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IEE Proceedings - Control Theory and Applications

Issue 5 • Sep 1995

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Displaying Results 1 - 16 of 16
  • Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing

    Publication Year: 1995, Page(s):508 - 514
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (516 KB)

    The authors have redesigned a previously developed robust tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically induced by harmonic drive gearing. A more realistic, and consequently more complex model for the torque transmission dynamics which includes frictional losses, kinematic error and nonlinear compliance is utilised. The stability r... View full abstract»

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  • Adaptive control of discrete systems using neural networks

    Publication Year: 1995, Page(s):526 - 528
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (132 KB)

    Etxebarria (1994) has presented a simple adaptive control scheme for discrete systems using two linear two-layered neural networks. Specifically, one of these networks is used to learn online the dynamics of the unknown plant using the Widrow-Hoff delta rule. The other network uses this learning to adjust its connection weights and to generate the control signal. Etxebarria has proven that the res... View full abstract»

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  • Efficient pole placement technique for linear time-variant SISO systems

    Publication Year: 1995, Page(s):451 - 458
    Cited by:  Papers (9)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (452 KB)

    The paper deals with the transformation of linear single-input/single-output (SISO) systems into Frobenius canonical form of which the ultimate objective is to achieve a new and computationally efficient methodology towards a desired pole placement. The classical formula of Ackermann is generalised for both time-invariant and time-varying systems as a result of this study. The advantage of the pro... View full abstract»

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  • BPD computation and model reference adaptive control (MRAC) of Hammerstein plants

    Publication Year: 1995, Page(s):475 - 485
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (668 KB)

    A large class of control strategies relies on computation of the output gradient vector. Recently the concept of block partial derivatives (BPD) and the associated algebra have been introduced to facilitate the computation of the gradient vector in nonlinear systems. The derivation presented in that reference, however, cannot easily be applied to control plants with known structure. In this paper,... View full abstract»

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  • Functional diagnosis and prescription of measurements using effort and flow variables

    Publication Year: 1995, Page(s):420 - 432
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (1052 KB)

    The paper proposes an approach to functional reasoning for diagnosis, based on an ontology that is aimed at providing a more formal physical foundation to functional knowledge. The approach (called FDef, i.e. functional diagnosis with efforts and flows) is analysed from several perspectives: reasoning strategy, modelling, formalisation of the reasoning activities and of the entities involved, arch... View full abstract»

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  • Model-based compensation and comparison of neural network controllers for uncertainties of robotic arms

    Publication Year: 1995, Page(s):501 - 507
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (504 KB)

    The paper proposes a decentralised compensation scheme for unstructured uncertainties and modelling errors of robotic manipulators. The scheme employs a central decoupler and independent joint neural network controllers. Recursive Newton Euler formulae are used to decouple robot dynamics to obtain a set of equations in terms of the input and output of each joint. To identify and suppress the effec... View full abstract»

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  • Polynomial solution of the standard H control problem for strip mill gauge control

    Publication Year: 1995, Page(s):515 - 525
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (592 KB)

    A solution to the standard H optimal control problem is presented which is particularly useful in machine control applications where the output to be controlled is different from the signal for feedback. The solution is obtained in polynomial form and the plant structure which is assumed represents a range of applications in the manufacturing and process industries. The results a... View full abstract»

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  • Centralised integration of multisensor noisy and fuzzy data

    Publication Year: 1995, Page(s):459 - 465
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (364 KB)

    The paper discusses centralised integration of multisensor noisy and fuzzy data, which employs both Kalman filtering and fuzzy arithmetic. Because of the property of fuzzy arithmetic, the parameter fuzziness in a system under extended operation will increase without limit and finally reach an unacceptable range. Hong and Wang adopted a new compression technique to solve this problem. This paper ex... View full abstract»

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  • DSP based integral variable structure control for DC motor servo drivers

    Publication Year: 1995, Page(s):444 - 450
    Cited by:  Papers (19)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (292 KB)

    The design and implementation of a DSP microprocessor based DC motor servo driver are presented. The integral variable structure control (IVSC) approach is proposed for the outer loop of the driven system. Conditions are derived which ensure the existence of a nonideal sliding motion for the IVSC approach and also prove that the described motion in the nonideal sliding region will be close to the ... View full abstract»

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  • Variable structure based decentralised adaptive control

    Publication Year: 1995, Page(s):439 - 443
    Cited by:  Papers (11)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (284 KB)

    A new scheme for decentralised adaptive control is proposed. This scheme is based on a variable structure adaptive controller and a proportional controller. The adaptive variable structure component of this scheme is used to compensate uncertain interconnections among the subsystems and to ensure global stability of the overall system. The design of the adaptive controller is totally model free. T... View full abstract»

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  • Adaptive control of dominant time delay systems via polynomial identification

    Publication Year: 1995, Page(s):433 - 438
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (308 KB)

    An adaptive algorithm for controlling systems with dominant time delay is presented. The algorithm is derived by integration of Hagglund's predictive PI (PIP) controller with the online polynomial identification algorithm. For the purpose of identification and control, the system under control is modelled by a first-order with delay model and its parameters, including the time delay, are identifie... View full abstract»

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  • Digital control system design for a unique nonlinear MIMO process using QFT technique

    Publication Year: 1995, Page(s):466 - 474
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (584 KB)

    A 19-input, 106-output thermal process is closed-loop-stabilised to meet time- and frequency-domain performance criteria. A unique nonlinear process modelling technique is used to transform several nonmeasurable process parameters into two `state-dependent linear variables' (gain and dominant pole location) with quantified uncertainty. A linear equivalent model set with quantified uncertainty is a... View full abstract»

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  • Robust control of series parallel resonant converters

    Publication Year: 1995, Page(s):401 - 410
    Cited by:  Papers (11)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (448 KB)

    A robust controller is designed for the series parallel resonant DC/DC converter based on the linear quadratic Gaussian/loop transfer recovery (LQG/LTR) methodology. The controller structure, comprising a servo-compensator with an internal model, reference state observer, plant and disturbance state observer, ensures tracking of the reference voltage and rejection of system disturbances. The contr... View full abstract»

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  • Network-growth approach to design of feedforward neural networks

    Publication Year: 1995, Page(s):486 - 492
    Cited by:  Papers (8)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (488 KB)

    A critical issue in applying the multilayer feedforward networks is the need to predetermine an appropriate network size for the problem being solved. A network-growth approach is pursued to address the problems concurrently and a progressive-training (PT) algorithm is proposed. The algorithm starts training with a one-hidden-node network and a one-pattern training subset. The training subset is t... View full abstract»

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  • Variable-speed drives incorporating interacting multiloop adaptive controllers

    Publication Year: 1995, Page(s):411 - 419
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (552 KB)

    A detailed design procedure for multiloop adaptive controllers for a DC drive is presented. Details of the main features of a partitioned-estimator identification scheme, the controller structure and the pole-placement design procedure are discussed. Results are presented for both twin- and triple-loop adaptive controller configurations. Drive responses obtained with the twin-loop configuration ar... View full abstract»

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  • Neural-network-based near-time-optimal position control method for DC motor servosystems

    Publication Year: 1995, Page(s):493 - 500
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (536 KB)

    The paper considers the development and implementation of a near-time-optimal neural-network-based position control method for DC motor servosystems. To bypass the difficulties caused by system constraints and modelling uncertainties, the paper uses classification neural networks to learn the time-optimal control law from experimentally generated near-time-optimal trajectories. In addition, by usi... View full abstract»

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