Dépouillements

Commutational output feedback control for disk drive ramp loading / Ryan T. Ratliff in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Titre : Commutational output feedback control for disk drive ramp loading Type de document : texte imprimé Auteurs : Ryan T. Ratliff, Auteur ; Pagilla, Prabhakar R., Auteur Année de publication : 2008 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  equipment;  stress;  trajectories  (physics);  actuators;  design;  disks;  feedback;  dynamics  (mechanics);  torque;  friction Résumé : The feasibility of a ramp load controller using a conventional disk drive actuator is investigated. The controller eliminates the necessity of increased material requirements common in ramp load disk drives. Therefore, disk drives with lower cost, higher performance actuators can realize the linear shock protection benefits of ramp loading. A disk drive designed with a conventional actuator is outfitted with a ramp and optimized for ramp load operation. While on the ramp, there exists a set in the state space where the actuator dynamics are uncontrollable. An input commutation is required within the uncontrollable region to sustain the direction of actuator motion. Additionally, the motor torque factor, magnetic restoration bias, and friction torque are nonlinear and can be represented by functions that are Lipschitz within the actuator ramp angle. A state trajectory is generated that, when tracked, moves the actuator through the uncontrollable set for a successful load onto the disk at the desired load velocity. Because position and velocity information are not available during a load maneuver, an output feedback controller is necessary. A stable, output feedback tracking controller is designed to track the trajectory and handle the nonlinear effects. A unique disk drive is manufactured and experiments are performed to verify the complete ramp loading design strategy. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Commutational output feedback control for disk drive ramp loading [texte imprimé] / Ryan T. Ratliff, Auteur ; Pagilla, Prabhakar R., Auteur . - 2008 . - 10 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Mots-clés : control  equipment;  stress;  trajectories  (physics);  actuators;  design;  disks;  feedback;  dynamics  (mechanics);  torque;  friction Résumé : The feasibility of a ramp load controller using a conventional disk drive actuator is investigated. The controller eliminates the necessity of increased material requirements common in ramp load disk drives. Therefore, disk drives with lower cost, higher performance actuators can realize the linear shock protection benefits of ramp loading. A disk drive designed with a conventional actuator is outfitted with a ramp and optimized for ramp load operation. While on the ramp, there exists a set in the state space where the actuator dynamics are uncontrollable. An input commutation is required within the uncontrollable region to sustain the direction of actuator motion. Additionally, the motor torque factor, magnetic restoration bias, and friction torque are nonlinear and can be represented by functions that are Lipschitz within the actuator ramp angle. A state trajectory is generated that, when tracked, moves the actuator through the uncontrollable set for a successful load onto the disk at the desired load velocity. Because position and velocity information are not available during a load maneuver, an output feedback controller is necessary. A stable, output feedback tracking controller is designed to track the trajectory and handle the nonlinear effects. A unique disk drive is manufactured and experiments are performed to verify the complete ramp loading design strategy. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Spatially periodic disturbance rejection with spatially sampled robust repetitive control / Cheng-Lun Chen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Titre : Spatially periodic disturbance rejection with spatially sampled robust repetitive control Type de document : texte imprimé Auteurs : Cheng-Lun Chen, Auteur ; George T.-C. Chiu, Auteur Année de publication : 2008 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : actuators;  design;  displacement;  control  equipment;  gain  scheduling;  signals;  uncertainty Résumé : Repetitive controllers have been shown to be effective for tracking periodic reference commands or for rejecting periodic disturbances. Typical repetitive controllers are synthesized in temporal domain where the periods of the reference or disturbance signals are assumed to be known and stationary. For periodic references and disturbances with varying periods, researchers usually resort to adaptive and robust control approaches. For rotational motion systems where the disturbances or reference signals are spatially periodic (i.e., periodic with respect to angular displacement), the temporal period of the disturbance and reference signals will be inversely proportional to the rotational speed and vary accordingly. Motivating by reducing halftone banding for laser printers, we propose a design framework for synthesizing spatially sampled repetitive controller by reformulating a linear time-invariant system subject to spatially periodic disturbances using angular displacement as the independent variable. The resulting nonlinear system can be represented as a quasi-linear parameter-varying (quasi-LPV) system with the angular velocity as one of the varying state-dependent parameters. An LPV self-gain–scheduling controller that includes a spatially sampled repetitive control can be designed to take into consideration bounded model uncertainty and input nonlinearity, such as actuator saturation. Using the signal from an optical encoder pulse as a triggering interrupt, experimental results verified the effectiveness of the proposed approach in rejecting spatially periodic disturbances that cannot be compensated with fixed period temporal repetitive controllers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Spatially periodic disturbance rejection with spatially sampled robust repetitive control [texte imprimé] / Cheng-Lun Chen, Auteur ; George T.-C. Chiu, Auteur . - 2008 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Mots-clés : actuators;  design;  displacement;  control  equipment;  gain  scheduling;  signals;  uncertainty Résumé : Repetitive controllers have been shown to be effective for tracking periodic reference commands or for rejecting periodic disturbances. Typical repetitive controllers are synthesized in temporal domain where the periods of the reference or disturbance signals are assumed to be known and stationary. For periodic references and disturbances with varying periods, researchers usually resort to adaptive and robust control approaches. For rotational motion systems where the disturbances or reference signals are spatially periodic (i.e., periodic with respect to angular displacement), the temporal period of the disturbance and reference signals will be inversely proportional to the rotational speed and vary accordingly. Motivating by reducing halftone banding for laser printers, we propose a design framework for synthesizing spatially sampled repetitive controller by reformulating a linear time-invariant system subject to spatially periodic disturbances using angular displacement as the independent variable. The resulting nonlinear system can be represented as a quasi-linear parameter-varying (quasi-LPV) system with the angular velocity as one of the varying state-dependent parameters. An LPV self-gain–scheduling controller that includes a spatially sampled repetitive control can be designed to take into consideration bounded model uncertainty and input nonlinearity, such as actuator saturation. Using the signal from an optical encoder pulse as a triggering interrupt, experimental results verified the effectiveness of the proposed approach in rejecting spatially periodic disturbances that cannot be compensated with fixed period temporal repetitive controllers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Dynamics and control of supercavitating vehicles / Guojian Lin in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Titre : Dynamics and control of supercavitating vehicles Type de document : texte imprimé Auteurs : Guojian Lin, Auteur ; Balakumar Balachandran, Auteur ; Eyad H. Abed, Auteur Année de publication : 2008 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  equipment;  motion;  dynamics  (mechanics);  force;  vehicles;  closed  loop  systems;  feedback;  stability;  cycles;  poles  (building);  equipment  and  tools;  equilibrium  (physics);  design;  modeling Résumé : Analytical and numerical investigations into the dynamics and control of dive-plane dynamics of supercavitating vehicles are presented. Dominant nonlinearities associated with planing forces are taken into account in the model. Two controllers are proposed to realize stable inner-loop dynamics, a linear state feedback control scheme and a switching control scheme. Through numerical simulations and estimation of the region of attraction, it is shown that effective feedback schemes can be constructed. In comparison to existing control schemes, the feedback schemes proposed in this work can stabilize a supercavitating vehicle with a large region of attraction around the trim condition instead of just stabilization around the limit cycle motion. In particular, the achieved stability is robust to modeling errors in the planing force. This robustness is especially important for supercavitating vehicles because the underlying planing force physics is complicated and not yet fully understood. Compared to the linear feedback control scheme, the switching control scheme is seen to increase the region of attraction with reduced control effort, which can be useful for avoiding saturation in magnitude. Analytical tools, including the describing function method and the circle criterion, are applied to facilitate understanding of the closed-loop system dynamics and assist in the controller design. This work provides a basis for interpreting the tail-slap phenomenon of a supercavitating body as a limit cycle motion and for developing control methods to achieve stable inner-loop dynamics in the full model. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Dynamics and control of supercavitating vehicles [texte imprimé] / Guojian Lin, Auteur ; Balakumar Balachandran, Auteur ; Eyad H. Abed, Auteur . - 2008 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Mots-clés : control  equipment;  motion;  dynamics  (mechanics);  force;  vehicles;  closed  loop  systems;  feedback;  stability;  cycles;  poles  (building);  equipment  and  tools;  equilibrium  (physics);  design;  modeling Résumé : Analytical and numerical investigations into the dynamics and control of dive-plane dynamics of supercavitating vehicles are presented. Dominant nonlinearities associated with planing forces are taken into account in the model. Two controllers are proposed to realize stable inner-loop dynamics, a linear state feedback control scheme and a switching control scheme. Through numerical simulations and estimation of the region of attraction, it is shown that effective feedback schemes can be constructed. In comparison to existing control schemes, the feedback schemes proposed in this work can stabilize a supercavitating vehicle with a large region of attraction around the trim condition instead of just stabilization around the limit cycle motion. In particular, the achieved stability is robust to modeling errors in the planing force. This robustness is especially important for supercavitating vehicles because the underlying planing force physics is complicated and not yet fully understood. Compared to the linear feedback control scheme, the switching control scheme is seen to increase the region of attraction with reduced control effort, which can be useful for avoiding saturation in magnitude. Analytical tools, including the describing function method and the circle criterion, are applied to facilitate understanding of the closed-loop system dynamics and assist in the controller design. This work provides a basis for interpreting the tail-slap phenomenon of a supercavitating body as a limit cycle motion and for developing control methods to achieve stable inner-loop dynamics in the full model. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Modeling and specification of time-limited dispatch categories for commercial aircraft / D. R. Prescott in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Titre : Modeling and specification of time-limited dispatch categories for commercial aircraft Type de document : texte imprimé Auteurs : D. R. Prescott, Auteur ; J. D. Andrews, Auteur Année de publication : 2008 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : maintenance;  simulation;  modeling;  aircraft;  failure;  flight Résumé : Time-limited dispatch allows the degraded redundancy dispatch of aircraft. Aircraft can be dispatched with certain control system faults and fault combinations for specified periods of time if the failure rates from those configurations meet certification requirements. The various system faults and fault combinations are assigned to dispatch categories according to these failure rates. This gives the dispatch criteria for the system. The overall failure rate of the system can then be calculated according to the dispatch criteria. Dispatch criteria are allocated to a small example system, and the system is subsequently modeled using a reduced-state Markov approach currently recommended in SAE ARP5107. An alternative method of setting dispatch criteria and modeling systems, using Monte Carlo simulation, is proposed in this paper, and this technique is also applied to the example system. Dispatch criteria applied to the different models are seen to differ, as are the system failure rates calculated using the different models. A method for setting the dispatch criteria for a system using a Monte Carlo simulation approach is introduced. The method is applied to a simple system, giving auditable results that exhibit the expected behavior for such a system. Because restrictive assumptions in the mathematics are unnecessary with Monte Carlo simulation, it is expected to give more accurate results in comparison to Markov approaches. Also, the results of the reduced-state Markov model appear to be largely dependent on failure rates, which are very difficult to determine. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Modeling and specification of time-limited dispatch categories for commercial aircraft [texte imprimé] / D. R. Prescott, Auteur ; J. D. Andrews, Auteur . - 2008 . - 10 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Mots-clés : maintenance;  simulation;  modeling;  aircraft;  failure;  flight Résumé : Time-limited dispatch allows the degraded redundancy dispatch of aircraft. Aircraft can be dispatched with certain control system faults and fault combinations for specified periods of time if the failure rates from those configurations meet certification requirements. The various system faults and fault combinations are assigned to dispatch categories according to these failure rates. This gives the dispatch criteria for the system. The overall failure rate of the system can then be calculated according to the dispatch criteria. Dispatch criteria are allocated to a small example system, and the system is subsequently modeled using a reduced-state Markov approach currently recommended in SAE ARP5107. An alternative method of setting dispatch criteria and modeling systems, using Monte Carlo simulation, is proposed in this paper, and this technique is also applied to the example system. Dispatch criteria applied to the different models are seen to differ, as are the system failure rates calculated using the different models. A method for setting the dispatch criteria for a system using a Monte Carlo simulation approach is introduced. The method is applied to a simple system, giving auditable results that exhibit the expected behavior for such a system. Because restrictive assumptions in the mathematics are unnecessary with Monte Carlo simulation, it is expected to give more accurate results in comparison to Markov approaches. Also, the results of the reduced-state Markov model appear to be largely dependent on failure rates, which are very difficult to determine. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Adaptive observer for fault diagnosis in nonlinear discrete-time systems / F. Caccavale in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 9 p. Titre : Adaptive observer for fault diagnosis in nonlinear discrete-time systems Type de document : texte imprimé Auteurs : F. Caccavale, Auteur ; L. Villani, Auteur ; F. Pierri, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : actuators;  modeling;  dynamics  (mechanics);  stability;  errors;  fault  diagnosis;  manipulators;  nonlinear  systems;  failure;  robots;  equations;  state  estimation;  flaw  detection Résumé : This paper deals with the problem of fault diagnosis (FD) for a class of nonlinear systems. The scheme is based on a discrete-time diagnostic observer that computes a prediction of the system’s state. Compensation of the fault effect on the state prediction is achieved via an adaptive discrete-time approach, based on a parametric model of the faults. A stability proof is developed to prove the global exponential stability of the state estimates. A solution for fault isolation and identification is also proposed, based on a postfault analysis. The proposed FD approach is applied and experimentally tested on a conventional industrial robot manipulator. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Adaptive observer for fault diagnosis in nonlinear discrete-time systems [texte imprimé] / F. Caccavale, Auteur ; L. Villani, Auteur ; F. Pierri, Auteur . - 2008 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 9 p. Mots-clés : actuators;  modeling;  dynamics  (mechanics);  stability;  errors;  fault  diagnosis;  manipulators;  nonlinear  systems;  failure;  robots;  equations;  state  estimation;  flaw  detection Résumé : This paper deals with the problem of fault diagnosis (FD) for a class of nonlinear systems. The scheme is based on a discrete-time diagnostic observer that computes a prediction of the system’s state. Compensation of the fault effect on the state prediction is achieved via an adaptive discrete-time approach, based on a parametric model of the faults. A stability proof is developed to prove the global exponential stability of the state estimates. A solution for fault isolation and identification is also proposed, based on a postfault analysis. The proposed FD approach is applied and experimentally tested on a conventional industrial robot manipulator. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Optimal control of tandem cold rolling using a pointwise linear quadratic technique with trims / John Pittner in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Titre : Optimal control of tandem cold rolling using a pointwise linear quadratic technique with trims Type de document : texte imprimé Auteurs : John Pittner, Auteur ; Marwan A. Simaan, Auteur Année de publication : 2008 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : functions;  strips;  tension;  thickness;  control  equipment;  modeling;  delays;  optimal  control Résumé : The tandem cold rolling of metal strip is a complex multivariable process whose control presents a significant engineering challenge because of the complex interaction between the process variables, the nonlinearities (which change with operating conditions), and the interstand time delays (which change significantly with the mill speed). The present technology generally relies on a control structure that has been successful in producing an acceptable output, but has limited capability for improvement in performance. This paper describes a new strategy for control of the mill that overcomes many limitations of the present controllers. The new strategy is based on a pointwise linear quadratic technique wherein a state-dependent algebraic Riccati equation is solved pointwise to establish a control law for a multiinput–multioutput controller, with appropriate trimming functions. For this application, the features of this novel strategy compare favorably to those of other techniques for control of nonlinear systems in the areas of simplicity of implementation, provision for the use of physical intuition in the design process, and strong robustness to disturbances and uncertainties. During simulations using the new controller coupled to a nonlinear model of the process, the tolerance in mill exit thickness was ∼0.2% for several rolling schedules using mild steel during operations at steady speed and during speed changes, and in the presence of typical disturbances with uncertainties in modeling and measurement. This offers the potential for improvement over present industrial controllers, which typically hold the tolerance in mill exit thickness to within 0.5–0.8%. In addition, excursions in the individual mill stand output thicknesses and interstand tensions are reduced, which contributes to the stability of the rolling process. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Optimal control of tandem cold rolling using a pointwise linear quadratic technique with trims [texte imprimé] / John Pittner, Auteur ; Marwan A. Simaan, Auteur . - 2008 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Mots-clés : functions;  strips;  tension;  thickness;  control  equipment;  modeling;  delays;  optimal  control Résumé : The tandem cold rolling of metal strip is a complex multivariable process whose control presents a significant engineering challenge because of the complex interaction between the process variables, the nonlinearities (which change with operating conditions), and the interstand time delays (which change significantly with the mill speed). The present technology generally relies on a control structure that has been successful in producing an acceptable output, but has limited capability for improvement in performance. This paper describes a new strategy for control of the mill that overcomes many limitations of the present controllers. The new strategy is based on a pointwise linear quadratic technique wherein a state-dependent algebraic Riccati equation is solved pointwise to establish a control law for a multiinput–multioutput controller, with appropriate trimming functions. For this application, the features of this novel strategy compare favorably to those of other techniques for control of nonlinear systems in the areas of simplicity of implementation, provision for the use of physical intuition in the design process, and strong robustness to disturbances and uncertainties. During simulations using the new controller coupled to a nonlinear model of the process, the tolerance in mill exit thickness was ∼0.2% for several rolling schedules using mild steel during operations at steady speed and during speed changes, and in the presence of typical disturbances with uncertainties in modeling and measurement. This offers the potential for improvement over present industrial controllers, which typically hold the tolerance in mill exit thickness to within 0.5–0.8%. In addition, excursions in the individual mill stand output thicknesses and interstand tensions are reduced, which contributes to the stability of the rolling process. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Impedance control for a golf swing robot to emulate different-arm-mass golfers / C. C. Chen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 8 p. Titre : Impedance control for a golf swing robot to emulate different-arm-mass golfers Type de document : texte imprimé Auteurs : C. C. Chen, Auteur ; Y. Inoue, Auteur ; K. Shibata, Auteur Année de publication : 2008 Article en page(s) : 8 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : torque;  motion;  robots;  impedance  (electricity);  force Résumé : Various golfers can play different golf swing motions even if they hold the same golf club. This phenomenon casts light on the significance of the dynamic interaction between the golfer’s arm and golf club. The dynamic interaction results in different swing motions, even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers in consideration of the dynamic interaction between human arm and golf club. Based on the Euler–Lagrange principle and assumed modes technique, a mathematical model of golf swing considering the shaft bending flexibility is established to simulate the swing motions of different-arm-mass golfers. The impedance control method is implemented to a prototype of golf swing robot composed of one actuated joint and one passive joint. The comparison of the swing motions of the robot and different-arm-mass golfers is made and the results show that the proposed golf swing robot with the impedance control method can emulate different-arm-mass golfers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Impedance control for a golf swing robot to emulate different-arm-mass golfers [texte imprimé] / C. C. Chen, Auteur ; Y. Inoue, Auteur ; K. Shibata, Auteur . - 2008 . - 8 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 8 p. Mots-clés : torque;  motion;  robots;  impedance  (electricity);  force Résumé : Various golfers can play different golf swing motions even if they hold the same golf club. This phenomenon casts light on the significance of the dynamic interaction between the golfer’s arm and golf club. The dynamic interaction results in different swing motions, even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers in consideration of the dynamic interaction between human arm and golf club. Based on the Euler–Lagrange principle and assumed modes technique, a mathematical model of golf swing considering the shaft bending flexibility is established to simulate the swing motions of different-arm-mass golfers. The impedance control method is implemented to a prototype of golf swing robot composed of one actuated joint and one passive joint. The comparison of the swing motions of the robot and different-arm-mass golfers is made and the results show that the proposed golf swing robot with the impedance control method can emulate different-arm-mass golfers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

A neural network based sensor validation scheme for heavy-duty diesel engines / Giampiero Campa in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Titre : A neural network based sensor validation scheme for heavy-duty diesel engines Type de document : texte imprimé Auteurs : Giampiero Campa, Auteur ; Manoharan Thiagarajan, Auteur ; Mohan Krishnamurty, Auteur Année de publication : 2008 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : sensors;  engines;  failure;  signals;  measurement;  roads;  diesel  engines;  approximation;  artificial  neural  networks Résumé : This paper presents the design of a complete sensor fault detection, isolation, and accommodation (SFDIA) scheme for heavy-duty diesel engines without physical redundancy in the sensor capabilities. The analytical redundancy in the available measurements is exploited by two different banks of neural approximators that are used for the identification of the nonlinear input/output relationships of the engine system. The first set of approximators is used to evaluate the residual signals needed for fault isolation. The second set is used—following the failure detection and isolation—to provide a replacement for the signal originating from the faulty sensor. The SFDIA scheme is explained with details, and its performance is evaluated through a set of simulations in which failures are injected on measured signals. The experimental data from this study have been acquired using a test vehicle appositely instrumented to measure several engine parameters. The measurements were performed on a specific set of routes, which included a combination of highway and city driving patterns. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] A neural network based sensor validation scheme for heavy-duty diesel engines [texte imprimé] / Giampiero Campa, Auteur ; Manoharan Thiagarajan, Auteur ; Mohan Krishnamurty, Auteur . - 2008 . - 10 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 10 p. Mots-clés : sensors;  engines;  failure;  signals;  measurement;  roads;  diesel  engines;  approximation;  artificial  neural  networks Résumé : This paper presents the design of a complete sensor fault detection, isolation, and accommodation (SFDIA) scheme for heavy-duty diesel engines without physical redundancy in the sensor capabilities. The analytical redundancy in the available measurements is exploited by two different banks of neural approximators that are used for the identification of the nonlinear input/output relationships of the engine system. The first set of approximators is used to evaluate the residual signals needed for fault isolation. The second set is used—following the failure detection and isolation—to provide a replacement for the signal originating from the faulty sensor. The SFDIA scheme is explained with details, and its performance is evaluated through a set of simulations in which failures are injected on measured signals. The experimental data from this study have been acquired using a test vehicle appositely instrumented to measure several engine parameters. The measurements were performed on a specific set of routes, which included a combination of highway and city driving patterns. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Modeling of a new active Eddy current vibration control system / Henry A. Sodano in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Titre : Modeling of a new active Eddy current vibration control system Type de document : texte imprimé Auteurs : Henry A. Sodano, Auteur ; Daniel J. Inman, Auteur Année de publication : 2008 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : force;  Eddy  currents  (electricity);  damping;  dampers;  control  equipment;  electromagnets;  magnetic  fields;  magnetic  flux Résumé : There exist many methods of adding damping to a vibrating structure; however, eddy current damping is one of few that can function without ever coming into contact with that structure. This magnetic damping scheme functions due to the eddy currents that are generated in a conductive material when it is subjected to a time changing magnetic field. Due to the circulation of these currents, a magnetic field is generated, which interacts with the applied field resulting in a force. In this manuscript, an active damper will be theoretically developed that functions by dynamically modifying the current flowing through a coil, thus generating a time-varying magnetic field. By actively controlling the strength of the field around the conductor, the induced eddy currents and the resulting damping force can be controlled. This actuation method is easy to apply and allows significant magnitudes of forces to be applied without ever coming into contact with the structure. Therefore, vibration control can be applied without inducing mass loading or added stiffness, which are downfalls of other methods. This manuscript will provide a theoretical derivation of the equations defining the electric fields generated and the dynamic forces induced in the structure. This derivation will show that when eddy currents are generated due to a variation in the strength of the magnetic source, the resulting force occurs at twice the frequency of the applied current. This frequency doubling effect will be experimentally verified. Furthermore, a feedback controller will be designed to account for the frequency doubling effect and a simulation performed to show that significant vibration suppression can be achieved with this technique. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Modeling of a new active Eddy current vibration control system [texte imprimé] / Henry A. Sodano, Auteur ; Daniel J. Inman, Auteur . - 2008 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Mots-clés : force;  Eddy  currents  (electricity);  damping;  dampers;  control  equipment;  electromagnets;  magnetic  fields;  magnetic  flux Résumé : There exist many methods of adding damping to a vibrating structure; however, eddy current damping is one of few that can function without ever coming into contact with that structure. This magnetic damping scheme functions due to the eddy currents that are generated in a conductive material when it is subjected to a time changing magnetic field. Due to the circulation of these currents, a magnetic field is generated, which interacts with the applied field resulting in a force. In this manuscript, an active damper will be theoretically developed that functions by dynamically modifying the current flowing through a coil, thus generating a time-varying magnetic field. By actively controlling the strength of the field around the conductor, the induced eddy currents and the resulting damping force can be controlled. This actuation method is easy to apply and allows significant magnitudes of forces to be applied without ever coming into contact with the structure. Therefore, vibration control can be applied without inducing mass loading or added stiffness, which are downfalls of other methods. This manuscript will provide a theoretical derivation of the equations defining the electric fields generated and the dynamic forces induced in the structure. This derivation will show that when eddy currents are generated due to a variation in the strength of the magnetic source, the resulting force occurs at twice the frequency of the applied current. This frequency doubling effect will be experimentally verified. Furthermore, a feedback controller will be designed to account for the frequency doubling effect and a simulation performed to show that significant vibration suppression can be achieved with this technique. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

On steering control of commercial three-axle vehicle / Qiuzhen Qu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Titre : On steering control of commercial three-axle vehicle Type de document : texte imprimé Auteurs : Qiuzhen Qu, Auteur ; Jean W. Zu, Auteur Année de publication : 2008 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  equipment;  vehicles;  roads;  wheels Résumé : The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] On steering control of commercial three-axle vehicle [texte imprimé] / Qiuzhen Qu, Auteur ; Jean W. Zu, Auteur . - 2008 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 11 p. Mots-clés : control  equipment;  vehicles;  roads;  wheels Résumé : The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Equilibrium conditions of a polygonal object when grasped by soft-rolling contacts / John Fasoulas in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 8 p. Titre : Equilibrium conditions of a polygonal object when grasped by soft-rolling contacts Type de document : texte imprimé Auteurs : John Fasoulas, Auteur ; Zoe Doulgeri, Auteur Année de publication : 2008 Article en page(s) : 8 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : force;  deformation;  motion;  equilibrium  (physics);  friction Résumé : In this paper, we study two soft spherical fingertips grasping a rigid polygonal object as a kinematically constrained system. We assume that the contact locations of the soft fingertips are not fixed on the object but are able to move due to rolling constraints. A contact motion model is proposed for soft-rolling fingertips based on previously reported experimental findings on the rolling distance for a variety of soft materials. The equilibrium conditions are derived from the system dynamics and depend on the deformation and on the kind of soft material with regard to the fingertip’s rolling distance characteristics. Also, a discussion on contact forces and a grasp analysis at object’s equilibrium is made. It is shown that using the model of point contact with friction in soft-rolling contacts is not adequate for describing the real system with fingertips of low or medium stiffness characteristics. In general, the equilibrium conditions of the three contacted bodies (soft fingertips object) show that no-collinear interaction forces act on the object’s surface and they correspond to the equilibrium of an “internal object” held by two point contacts with friction. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Equilibrium conditions of a polygonal object when grasped by soft-rolling contacts [texte imprimé] / John Fasoulas, Auteur ; Zoe Doulgeri, Auteur . - 2008 . - 8 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 8 p. Mots-clés : force;  deformation;  motion;  equilibrium  (physics);  friction Résumé : In this paper, we study two soft spherical fingertips grasping a rigid polygonal object as a kinematically constrained system. We assume that the contact locations of the soft fingertips are not fixed on the object but are able to move due to rolling constraints. A contact motion model is proposed for soft-rolling fingertips based on previously reported experimental findings on the rolling distance for a variety of soft materials. The equilibrium conditions are derived from the system dynamics and depend on the deformation and on the kind of soft material with regard to the fingertip’s rolling distance characteristics. Also, a discussion on contact forces and a grasp analysis at object’s equilibrium is made. It is shown that using the model of point contact with friction in soft-rolling contacts is not adequate for describing the real system with fingertips of low or medium stiffness characteristics. In general, the equilibrium conditions of the three contacted bodies (soft fingertips object) show that no-collinear interaction forces act on the object’s surface and they correspond to the equilibrium of an “internal object” held by two point contacts with friction. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Passivity-based impact and force control of a pneumatic actuator / Yong Zhu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 7 p. Titre : Passivity-based impact and force control of a pneumatic actuator Type de document : texte imprimé Auteurs : Yong Zhu, Auteur ; Barth, Eric J., Auteur Année de publication : 2008 Article en page(s) : 7 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : force  control;  pneumatic  actuators;  force;  valves;  actuators;  feedback Résumé : To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model with the inner product between spool valve position input and actuation force output as a pseudo-supply rate is developed. Using this pseudo-bond graph model, an open-loop pneumatic actuator controlled by a four-way proportional valve can be proven to not be passive with respect to the pseudo-supply rate. Conversely, it can also be proven to be passive with respect to the pseudo-supply rate under a closed-loop feedback control law. The passivity of the closed-loop pneumatic actuator is verified in impact and force control experiments. The experimental results also validate the pseudo-bond graph model. The pseudo-bond graph model is intended for passivity analysis and controller design for pneumatic actuation applications where contact stability (such as robotic assembly) and/or stable interaction with a passive environment (such as human-robot interaction) is required. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Passivity-based impact and force control of a pneumatic actuator [texte imprimé] / Yong Zhu, Auteur ; Barth, Eric J., Auteur . - 2008 . - 7 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 7 p. Mots-clés : force  control;  pneumatic  actuators;  force;  valves;  actuators;  feedback Résumé : To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model with the inner product between spool valve position input and actuation force output as a pseudo-supply rate is developed. Using this pseudo-bond graph model, an open-loop pneumatic actuator controlled by a four-way proportional valve can be proven to not be passive with respect to the pseudo-supply rate. Conversely, it can also be proven to be passive with respect to the pseudo-supply rate under a closed-loop feedback control law. The passivity of the closed-loop pneumatic actuator is verified in impact and force control experiments. The experimental results also validate the pseudo-bond graph model. The pseudo-bond graph model is intended for passivity analysis and controller design for pneumatic actuation applications where contact stability (such as robotic assembly) and/or stable interaction with a passive environment (such as human-robot interaction) is required. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

A new tracking controller design for underwater vehicles using quadratic stabilization / R. Prasanth Kumar in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 6 p. Titre : A new tracking controller design for underwater vehicles using quadratic stabilization Type de document : texte imprimé Auteurs : R. Prasanth Kumar, Auteur ; Dasgupta, Anirvan, Auteur ; C. S. Kumar, Auteur Année de publication : 2008 Article en page(s) : 6 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : dynamics  (mechanics);  control  equipment;  trajectories  (physics);  algorithms;  design;  underwater  vehicles;  equations;  vehicles Résumé : This paper proposes a new tracking controller for autonomous underwater vehicles (AUVs) using the concept of simultaneous quadratic stabilization. The nonlinear underwater vehicle system is viewed as a set of locally linear time invariant systems obtained by linearizing the system equations on the reference trajectory about some discrete points. A single stabilizing controller is then designed for the set of systems so obtained. However, this controller requires the exact parameters of the system. Since the hydrodynamic parameters of AUVs are generally not known with sufficient accuracy, the proposed controller is used for the known part of the dynamics and an adaptation algorithm is used to estimate the unknown parameters online and compensate for the rest of the plant dynamics. The proposed controller can thus adaptively handle the complete nonlinear uncertain dynamics of the plant. Simulation results are presented and discussed for a typical AUV. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] A new tracking controller design for underwater vehicles using quadratic stabilization [texte imprimé] / R. Prasanth Kumar, Auteur ; Dasgupta, Anirvan, Auteur ; C. S. Kumar, Auteur . - 2008 . - 6 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 6 p. Mots-clés : dynamics  (mechanics);  control  equipment;  trajectories  (physics);  algorithms;  design;  underwater  vehicles;  equations;  vehicles Résumé : This paper proposes a new tracking controller for autonomous underwater vehicles (AUVs) using the concept of simultaneous quadratic stabilization. The nonlinear underwater vehicle system is viewed as a set of locally linear time invariant systems obtained by linearizing the system equations on the reference trajectory about some discrete points. A single stabilizing controller is then designed for the set of systems so obtained. However, this controller requires the exact parameters of the system. Since the hydrodynamic parameters of AUVs are generally not known with sufficient accuracy, the proposed controller is used for the known part of the dynamics and an adaptation algorithm is used to estimate the unknown parameters online and compensate for the rest of the plant dynamics. The proposed controller can thus adaptively handle the complete nonlinear uncertain dynamics of the plant. Simulation results are presented and discussed for a typical AUV. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

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