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Control Systems Technology, IEEE Transactions on

Issue 1 • Date Jan. 2008

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Displaying Results 1 - 25 of 27
  • Table of contents

    Publication Year: 2008 , Page(s): C1 - C4
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  • IEEE Transactions on Control Systems Technology publication information

    Publication Year: 2008 , Page(s): C2
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  • Editorial

    Publication Year: 2008 , Page(s): 1
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  • 2007 IEEE Transactions on Control Systems Technology Outstanding Paper Award

    Publication Year: 2008 , Page(s): 2
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  • Model Predictive Control Applied to Constraint Handling in Active Noise and Vibration Control

    Publication Year: 2008 , Page(s): 3 - 12
    Cited by:  Papers (30)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (921 KB) |  | HTML iconHTML  

    The difficulties imposed by actuator limitations in a range of active vibration and noise control problems are well recognized. This paper proposes and examines a new approach of employing model predictive control (MPC). MPC permits limitations on allowable control action to be explicitly included in the computation of an optimal control action. Such techniques have been widely and successfully applied in many other areas. However, due to the relatively high computational requirements of MPC, existing applications have been limited to systems with slow dynamics. This paper illustrates that MPC can be implemented on inexpensive hardware at high sampling rates using traditional online quadratic programming methods for nontrivial models and with significant control performance dividends. View full abstract»

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  • Maglev Apparatus for Power Minimization and Control of Artificial Hearts

    Publication Year: 2008 , Page(s): 13 - 18
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1215 KB) |  | HTML iconHTML  

    This project is directed at the third generation of heart pumps being developed in commercial research laboratories which employ feedback-controlled magnetically levitated pump impellers. Unique features of the control problem are the quasi-periodic pressure disturbances of the natural heart and nonlinearities of the magnetic levitation system. The main motivation for this paper is the power consumption due to quasi-periodic disturbance of natural heart. Since clinical studies are not possible for the vast majority of our work, there is a need for an apparatus to simulate the left ventricular assist device (LVAD) for controller design. Inspired by this need, we design a novel experimental apparatus to study the Maglev LAVDs. We develop a nonlinear model, then a linearized model followed by simulation and stabilization of the closed-loop system using a virtual zero power (VZP) controller. View full abstract»

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  • Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    Publication Year: 2008 , Page(s): 19 - 33
    Cited by:  Papers (33)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1967 KB) |  | HTML iconHTML  

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory. View full abstract»

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  • Coordinate Control of Energy Saving Programmable Valves

    Publication Year: 2008 , Page(s): 34 - 45
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (976 KB) |  | HTML iconHTML  

    As applications of electro-hydraulic systems become increasingly widespread, the demand for low cost, high-level control performance and significant energy saving schemes gets stronger and stronger. The recently developed energy-saving programmable valves, a unique configuration of five independently controlled poppet type cartridge valves, provide hardware possibility to meet the demand. Preliminary research work has shown that the program valves' increased flexibility and controllability lead to significant energy-saving, due to the reduced working pressures of the hydraulic actuators and the full use of free regeneration cross-port flows. However, the increased hardware flexibility also results in increased complexity in controlling the system: for each system, instead of one control input to be synthesized to meet the sole objective of control performance, five control inputs have to be simultaneously determined for all five poppet valves to achieve the dual objectives of both high precision control performance and significant energy saving. This paper proposes a two-level coordinated control scheme: the task-level configures the valve usage for maximal energy saving and the valve-level utilizes adaptive robust control (ARC) technique to guarantee the closed-loop system stability and performance under various model uncertainties and disturbances. Comparative experimental results were obtained to show the high precision control performance and significant energy saving achieved with the proposed low-cost programmable valves. View full abstract»

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  • Performance Analysis of Digital Flight Control Systems With Rollback Error Recovery Subject to Simulated Neutron-Induced Upsets

    Publication Year: 2008 , Page(s): 46 - 59
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1288 KB) |  | HTML iconHTML  

    This paper introduces a class of stochastic hybrid models for the analysis of closed-loop control systems implemented with NASA's Recoverable Computer System (RCS). Such systems have been proposed to ensure reliable control performance in harsh environments. The stochastic hybrid model consists of a stochastic finite-state automaton driven by a Markov input process, which in turn drives a switched linear discrete-time dynamical system. Stability and output tracking performance are analyzed using an extension of the existing theory for Markov jump-linear systems. The theory is then applied to predict the tracking error performance of a Boeing 737 at cruising altitude and in closed-loop with an RCS subject to neutron-induced single-event upsets. The results are validated using experimental data obtained from a simulated neutron environment in NASA's SAFETI Laboratory. View full abstract»

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  • An Adaptive Optimal Control Design for a Bolus Chasing Computed Tomography Angiography

    Publication Year: 2008 , Page(s): 60 - 69
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1365 KB) |  | HTML iconHTML  

    To improve imaging quality and to reduce contrast dose and radiation exposure, an optimal adaptive bolus chasing controller is proposed and tested based on actual patient data. The controller estimates and predicts the unknown 2D bolus density online and then determines the optimal control actions. Tracking errors are mathematically quantified in terms of estimation errors. The test results not only support the analytical analysis and exhibit its superior performance over the current constant-speed controller, but also demonstrate the clinical feasibility. View full abstract»

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  • An Analysis of the Effects of Closed-Loop Commutation Delay on Stepper Motor Control and Application to Parameter Estimation

    Publication Year: 2008 , Page(s): 70 - 77
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (706 KB) |  | HTML iconHTML  

    The purpose of this brief is to call attention to a phenomenon that is observed when a closed-loop commutation delay is present in stepper motor control applications especially involving high-speed precision motors, e.g., precision assembly, wafer probing, coordinate measuring machines. Commutation is a popular technique used to feedback linearize the mechanical dynamics of a stepper motor by generating phase currents based on the sine and cosine of the relative position within a toothpitch. In the presence of a time delay in the closed loop, the feedback linearization is not exact and a residual term depending on incremental position remains in the closed-loop dynamics. In this brief, we show that a time delay in the closed loop results in two dynamical phenomena, viz., introduction of multiple solution trajectories with sensitive dependence on initial conditions (possibly yielding steady-state velocities with opposite signs) and saturation of velocity. We also show that these phenomena can be exploited to estimate parameters such as closed-loop delay, sensor offset, and toothpitch of the motor. View full abstract»

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  • NARX-Based Nonlinear System Identification Using Orthogonal Least Squares Basis Hunting

    Publication Year: 2008 , Page(s): 78 - 84
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (294 KB) |  | HTML iconHTML  

    An orthogonal least squares technique for basis hunting (OLS-BH) is proposed to construct sparse radial basis function (RBF) models for NARX-type nonlinear systems. Unlike most of the existing RBF or kernel modelling methods, which places the RBF or kernel centers at the training input data points and use a fixed common variance for all the regressors, the proposed OLS-BH technique tunes the RBF center and diagonal covariance matrix of individual regressor by minimizing the training mean square error. An efficient optimization method is adopted for this basis hunting to select regressors in an orthogonal forward selection procedure. Experimental results obtained using this OLS-BH technique demonstrate that it offers a state-of-the-art method for constructing parsimonious RBF models with excellent generalization performance. View full abstract»

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  • A Differential Game Approach to Formation Control

    Publication Year: 2008 , Page(s): 85 - 93
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (278 KB) |  | HTML iconHTML  

    This paper presents a differential game approach to formation control of mobile robots. The formation control is formulated as a linear-quadratic Nash differential game through the use of graph theory. Finite horizon cost function is discussed under the open-loop information structure. An open-loop Nash equilibrium solution is investigated by establishing existence and stability conditions of the solutions of coupled (asymmetrical) Riccati differential equations. Based on the finite horizon open-loop Nash equilibrium solution, a receding horizon approach is adopted to synthesize a state-feedback controller for the formation control. Mobile robots with double integrator dynamics are used in the formation control simulation. Simulation results are provided to justify the models and solutions. View full abstract»

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  • Matched Feedforward/Model Reference Control of a High Precision Robot With Dead-Zone

    Publication Year: 2008 , Page(s): 94 - 102
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1769 KB) |  | HTML iconHTML  

    A matched feedforward/model reference control is proposed in this brief to improve the transient characteristics of systems with uncertain parasitic nonlinearities. In particular, attention is focused on a New England Affiliated Technologies (NEAT) four-axis positioning system which is designed for high-precision applications. Due to the presence of a dead-zone with variable boundaries in this robot, most conventional methods tend to produce unacceptable transients or steady-state errors. The proposed control method is analyzed for its properties and subsequently implemented on the NEAT robot for experimental verifications. It is observed that the matched feedforward/model reference control method is effective while robust to plant and dead-zone boundary uncertainties. View full abstract»

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  • Sensitivity-Based Hierarchical Controller Architectures for Active Suspension

    Publication Year: 2008 , Page(s): 103 - 112
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (634 KB) |  | HTML iconHTML  

    In this brief, a sensitivity analysis of hierarchical fuzzy system (HFS) is conducted, allowing a sensitivity order of controller inputs to be established and used in a hierarchical fuzzy system inputs placement process. The frequency response analysis method is used to analyze the sensitivity of the controller output with respect to perturbation. This sensitivity knowledge thus constitutes a platform on which three different designs of HFS are investigated. An automotive active suspension system is chosen as an application for the HFS models for performance verification purposes. The simulation results are provided and discussed in this brief. View full abstract»

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  • Objective Prioritization Using Lexicographic Minimizers for MPC of Sewer Networks

    Publication Year: 2008 , Page(s): 113 - 121
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (598 KB) |  | HTML iconHTML  

    In this brief, objective prioritization of multiobjective cost functions using the lexicographic approach is applied in the model predictive control (MPC) framework of sewer networks. Using the lexicographic approach, the control problem solution can be obtained by solving a sequence of single objective, constrained, convex programming problems. This brief demonstrates with an elaborated case study treating a portion of the Barcelona sewer network, that important improvements can be achieved in performance using lexicographic optimization. At the same time, costly commissioning and implementation efforts related to the traditional weight based approach for implementation of priorities are avoided. View full abstract»

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  • Nonlinear PCA With the Local Approach for Diesel Engine Fault Detection and Diagnosis

    Publication Year: 2008 , Page(s): 122 - 129
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (779 KB) |  | HTML iconHTML  

    This brief examines the application of nonlinear statistical process control to the detection and diagnosis of faults in automotive engines. In this statistical framework, the computed score variables may have a complicated nonparametric distribution function, which hampers statistical inference, notably for fault detection and diagnosis. This brief shows that introducing the statistical local approach into nonlinear statistical process control produces statistics that follow a normal distribution, thereby enabling a simple statistical inference for fault detection. Further, for fault diagnosis, this brief introduces a compensation scheme that approximates the fault condition signature. Experimental results from a Volkswagen 1.9-L turbo-charged diesel engine are included. View full abstract»

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  • Modeling and Control of a Manufacturing Flow Line Using Partial Differential Equations

    Publication Year: 2008 , Page(s): 130 - 136
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (264 KB) |  | HTML iconHTML  

    This brief deals with a control framework for manufacturing flow lines. For this framework, a continuous approximation model of the manufacturing system is required, which is computationally feasible and able to accurately describe the dynamics of the system (both throughput and flow time). Often used models, such as discrete-event models and flow models, fail to meet these specifications: the use of discrete-event models may lead to intractably large control problems, while flow models do not accurately describe the system dynamics. Therefore, we consider here a relatively new class of models for the description of manufacturing flow lines, namely partial differential equation (PDE)-models, which seems to meet the required specifications. However, for the few ldquomanufacturingrdquo PDE-models that have been introduced in literature so far, the accuracy has not been validated yet. In this brief, we, therefore, present a validation study on three of these PDE-models available from literature, which shows that there is a need for more accurate PDE-models. Furthermore, we propose to use one of these PDE-models for the design of a model predictive controller (MPC-controller), which is to be applied in closed loop with a discrete-event manufacturing flow line. For two considered tracking problems, the resulting MPC-controller is shown to outperform a classical push strategy. View full abstract»

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  • A Novel Robust Nonlinear Motion Controller With Disturbance Observer

    Publication Year: 2008 , Page(s): 137 - 147
    Cited by:  Papers (30)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (971 KB) |  | HTML iconHTML  

    In this brief, a novel robust nonlinear motion controller with disturbance observer (DOB) for positioning control of a nonlinear single-input-single-output (SISO) mechanical system is proposed. The controller is designed in a backstepping manner. First, a proportional-integral (PI) controller is designed to stabilize the position error. Consequently, a novel robust nonlinear velocity controller with DOB is designed to stabilize the velocity error. With the help of nonlinear damping terms, the input-to-state stability (ISS) property of the overall nonlinear control system is proven, which leads to a major contribution of construction of a theoretically guaranteed robust nonlinear controller with DOB. The performance of the proposed controller is verified through application to a magnetic levitation system. Comparative studies with an adaptive robust nonlinear controller are also carried out. It is shown that the proposed novel controller while being simple is superior over the adaptive robust nonlinear controller for the experimental setup under study. View full abstract»

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  • Modeling and Micro-Radian Precision Pointing of a Flexible Manipulator With the Existence of Static Friction

    Publication Year: 2008 , Page(s): 148 - 157
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (931 KB) |  | HTML iconHTML  

    Controlling flexible structures has been considered as a well-developed topic in the control field. In this topic, vibration suppression and line-of-sight (LOS) pointing are two of the main research issues. Unfortunately, among all works reported, only a few have really achieved high levels of pointing precision. This is mainly because friction, especially static friction, is hard to deal with. In this research, the LOS control of the flexible beam of a standard hub-beam system is studied. The precision required is 1 s-1. Instead of treating friction as an external noise and trying to compensate for it, the friction phenomenon is represented by a linear spring and is included as part of the system model when the hub sticks. This is, in fact, a good approximation of the hysteretic friction behavior in the presliding phase if the spring stiffness is appropriately chosen. This modification greatly enhances the fidelity of the system model. What is more important is that it makes active controls still available in the stick phase to facilitate the fine tuning of the pointing error. Based on this modified model, it is then not hard to synthesize traditional proportional-integral-derivative and linear quadratic Gaussian controls to get LOS pointing with microradian precision. View full abstract»

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  • Design and Practical Implementation of Internet-Based Predictive Control of a Servo System

    Publication Year: 2008 , Page(s): 158 - 168
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1003 KB) |  | HTML iconHTML  

    This brief discusses the design and practical implementation of an Internet-based predictive control strategy. This novel control strategy can compensate for the random network delay and data dropout in an active way. In order to test the performance of the proposed control scheme, the offline simulation and practical implementation of an Internet-based servo control system are carried out. At the same time, the stability of the control scheme is also studied. The simulation and experimental results illustrate the feasibility and efficiency of the proposed Internet-based predictive control scheme. View full abstract»

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  • A Full Envelope Small Commercial Aircraft Flight Control Design Using Multivariable Proportional-Integral Control

    Publication Year: 2008 , Page(s): 169 - 176
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (352 KB) |  | HTML iconHTML  

    This brief deals with the application of linear parameter varying control concepts to the design of a full envelope flight control system for commercial aircrafts. The proposed controller is fixed to have a multivariable proportional-integral structure. A linear matrix inequalities-based technique is proposed to account for variations both in the reference model and in the plant. Some numerical simulations show the effectiveness of the proposed technique all over the aircraft operating envelope. View full abstract»

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  • H2 Control for Head Positioning in Axial and Radial Dimensions for Self-Servo Track Writing

    Publication Year: 2008 , Page(s): 177 - 181
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (261 KB) |  | HTML iconHTML  

    The self-servo track writing (SSTW) process for hard disk drives (HDDs) consists of axial (or time) and radial (or track) dimensions and is described by using a 2-D model. Within the 2-D system framework, the error propagation containment problem of the SSTW is formulated as a 2-D stabilization problem, and the position error minimization problem is formulated as a 2-D H control problem. The adopted 2-D controller is designed with the easily implemented linear matrix inequality (LMI) approach. With the stored error information of the preceding track, the 2-D control scheme is realizable. The simulation results demonstrate that the error propagation is prevented by the 2-D control scheme and the positioning accuracy is remarkably improved by the 2-D H control scheme. Also, servo performance is evaluated with the 1-D controller in time dimension, obtained from the designed 2-D controller. View full abstract»

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  • Autotune Identification via the Locus of a Perturbed Relay System Approach

    Publication Year: 2008 , Page(s): 182 - 185
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (150 KB) |  | HTML iconHTML  

    A methodology of the first-order plus dead time process transfer function identification based on the measurement of the locus of a perturbed relay system from a single relay feedback test is proposed. Simple analytical formulas and rules that do not require iterative calculations and are suitable for the use within distributed control systems or stand-alone proportional-integral-differential controllers are obtained for this process model. View full abstract»

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  • Order form for reprints

    Publication Year: 2008 , Page(s): 186
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    Freely Available from IEEE

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