the monitor also produces the a posteriori probability that each filter calculates an accurate state vector estimate given the measurements. The best estimate of the system stability corresponds to the Kalman filter producing the maximum a posteriori probability (MAP). Results suggest that a significant time savings, when compared to stability diagnoses performed via a more established technique (autoregressive modeling) requiring 30 min to 1 h worth of data, can be obtained using the MAP BWR stability monitor. MAP monitor diagnoses are typically performed in 20 to 30 s. Thus, the MAP monitor represents a novel approach for the detection of BWR instabilities. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Flexure control of a positioning system using piezoelectric transducers

    Publication Year: 2004 , Page(s): 757 - 762
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (296 KB) |  | HTML iconHTML  

    This brief addresses the control problem of a structurally flexible positioning system by utilizing transducers made of Lead (Pb) Zirconate Titanate (PZT), commonly referred to as piezoelectric transducers, to act as actuator and sensor elements. The system possesses nonlinear dynamics and undesirable characteristics such as friction. The placement of PZT actuators on the flexible structure is studied and a nonlinear tracking control scheme augmented with a friction compensation term is developed. Experimental results are presented which illustrate the effectiveness of the control algorithm and improved performance of the controller as compared to the case where no secondary actuation is used. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Reconfigurable robot teams: modeling and supervisory control

    Publication Year: 2004 , Page(s): 763 - 769
    Cited by:  Papers (8)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB) |  | HTML iconHTML  

    Teams of land-based, airborne, or submerged robots constitute a new breed of robotic systems for which the issue of controlled behavior arises naturally. In this brief, we model the dynamics of the robot team in the discrete-event system (DES) framework and design a reconfigurable system that can handle situations in which robot units may switch offline. In particular, we exploit the dichotomy between controllable and uncontrollable behavior to synthesize a supervisor using only controllable events, but also one whose structure adapts to uncontrollable events. This brief presents a novel method based on learning and verification for restoring supervision as well as behavioral assurance of the team. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties

    Publication Year: 2004 , Page(s): 770 - 775
    Cited by:  Papers (53)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB) |  | HTML iconHTML  

    An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Min-max predictive control of a heat exchanger using a neural network solver

    Publication Year: 2004 , Page(s): 776 - 786
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (464 KB) |  | HTML iconHTML  

    Min-max model predictive controllers (MMMPC) have been proposed for the control of linear plants subject to bounded uncertainties. The implementation of MMMPC suffers a large computational burden due to the numerical optimization problem that has to be solved at every sampling time. This fact severely limits the class of processes in which this control is suitable. In this brief, the use of a neural network (NN) to approximate the solution of the min-max problem is proposed. The number of inputs of the NN is determined by the order and time delay of the model together with the control horizon. For large time delays the number of inputs can be prohibitive. A modification to the basic formulation is proposed in order to avoid this latter problem. Simulation and experimental results are given using a heat exchanger. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • On the synchronization of a pair of independent windshield wipers

    Publication Year: 2004 , Page(s): 787 - 795
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (536 KB) |  | HTML iconHTML  

    This brief deals with the synchronization of a pair of windshield wipers in opposition, each one driven by its own independent motor. Here, the traditional rigid mechanical coupling driven by a single almost constant speed motor has been removed for the sake of weight and space. Therefore, collision avoidance and reference trajectory tracking must be guaranteed by feedback and synchronization. Collision free reference trajectories and a PID output feedback are designed using flatness and pole placement. Synchronization is obtained by clock control, i.e., delaying the reference trajectory of the following wiper when the leader is behind its reference trajectory. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • IEEE Member Digital Library [advertisement]

    Publication Year: 2004 , Page(s): 796
    Save to Project icon | Request Permissions | PDF file iconPDF (179 KB)  
    Freely Available from IEEE
  • IEEE Transactions on Control Systems Technology Information for authors

    Publication Year: 2004 , Page(s): c3
    Save to Project icon | Request Permissions | PDF file iconPDF (37 KB)  
    Freely Available from IEEE
  • Blank page [back cover]

    Publication Year: 2004 , Page(s): c4
    Save to Project icon | Request Permissions | PDF file iconPDF (2 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