By Topic

IEEE Control Systems

Issue 1 • Date Feb. 1993

Filter Results

Displaying Results 1 - 8 of 8
  • Customers and controls

    Publication Year: 1993, Page(s):10 - 14
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (583 KB)

    The aerospace and automotive industries are compared, highlighting similarities. Trends in automotive control systems are examined, and the key control systems problems facing the auto industry are discussed. Customer aspects of computer control are addressed.<> View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Kinematically redundant robots with flexible components

    Publication Year: 1993, Page(s):15 - 21
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (701 KB)

    Open kinematic chain mechanisms consisting of a sequence of rigid or elastic links joined together by single-degree-of-freedom joints that may, depending on the model in question, undergo elastic deformation are considered. It is assumed that there is a base of any kinematic chain under investigation as well as tip to which a tool or end effector is attached. Several problems in planning motions f... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Performance comparison of four manipulator servo schemes

    Publication Year: 1993, Page(s):22 - 29
    Cited by:  Papers (21)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    Using experimental results on trajectory tracking performance of four servo schemes, a comparison is made of nonlinear task-level and joint-level servo schemes. Tracking performance is also compared for two other joint-level servo schemes: independent joint proportional-derivative (PD) control, and PD control with feedforward torque computations. These four algorithms are implemented on a six-degr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design and experiments for a coupled tendon-driven manipulator

    Publication Year: 1993, Page(s):30 - 36
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (755 KB)

    The authors describe the operation of a tendon-driven manipulator, the CT ARM-I, which has a tendon traction force transmission mechanism in which the pair of tendons that drive a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism makes the most of the coupled drive function of the tendon traction forces and thus enables the lightweight manipulator to e... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Insect-like microrobots with external skeletons

    Publication Year: 1993, Page(s):37 - 41
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (710 KB)

    A microrobot with an external skeleton like that of an insect is proposed. The microrobot can be implemented using rigid plates and elastic joints. A large scale model consisting of plastic plates, springs and solenoids is shown to demonstrate its motion. Several microsized models have been built on silicon wafers, using polysilicon as rigid plates and polyimide as elastic joints.<> View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Sliding mode and classical controllers in magnetic levitation systems

    Publication Year: 1993, Page(s):42 - 48
    Cited by:  Papers (84)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (734 KB)

    An experimental comparison is made between a sliding-mode controller and a classical controller for stabilizing and commanding a magnetic levitation system. The sliding-mode method can be applied to a nonlinear system in the global sense, and the issues of performance and robustness to modeling uncertainties and disturbances can be directly incorporated in the design as tradeoff parameters.<> View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Adaptive control of an arc welding process

    Publication Year: 1993, Page(s):49 - 53
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (434 KB)

    A pseudogradient adaptive algorithm is successfully applied to self-tune a proportional-integral (PI) puddle-width controller for consumable-electrode gas metal arc welding. The gradient of the output with respect to the controller parameters is approximated and used to form a steepest-descent algorithm to minimize the squared output error. Experimental data confirming the algorithm performance ar... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modified root locus plots for SISO systems with time delay

    Publication Year: 1993, Page(s):54 - 56
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (311 KB)

    The use of modified root locus plots in the assessment of the robustness of closed-loop systems with respect to phase lag is examined. It is suggested that the use of a pure time delay in series with the nominal open-loop transfer function provides a natural model of an important way in which modeling error arises. A modified root locus plot depicting the variation of closed-loop pole magnitudes a... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

Aims & Scope

As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Jonathan P. How
jhow@mit.edu