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Control Systems, IEEE

Issue 2 • Date Feb. 1991

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Displaying Results 1 - 7 of 7
  • A unified teleoperated-autonomous dual-arm robotic system

    Publication Year: 1991 , Page(s): 3 - 8
    Cited by:  Papers (11)  |  Patents (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (680 KB)  

    A description is given of a complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The mu... View full abstract»

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  • Dynamics of the walking stick insect

    Publication Year: 1991 , Page(s): 9 - 13
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (376 KB)  

    The gait dynamics of the walking stick insect (Carausius morosus) is investigated in order to gain insight into the biological constructional conception of walking as a basis for future technical developments. The insect is modeled by a rigid multibody system consisting of 19 bodies (one central body and six legs with three segments each) and forming multiple closed kinematic chains corresponding ... View full abstract»

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  • An object-oriented environment for robot system architectures

    Publication Year: 1991 , Page(s): 14 - 23
    Cited by:  Papers (22)  |  Patents (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (951 KB)  

    The object-oriented Robot Independent Programming Environment (RIPE), which is being used for the rapid design and implementation of a variety of applications, is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed... View full abstract»

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  • Survey of robust control for rigid robots

    Publication Year: 1991 , Page(s): 24 - 30
    Cited by:  Papers (117)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (650 KB)  

    Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.<> View full abstract»

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  • An experimental study on composite control of switched reluctance motors

    Publication Year: 1991 , Page(s): 31 - 36
    Cited by:  Papers (40)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (461 KB)  

    It is shown how to supply two-time-scale nonlinear control design techniques to switched reluctance motors. A nonlinear dynamic model is developed and decomposed into separate slow and fast subsystems. A feedback control is designed so that, whenever the fast subsystem is at equilibrium, the dynamics of the slow subsystem are input-output equivalent to a second-order transfer function. The use of ... View full abstract»

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  • PC-based packages for identification, optimization, and adaptive control

    Publication Year: 1991 , Page(s): 37 - 43
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (603 KB)  

    PC-based integrated environments are proposed for identification, optimization and adaptive control of industrial processes. The identification package uses the recursive least-squares method for parameter estimation and the predictive least-squares criterion for order selection. The optimization package concerns the optimal tuning of digital PID controllers, given the discrete model of the contro... View full abstract»

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  • An introduction to sensor signal validation in redundant measurement systems

    Publication Year: 1991 , Page(s): 44 - 49
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (526 KB)  

    Some of the key concepts of sensor redundancy management are discussed and illustrated by simple examples. The focus is on redundancy management in fault detection and isolation with the emphasis on the parity space. A model of a multiply redundant measurement system is presented. The generation of residuals is considered, and the concept of parity space is explained. Failure detection, including ... View full abstract»

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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.

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Jonathan P. How
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