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IEE Proceedings D - Control Theory and Applications

Issue 4 • Date July 1989

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Displaying Results 1 - 7 of 7
  • Decentralised PD and PID robotic regulators

    Publication Year: 1989, Page(s):133 - 145
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (963 KB)

    Presents a new method of robotic manipulator control based on decentralised pole-placement feedback deduced from the computed torque method. An anticipatory action is included in the controller by ensuring subsequent desired joint positions, velocities and accelerations in the Newton-Euler equations of motion. The desired torques and the coordination parameters are computed in the first level (dis... View full abstract»

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  • Fuzzy systems identification

    Publication Year: 1989, Page(s):146 - 150
    Cited by:  Papers (13)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (438 KB)

    A general identification approach for discrete-time multi-input/single-output fuzzy systems is presented, which includes structure identification, parameter (fuzzy relation) estimation, and the associated self-learning algorithm. Zadeh's possibility distribution plays an important role in identification and the use of fuzzy models thus constructed. Numerical examples are provided which show the ad... View full abstract»

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  • Model reduction of continuous-time systems using a modified Routh approximation method

    Publication Year: 1989, Page(s):151 - 156
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (402 KB)

    A modified Routh approximation method is presented for obtaining stable reduced models of continuous-time systems. The reduced models give good approximates of the initial transient response and the steady-state response of the original system. Both the frequency-domain and time-domain reduced-order modelling procedures using the modified Routh approximants are given.<> View full abstract»

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  • General hybrid orthogonal functions and some potential applications in systems and control

    Publication Year: 1989, Page(s):157 - 163
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (566 KB)

    The system of general hybrid orthogonal functions (GHOF) is shown to be more relevant to many practical situations than the conventional systems of orthogonal functions. The proposed framework of definition combines the natural features of discontinuity of the class of piecewise-constant systems and the inherent characteristics of continuity and differentiability of the systems of continuous syste... View full abstract»

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  • Robust control of discrete systems

    Publication Year: 1989, Page(s):165 - 170
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (372 KB)

    A robust controller is designed by minimising the deviation of the frequency response of perturbed plant at selected frequencies. The plant perturbations are generated by uncertainty in the coefficients of the plant transfer function.<> View full abstract»

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  • Simplified design approach for decentralised controllers of large-scale systems

    Publication Year: 1989, Page(s):171 - 175
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (444 KB)

    In the design of decentralised controllers of large-scale systems the performance of the system is not usually good enough, sometimes the system may be unstable if all the interactions between the subsystems are neglected, while the solution of a problem of high dimension (equal to the order of the whole system) is met if the interactions are considered fully. A simplified approach is proposed, i.... View full abstract»

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  • Cost of uncertainty about controlled objects

    Publication Year: 1989, Page(s):177 - 187
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1042 KB)

    The paper aims to quantify, in terms of closed-loop performance, the cost of uncertainty about behaviour of controlled objects. Formulations are introduced to make explicit the dependence of a scalar measure of cost on how the controlled object actually behaves, on what information is available about its behaviour and on how the information is used. A by-product is the definition of two distinct c... View full abstract»

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