Dépouillements

Modeling and verification of an innovative active pneumatic vibration isolation system / H. Porumamilla in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 12 p. Titre : Modeling and verification of an innovative active pneumatic vibration isolation system Type de document : texte imprimé Auteurs : H. Porumamilla, Auteur ; A. G. Kelkar, Auteur ; J. M. Vogel, Auteur Année de publication : 2010 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : active  pneumatic  vibration  isolation Résumé : This paper presents a novel concept in active pneumatic vibration isolation. The novelty in the concept is in utilizing an air-spring-orifice-accumulator combination to vary the natural frequency as well as inject damping into the system per requirement, thereby eliminating the need for a hydraulic cylinder or a magnetorheological damper. This continuously variable natural frequency and damping (CVNFD) technology is aimed at achieving active vibration isolation. For analysis purposes, a particular application in the form of pneumatic seat suspension for off-road vehicles is chosen. A mathematical model representing the system is derived rigorously from inertial dynamics and first principles in thermodynamics. Empirical corelations are also used to include nonlinearities such as friction that cannot be accounted for in the thermodynamic equations. An exhaustive computational study is undertaken to help understand the physics of the system. The computational study clearly depicts the CVNFD capability of the vibration isolation system. An experimental test rig is built to experimentally validate analytical and simulation modeling of the system. Experimental verification corroborated the variable natural frequency and damping characteristic of the system observed through computational simulations. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/mobile/article.aspx?article [...] [article] Modeling and verification of an innovative active pneumatic vibration isolation system [texte imprimé] / H. Porumamilla, Auteur ; A. G. Kelkar, Auteur ; J. M. Vogel, Auteur . - 2010 . - 12 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 12 p. Mots-clés : active  pneumatic  vibration  isolation Résumé : This paper presents a novel concept in active pneumatic vibration isolation. The novelty in the concept is in utilizing an air-spring-orifice-accumulator combination to vary the natural frequency as well as inject damping into the system per requirement, thereby eliminating the need for a hydraulic cylinder or a magnetorheological damper. This continuously variable natural frequency and damping (CVNFD) technology is aimed at achieving active vibration isolation. For analysis purposes, a particular application in the form of pneumatic seat suspension for off-road vehicles is chosen. A mathematical model representing the system is derived rigorously from inertial dynamics and first principles in thermodynamics. Empirical corelations are also used to include nonlinearities such as friction that cannot be accounted for in the thermodynamic equations. An exhaustive computational study is undertaken to help understand the physics of the system. The computational study clearly depicts the CVNFD capability of the vibration isolation system. An experimental test rig is built to experimentally validate analytical and simulation modeling of the system. Experimental verification corroborated the variable natural frequency and damping characteristic of the system observed through computational simulations. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/mobile/article.aspx?article [...]

Controller design procedure for two-mass systems with single flexible mode / Young Joo Shin in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 13 p. Titre : Controller design procedure for two-mass systems with single flexible mode Type de document : texte imprimé Auteurs : Young Joo Shin, Auteur ; Peter H. Meckl, Auteur Année de publication : 2010 Article en page(s) : 13 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : Two-mass  systems;  control  strategy;  feedback  controller;  feedforward  controller Résumé : Many manufacturing machines must execute motions as quickly as possible to achieve profitable high-volume production. Most of them exhibit some flexibility, which makes the settling time longer and controller design difficult. This paper develops a control strategy that combines feedforward and feedback control with command shaping for systems with collocated actuator and sensor. First, a feedback controller is designed to increase damping and eliminate steady-state error. Next, an appropriate reference profile is generated using command-shaping techniques to ensure fast point-to-point motions with minimum residual vibration. Finally, a feedforward controller is designed to speed up the transient response. The proposed proportional-integral-derivative (PID) controller design ensures that two important resonant frequencies nearly match, making the design of the input commands much simpler. The resulting control strategy is successfully demonstrated for a generic dimensionless system that incorporates some modeling errors to assess robustness. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/mobile/article.aspx?article [...] [article] Controller design procedure for two-mass systems with single flexible mode [texte imprimé] / Young Joo Shin, Auteur ; Peter H. Meckl, Auteur . - 2010 . - 13 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 13 p. Mots-clés : Two-mass  systems;  control  strategy;  feedback  controller;  feedforward  controller Résumé : Many manufacturing machines must execute motions as quickly as possible to achieve profitable high-volume production. Most of them exhibit some flexibility, which makes the settling time longer and controller design difficult. This paper develops a control strategy that combines feedforward and feedback control with command shaping for systems with collocated actuator and sensor. First, a feedback controller is designed to increase damping and eliminate steady-state error. Next, an appropriate reference profile is generated using command-shaping techniques to ensure fast point-to-point motions with minimum residual vibration. Finally, a feedforward controller is designed to speed up the transient response. The proposed proportional-integral-derivative (PID) controller design ensures that two important resonant frequencies nearly match, making the design of the input commands much simpler. The resulting control strategy is successfully demonstrated for a generic dimensionless system that incorporates some modeling errors to assess robustness. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/mobile/article.aspx?article [...]

Modeling and control of a magnetostrictive tool servo system / Prinyawiwatkul, Witoon in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 11 p. Titre : Modeling and control of a magnetostrictive tool servo system Type de document : texte imprimé Auteurs : Prinyawiwatkul, Witoon, Auteur ; Paul I. Ro, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : magnetostrictive  actuator;  robust  control  scheme;  Lyapunov  stability;  closed-loop  control  design Résumé : A magnetostrictive actuator offers a long mechanical strain output in a broad bandwidth at a cost of a highly nonlinear magnetic hysteresis. Full utilization of this actuator in precision manufacturing requires a feedback loop as well as an advanced control scheme. A robust control scheme using sliding mode control with a variable switching gain was tailored to the nonlinear transducer. Nominal feedforward current controller that drives the magnetostriction was based on the inverse anhysteresis model. An additional switching gain based on the Lyapunov stability condition is implemented to restrain uncertainties. Compared to a traditional closed-loop control design, the proposed algorithm experimentally showed a greatly enhanced performance. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Modeling and control of a magnetostrictive tool servo system [texte imprimé] / Prinyawiwatkul, Witoon, Auteur ; Paul I. Ro, Auteur . - 2010 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 11 p. Mots-clés : magnetostrictive  actuator;  robust  control  scheme;  Lyapunov  stability;  closed-loop  control  design Résumé : A magnetostrictive actuator offers a long mechanical strain output in a broad bandwidth at a cost of a highly nonlinear magnetic hysteresis. Full utilization of this actuator in precision manufacturing requires a feedback loop as well as an advanced control scheme. A robust control scheme using sliding mode control with a variable switching gain was tailored to the nonlinear transducer. Nominal feedforward current controller that drives the magnetostriction was based on the inverse anhysteresis model. An additional switching gain based on the Lyapunov stability condition is implemented to restrain uncertainties. Compared to a traditional closed-loop control design, the proposed algorithm experimentally showed a greatly enhanced performance. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

A mathematical model of driver steering control including neuromuscular dynamics / Pick, Andrew J. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 9 p. Titre : A mathematical model of driver steering control including neuromuscular dynamics Type de document : texte imprimé Auteurs : Pick, Andrew J., Auteur ; Cole, David J., Auteur Année de publication : 2010 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : driver  steering;  mathematical  driver  model;  neuromuscular  system Résumé : A mathematical driver model is introduced in order to explain the driver steering behavior observed during successive double lane-change maneuvers. The model consists of a linear quadratic regulator path-following controller coupled to a neuromuscular system (NMS). The NMS generates the steering wheel angle demanded by the path-following controller. The model demonstrates that reflex action and muscle cocontraction improve the steer angle control and thus increase the path-following accuracy. Muscle cocontraction does not have the destabilizing effect of reflex action, but there is an energy cost. A cost function is used to calculate optimum values of cocontraction that are similar to those observed in the experiments. The observed reduction in cocontraction with experience of the vehicle is explained by the driver learning to predict the steering torque feedback. The observed robustness of the path-following control to unexpected changes in steering torque feedback arises from the reflex action and cocontraction stiffness of the NMS. The findings contribute to the understanding of driver-vehicle dynamic interaction. Further work is planned to improve the model; the aim is to enable the optimum design of steering feedback early in the vehicle development process. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] A mathematical model of driver steering control including neuromuscular dynamics [texte imprimé] / Pick, Andrew J., Auteur ; Cole, David J., Auteur . - 2010 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 9 p. Mots-clés : driver  steering;  mathematical  driver  model;  neuromuscular  system Résumé : A mathematical driver model is introduced in order to explain the driver steering behavior observed during successive double lane-change maneuvers. The model consists of a linear quadratic regulator path-following controller coupled to a neuromuscular system (NMS). The NMS generates the steering wheel angle demanded by the path-following controller. The model demonstrates that reflex action and muscle cocontraction improve the steer angle control and thus increase the path-following accuracy. Muscle cocontraction does not have the destabilizing effect of reflex action, but there is an energy cost. A cost function is used to calculate optimum values of cocontraction that are similar to those observed in the experiments. The observed reduction in cocontraction with experience of the vehicle is explained by the driver learning to predict the steering torque feedback. The observed robustness of the path-following control to unexpected changes in steering torque feedback arises from the reflex action and cocontraction stiffness of the NMS. The findings contribute to the understanding of driver-vehicle dynamic interaction. Further work is planned to improve the model; the aim is to enable the optimum design of steering feedback early in the vehicle development process. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Design, modeling, and motion control of the noncircular turning process for camshaft machining / Tsu-Chin, Tsao in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Titre : Design, modeling, and motion control of the noncircular turning process for camshaft machining Type de document : texte imprimé Auteurs : Tsu-Chin, Tsao, Auteur ; Zongxuan Sun, Auteur ; Reed D. Hanson, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : noncircular  turning  process;  camshaft  machining Résumé : This paper presents the design, modeling, and motion control of the noncircular turning process for camshaft machining. The cam profile tracking performance requirements are first characterized to meet industry standards. Based on these requirements, a unique test fixture using state-of-the-art actuation and sensing technologies is designed for the noncircular turning process. Modeling of the electrohydraulic servo valve, actuator, and sensors is conducted based on their frequency responses. Digital motion control that achieves asymptotic cam profile tracking while maintaining system robust stability is designed and implemented on the turning test fixture. Spindle speed can be chosen depending on the required profile tracking accuracy with higher speed rendering higher machining rate for rough turning and lower speed rendering higher accuracy for finish turning. Experimental results of turning a variety of cam profiles show that the tracking error is less than 30μm for spindle speed at 300rpm and is less than 60μm for spindle speed at 600rpm or 1200rpm. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Design, modeling, and motion control of the noncircular turning process for camshaft machining [texte imprimé] / Tsu-Chin, Tsao, Auteur ; Zongxuan Sun, Auteur ; Reed D. Hanson, Auteur . - 2010 . - 07 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Mots-clés : noncircular  turning  process;  camshaft  machining Résumé : This paper presents the design, modeling, and motion control of the noncircular turning process for camshaft machining. The cam profile tracking performance requirements are first characterized to meet industry standards. Based on these requirements, a unique test fixture using state-of-the-art actuation and sensing technologies is designed for the noncircular turning process. Modeling of the electrohydraulic servo valve, actuator, and sensors is conducted based on their frequency responses. Digital motion control that achieves asymptotic cam profile tracking while maintaining system robust stability is designed and implemented on the turning test fixture. Spindle speed can be chosen depending on the required profile tracking accuracy with higher speed rendering higher machining rate for rough turning and lower speed rendering higher accuracy for finish turning. Experimental results of turning a variety of cam profiles show that the tracking error is less than 30μm for spindle speed at 300rpm and is less than 60μm for spindle speed at 600rpm or 1200rpm. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Process feedback control of the noncircular turning process for camshaft machining / Zongxuan Sun in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 6 p. Titre : Process feedback control of the noncircular turning process for camshaft machining Type de document : texte imprimé Auteurs : Zongxuan Sun, Auteur ; Tsu-Chin, Tsao, Auteur Année de publication : 2010 Article en page(s) : 6 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : learning  controller;  nonlinear  systems Résumé : This paper presents a frequency domain learning control scheme for a class of nonlinear systems and its application to the process feedback control of the noncircular turning process for camshaft machining. In frequency domain, periodic signals are represented by the Fourier expansions that are nonzero only at discrete frequency points. An input dependent system matrix can be used to describe the input-output relationship of a class of nonlinear systems with periodic input and output signals. A learning controller is designed based on the system matrix and the bound of unmodeled dynamics. Conditions to achieve asymptotic stability and tracking performance are derived. To further improve system robustness, a low pass filter is used to turn off the learning scheme at high frequencies. The learning control scheme is then applied to the process feedback control of camshaft machining using the noncircular turning process. A two level control structure is adopted. The first level is servo control that ensures precise tool slide motion. The second level is frequency domain learning control that compensates machined profile errors due to the effects of tool/workpiece geometry, tool wears, machine deformations, and spindle runout errors. Relationship between the servo control and learning control is discussed. Implementation of the process feedback control on a steel camshaft turning demonstrates improvement of the maximum cam profile errors from 80μm to within 20μm in five iterations. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Process feedback control of the noncircular turning process for camshaft machining [texte imprimé] / Zongxuan Sun, Auteur ; Tsu-Chin, Tsao, Auteur . - 2010 . - 6 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 6 p. Mots-clés : learning  controller;  nonlinear  systems Résumé : This paper presents a frequency domain learning control scheme for a class of nonlinear systems and its application to the process feedback control of the noncircular turning process for camshaft machining. In frequency domain, periodic signals are represented by the Fourier expansions that are nonzero only at discrete frequency points. An input dependent system matrix can be used to describe the input-output relationship of a class of nonlinear systems with periodic input and output signals. A learning controller is designed based on the system matrix and the bound of unmodeled dynamics. Conditions to achieve asymptotic stability and tracking performance are derived. To further improve system robustness, a low pass filter is used to turn off the learning scheme at high frequencies. The learning control scheme is then applied to the process feedback control of camshaft machining using the noncircular turning process. A two level control structure is adopted. The first level is servo control that ensures precise tool slide motion. The second level is frequency domain learning control that compensates machined profile errors due to the effects of tool/workpiece geometry, tool wears, machine deformations, and spindle runout errors. Relationship between the servo control and learning control is discussed. Implementation of the process feedback control on a steel camshaft turning demonstrates improvement of the maximum cam profile errors from 80μm to within 20μm in five iterations. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

The application of command shaping to the tracking problem / Michael C. Reynolds in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 12 p. Titre : The application of command shaping to the tracking problem Type de document : texte imprimé Auteurs : Michael C. Reynolds, Auteur ; Peter H. Meckl, Auteur Année de publication : 2010 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : trajectory  tracking;  command  shaping;  optimal  input Résumé : This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command shaping has been centered on the point-to-point motion control problem. However, tracking problems are also an important application of control theory. The proposed optimal tracking technique extends the point-to-point motion control problem to the solution of the tracking problem. Thus, two very different problems are brought into one solution scheme. The technique uses tolerances on trajectory following to meet constraints and minimize either maneuver time or input energy. A major advantage of the technique is that hard physical constraints such as acceleration or allowable tracking error can be directly constrained. Previous methods to perform such a task involved using various weightings that lack physical meaning. The optimal tracking technique allows for fast and efficient exploration of the solution space for motion control. A solution verification technique is presented and some examples are included to demonstrate the technique. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] The application of command shaping to the tracking problem [texte imprimé] / Michael C. Reynolds, Auteur ; Peter H. Meckl, Auteur . - 2010 . - 12 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 12 p. Mots-clés : trajectory  tracking;  command  shaping;  optimal  input Résumé : This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command shaping has been centered on the point-to-point motion control problem. However, tracking problems are also an important application of control theory. The proposed optimal tracking technique extends the point-to-point motion control problem to the solution of the tracking problem. Thus, two very different problems are brought into one solution scheme. The technique uses tolerances on trajectory following to meet constraints and minimize either maneuver time or input energy. A major advantage of the technique is that hard physical constraints such as acceleration or allowable tracking error can be directly constrained. Previous methods to perform such a task involved using various weightings that lack physical meaning. The optimal tracking technique allows for fast and efficient exploration of the solution space for motion control. A solution verification technique is presented and some examples are included to demonstrate the technique. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

A polynomial-based linear mapping strategy for feedforward compensation of hysteresis in piezoelectric actuators / Saeid Bashash in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 10 p. Titre : A polynomial-based linear mapping strategy for feedforward compensation of hysteresis in piezoelectric actuators Type de document : texte imprimé Auteurs : Saeid Bashash, Auteur ; Jalili, Nader, Auteur Année de publication : 2010 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : memory-based  properties;  piezoelectric  actuators;  Prandtl–Ishlinskii  hysteresis  operator Résumé : A set of memory-based properties is employed in this paper for modeling multiple-path hysteresis response of piezoelectric actuators. These properties, namely, targeting turning points, curve alignment, and wiping-out effect, are applied in a linear mapping strategy to develop a mathematical framework for modeling the hysteresis phenomenon. More specifically, the locations of turning points are detected and recorded for the prediction of future hysteresis trajectory. An internal trajectory is assumed to follow a multiple-segmented path via a continuous connection of several curves passing through every two consequent turning points. These curves adopt their shapes via a linear mapping strategy from the reference hysteresis curves with polynomial configurations. Experimental implementation of the proposed method demonstrates slight improvement over the widely used Prandtl–Ishlinskii hysteresis operator. However, to maintain the level of precision during the operation, a sufficient number of memory units must be included to record the turning points. Otherwise, in the event of memory saturation, two memory-allocation modes, namely, “open” and “closed” strategies, can be implemented. It is shown that the closed memory-allocation strategy demonstrates better performance by keeping the most important target points. The proposed modeling framework is adopted in an inverse model-based control scheme for feedforward compensation of hysteresis nonlinearity. The controller is experimentally implemented on a three-dimensional nanopositioning stage for surface topography tracking, a problem typically encountered in scanning probe microscopy applications. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] A polynomial-based linear mapping strategy for feedforward compensation of hysteresis in piezoelectric actuators [texte imprimé] / Saeid Bashash, Auteur ; Jalili, Nader, Auteur . - 2010 . - 10 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 10 p. Mots-clés : memory-based  properties;  piezoelectric  actuators;  Prandtl–Ishlinskii  hysteresis  operator Résumé : A set of memory-based properties is employed in this paper for modeling multiple-path hysteresis response of piezoelectric actuators. These properties, namely, targeting turning points, curve alignment, and wiping-out effect, are applied in a linear mapping strategy to develop a mathematical framework for modeling the hysteresis phenomenon. More specifically, the locations of turning points are detected and recorded for the prediction of future hysteresis trajectory. An internal trajectory is assumed to follow a multiple-segmented path via a continuous connection of several curves passing through every two consequent turning points. These curves adopt their shapes via a linear mapping strategy from the reference hysteresis curves with polynomial configurations. Experimental implementation of the proposed method demonstrates slight improvement over the widely used Prandtl–Ishlinskii hysteresis operator. However, to maintain the level of precision during the operation, a sufficient number of memory units must be included to record the turning points. Otherwise, in the event of memory saturation, two memory-allocation modes, namely, “open” and “closed” strategies, can be implemented. It is shown that the closed memory-allocation strategy demonstrates better performance by keeping the most important target points. The proposed modeling framework is adopted in an inverse model-based control scheme for feedforward compensation of hysteresis nonlinearity. The controller is experimentally implemented on a three-dimensional nanopositioning stage for surface topography tracking, a problem typically encountered in scanning probe microscopy applications. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Whirling-beam self-tuning vibration absorber / Douglas Ivers in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 11 p. Titre : Whirling-beam self-tuning vibration absorber Type de document : texte imprimé Auteurs : Douglas Ivers, Auteur ; Robert Wilson, Auteur ; Margolis, Donald, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : tuned  vibration  absorber;  self-tuning  vibration  absorber Résumé : A classic tuned vibration absorber (TVA) is a device that, when attached to a structure, will greatly reduce the motion of the attachment at a specific excitation frequency. When a fixed frequency input is present, a TVA can be manufactured for the specific frequency input. When the input frequency changes during the course of operation, then an active adaptive TVA can be used where sensors, signal conditioning, and power are provided so that the tuned frequency can be varied over some range. A self-tuning vibration absorber (STVA) is a device that uses energy from the vibrating structure to produce some physical motion that changes the tuned frequency of the device. Through proper design, the tuned frequency will change in the appropriate direction and then stop changing when the tuned frequency matches the input frequency. This paper addresses the physics of one realization of a STVA and shows both analytical and experimental results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Whirling-beam self-tuning vibration absorber [texte imprimé] / Douglas Ivers, Auteur ; Robert Wilson, Auteur ; Margolis, Donald, Auteur . - 2010 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 11 p. Mots-clés : tuned  vibration  absorber;  self-tuning  vibration  absorber Résumé : A classic tuned vibration absorber (TVA) is a device that, when attached to a structure, will greatly reduce the motion of the attachment at a specific excitation frequency. When a fixed frequency input is present, a TVA can be manufactured for the specific frequency input. When the input frequency changes during the course of operation, then an active adaptive TVA can be used where sensors, signal conditioning, and power are provided so that the tuned frequency can be varied over some range. A self-tuning vibration absorber (STVA) is a device that uses energy from the vibrating structure to produce some physical motion that changes the tuned frequency of the device. Through proper design, the tuned frequency will change in the appropriate direction and then stop changing when the tuned frequency matches the input frequency. This paper addresses the physics of one realization of a STVA and shows both analytical and experimental results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Transformer Eddy current dampers for the vibration control / Andrea Tonoli in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 09 p. Titre : Transformer Eddy current dampers for the vibration control Type de document : texte imprimé Auteurs : Andrea Tonoli, Auteur ; Nicola Amati, Auteur ; Mario Silvagni, Auteur Année de publication : 2010 Article en page(s) : 09 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : Eddy  current  dampers;  mechanical  structures;  vibration  control Résumé : Eddy current dampers are promising for the passive and semiactive vibration control of mechanical structures. Among them, the “motional” types are based on Lorentz forces between a moving conductor and a stationary magnetic field. On the contrary, “transformer” ones exploit electromagnetic forces varying the reluctance of the magnetic circuit due to the motion of a part of the damper. Considering the simplicity of the layout, transformer configurations seem to be very promising as alternative to traditional rubber or squeeze film dampers to control the lateral vibration of rotating machines. The aim of the present paper is to investigate the dynamic behavior of transformer eddy current dampers integrated in a mechanical structure. The electromechanical system is modeled using the Lagrange approach in terms of the magnetic flux linkages in the electromagnets. The mathematical models have been experimentally validated using two test benches with different layouts and geometrical characteristics of the magnetic circuit. The modeling approach allows to propose a design procedure of this type of damper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Transformer Eddy current dampers for the vibration control [texte imprimé] / Andrea Tonoli, Auteur ; Nicola Amati, Auteur ; Mario Silvagni, Auteur . - 2010 . - 09 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 09 p. Mots-clés : Eddy  current  dampers;  mechanical  structures;  vibration  control Résumé : Eddy current dampers are promising for the passive and semiactive vibration control of mechanical structures. Among them, the “motional” types are based on Lorentz forces between a moving conductor and a stationary magnetic field. On the contrary, “transformer” ones exploit electromagnetic forces varying the reluctance of the magnetic circuit due to the motion of a part of the damper. Considering the simplicity of the layout, transformer configurations seem to be very promising as alternative to traditional rubber or squeeze film dampers to control the lateral vibration of rotating machines. The aim of the present paper is to investigate the dynamic behavior of transformer eddy current dampers integrated in a mechanical structure. The electromechanical system is modeled using the Lagrange approach in terms of the magnetic flux linkages in the electromagnets. The mathematical models have been experimentally validated using two test benches with different layouts and geometrical characteristics of the magnetic circuit. The modeling approach allows to propose a design procedure of this type of damper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Robust piecewise-linear state observers for flexible link mechanisms / Roberto Caracciolo in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 08 p. Titre : Robust piecewise-linear state observers for flexible link mechanisms Type de document : texte imprimé Auteurs : Roberto Caracciolo, Auteur ; Dario Richiedei, Auteur ; Alberto Trevisani, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : flexible  link  mechanisms;  state  observers;  dynamics  models Résumé : This paper tackles the problem of designing state observers for flexible link mechanisms: An investigation is made on the possibility of employing observers making use of suitable piecewise-linear truncated dynamics models. A general and novel approach is proposed, which provides an objective way of synthesizing observers preventing the instability that may arise from using reduced-order linearized models. The approach leads to the identification of the regions of the domain of the state variables where the linear approximations of the nonlinear model can be considered acceptable. To this purpose, first of all, the stability of the equilibrium points of the closed-loop system is assessed by applying the eigenvalue analysis to appropriate piecewise-linear models. Admittedly, the dynamics of such a closed-loop system is affected by the perturbation of the poles caused by spillover and by the discrepancies between the linearized models of the plant and the one of the observer. Additionally, when nodal elastic displacements and velocities are not bounded in the infinitesimal neighborhoods of the equilibrium points, the difference between the nonlinear model and the locally linearized one is expressed in terms of unstructured uncertainty and stability is assessed through H∞ robust analysis. The method is demonstrated by applying it to a closed-chain flexible link mechanism. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Robust piecewise-linear state observers for flexible link mechanisms [texte imprimé] / Roberto Caracciolo, Auteur ; Dario Richiedei, Auteur ; Alberto Trevisani, Auteur . - 2010 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 08 p. Mots-clés : flexible  link  mechanisms;  state  observers;  dynamics  models Résumé : This paper tackles the problem of designing state observers for flexible link mechanisms: An investigation is made on the possibility of employing observers making use of suitable piecewise-linear truncated dynamics models. A general and novel approach is proposed, which provides an objective way of synthesizing observers preventing the instability that may arise from using reduced-order linearized models. The approach leads to the identification of the regions of the domain of the state variables where the linear approximations of the nonlinear model can be considered acceptable. To this purpose, first of all, the stability of the equilibrium points of the closed-loop system is assessed by applying the eigenvalue analysis to appropriate piecewise-linear models. Admittedly, the dynamics of such a closed-loop system is affected by the perturbation of the poles caused by spillover and by the discrepancies between the linearized models of the plant and the one of the observer. Additionally, when nodal elastic displacements and velocities are not bounded in the infinitesimal neighborhoods of the equilibrium points, the difference between the nonlinear model and the locally linearized one is expressed in terms of unstructured uncertainty and stability is assessed through H∞ robust analysis. The method is demonstrated by applying it to a closed-chain flexible link mechanism. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Model following sliding mode control based on uncertainty and disturbance estimator / S. E. Talole in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 05 p. Titre : Model following sliding mode control based on uncertainty and disturbance estimator Type de document : texte imprimé Auteurs : S. E. Talole, Auteur ; S. B. Phadke, Auteur Année de publication : 2010 Article en page(s) : 05 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : sliding  mode  control;  uncertainties;  disturbances Résumé : A new design of sliding mode control based on an uncertainty and disturbance estimator (UDE) is given. The control proposed does not require the knowledge of bounds of uncertainties and disturbances and is continuous. Thus, two main difficulties in the design of sliding mode control are overcome. Furthermore, the method of UDE is extended to plants having significant uncertainty in the control input matrix and subjected to disturbances that nonlinearly depend on states. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Model following sliding mode control based on uncertainty and disturbance estimator [texte imprimé] / S. E. Talole, Auteur ; S. B. Phadke, Auteur . - 2010 . - 05 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 05 p. Mots-clés : sliding  mode  control;  uncertainties;  disturbances Résumé : A new design of sliding mode control based on an uncertainty and disturbance estimator (UDE) is given. The control proposed does not require the knowledge of bounds of uncertainties and disturbances and is continuous. Thus, two main difficulties in the design of sliding mode control are overcome. Furthermore, the method of UDE is extended to plants having significant uncertainty in the control input matrix and subjected to disturbances that nonlinearly depend on states. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

On the practical stability of incorporating integral compensation into the low-and-high gain control for a class of systems with norm-type input saturation / Shou-Tao Peng in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 08 p. Titre : On the practical stability of incorporating integral compensation into the low-and-high gain control for a class of systems with norm-type input saturation Type de document : texte imprimé Auteurs : Shou-Tao Peng, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : incorporating  integral  compensation,  feedback;  stability;  low-and-high  gain  control Résumé : This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] On the practical stability of incorporating integral compensation into the low-and-high gain control for a class of systems with norm-type input saturation [texte imprimé] / Shou-Tao Peng, Auteur . - 2010 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 08 p. Mots-clés : incorporating  integral  compensation,  feedback;  stability;  low-and-high  gain  control Résumé : This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Minimum move-vibration control for flexible structures / Abhishek Dhanda in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 06 p. Titre : Minimum move-vibration control for flexible structures Type de document : texte imprimé Auteurs : Abhishek Dhanda, Auteur ; Gene Franklin, Auteur Année de publication : 2010 Article en page(s) : 06 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : flexible  structures;  vibrations;  input  design Résumé : In the rest-to-rest motion of a flexible structure with limited torque or force, it is sometimes important to control the vibrations during the move trajectory as well as at the final time. In order to achieve this control, the duration of the move must be set to be longer than the theoretical minimum time. In this paper, three definitions of trajectory vibration performance are given and a new method for input design is described, which is based on switched control. An analytical expression is obtained for the solution for lightly damped fourth-order systems, which enables a very efficient control implementation of approximately time-optimal moves. The switched control approach is generalized for presenting simplified approximate solutions for the tracking problem and other optimal control problems with singular arcs. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Minimum move-vibration control for flexible structures [texte imprimé] / Abhishek Dhanda, Auteur ; Gene Franklin, Auteur . - 2010 . - 06 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 06 p. Mots-clés : flexible  structures;  vibrations;  input  design Résumé : In the rest-to-rest motion of a flexible structure with limited torque or force, it is sometimes important to control the vibrations during the move trajectory as well as at the final time. In order to achieve this control, the duration of the move must be set to be longer than the theoretical minimum time. In this paper, three definitions of trajectory vibration performance are given and a new method for input design is described, which is based on switched control. An analytical expression is obtained for the solution for lightly damped fourth-order systems, which enables a very efficient control implementation of approximately time-optimal moves. The switched control approach is generalized for presenting simplified approximate solutions for the tracking problem and other optimal control problems with singular arcs. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Input shaping control of double-pendulum bridge crane oscillations / William Singhose in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Titre : Input shaping control of double-pendulum bridge crane oscillations Type de document : texte imprimé Auteurs : William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Input shaping control of double-pendulum bridge crane oscillations [texte imprimé] / William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur . - 2010 . - 07 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Reduction in the number of gain-scheduling parameters using dimensional transformation / Haftay Hailu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 06 p. Titre : Reduction in the number of gain-scheduling parameters using dimensional transformation Type de document : texte imprimé Auteurs : Haftay Hailu, Auteur ; Sean Brennan, Auteur Année de publication : 2010 Article en page(s) : 06 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : gain-scheduled  controller;  linear  parameter-varying  system;  dimensional  transformation;  matrix-based  approach Résumé : A method is presented that can often reduce the number of scheduling parameters for gain-scheduled controller implementation by transformation of the system representation using parameter-dependent dimensional transformations. In some cases, the reduction in parameter dependence is so significant that a linear parameter-varying system can be transformed to an equivalent linear time invariant (LTI) system, and a simple example of this is given. A general analysis of the parameter-dependent dimensional transformation using a matrix-based approach is then presented. It is shown that, while some transformations simplify gain scheduling, others may increase the number of scheduling parameters. This work explores the mathematical conditions causing an increase or decrease in varying parameters resulting from a given transformation, thereby allowing one to seek transformations that most reduce the number of gain-scheduled parameters in the controller synthesis step. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Reduction in the number of gain-scheduling parameters using dimensional transformation [texte imprimé] / Haftay Hailu, Auteur ; Sean Brennan, Auteur . - 2010 . - 06 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 06 p. Mots-clés : gain-scheduled  controller;  linear  parameter-varying  system;  dimensional  transformation;  matrix-based  approach Résumé : A method is presented that can often reduce the number of scheduling parameters for gain-scheduled controller implementation by transformation of the system representation using parameter-dependent dimensional transformations. In some cases, the reduction in parameter dependence is so significant that a linear parameter-varying system can be transformed to an equivalent linear time invariant (LTI) system, and a simple example of this is given. A general analysis of the parameter-dependent dimensional transformation using a matrix-based approach is then presented. It is shown that, while some transformations simplify gain scheduling, others may increase the number of scheduling parameters. This work explores the mathematical conditions causing an increase or decrease in varying parameters resulting from a given transformation, thereby allowing one to seek transformations that most reduce the number of gain-scheduled parameters in the controller synthesis step. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

An analysis framework for evaluating dropout compensation strategies in wireless servo systems / Paul A. Kawka in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Titre : An analysis framework for evaluating dropout compensation strategies in wireless servo systems Type de document : texte imprimé Auteurs : Paul A. Kawka, Auteur ; Alleyne, Andrew G., Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : linear  servo  control  systems;  dropout  compensation  strategies Résumé : This paper presents an approach for analyzing the performance of dropout compensation strategies for linear servo control systems operating over communication channels with losses. A loss of communication causes the normal control action to be replaced by an appropriately designed dropout compensation action. A linear matrix inequality based approach is given for examining H∞ and/or H2 performance of wireless feedback systems using dropout compensation where we assume a two-state Markov model for the communication network. To illustrate the analysis method, we introduce two specific data dropout compensation schemes: zero order hold and estimation. These two schemes are compared in simulation and experiment to validate the effectiveness of the performance analysis. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] An analysis framework for evaluating dropout compensation strategies in wireless servo systems [texte imprimé] / Paul A. Kawka, Auteur ; Alleyne, Andrew G., Auteur . - 2010 . - 07 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Mots-clés : linear  servo  control  systems;  dropout  compensation  strategies Résumé : This paper presents an approach for analyzing the performance of dropout compensation strategies for linear servo control systems operating over communication channels with losses. A loss of communication causes the normal control action to be replaced by an appropriately designed dropout compensation action. A linear matrix inequality based approach is given for examining H∞ and/or H2 performance of wireless feedback systems using dropout compensation where we assume a two-state Markov model for the communication network. To illustrate the analysis method, we introduce two specific data dropout compensation schemes: zero order hold and estimation. These two schemes are compared in simulation and experiment to validate the effectiveness of the performance analysis. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

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