Dépouillements

Extended angular-velocity vold–Kalman order tracking / Min-Chun Pan in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Titre : Extended angular-velocity vold–Kalman order tracking Type de document : texte imprimé Auteurs : Min-Chun Pan, Auteur ; Cheng-Xue Wu, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Angular  velocity  Gears  Machinery Index. décimale : 629.8 Résumé : Dynamic signals acquired from rotary machines can be characterized by the order tracking (OT) techniques. The extracted order components correspond to the operation of specific machine elements and reflect their current healthy or faulty states. The study extends the angular-velocity Vold–Kalman OT scheme to simultaneously extract multiple order components. Theoretical derivation is illustrated with simulation of processing three synthetic signals to show its merit. Additionally, as an example to validate its effectiveness, the improved OT scheme is used to process pass-by noise emitted from an electric scooter with a planetary-gear-set transmission system. The gear-meshing orders are effectively decoupled from structure-borne resonances. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Extended angular-velocity vold–Kalman order tracking [texte imprimé] / Min-Chun Pan, Auteur ; Cheng-Xue Wu, Auteur . - 2010 . - 11 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Mots-clés : Angular  velocity  Gears  Machinery Index. décimale : 629.8 Résumé : Dynamic signals acquired from rotary machines can be characterized by the order tracking (OT) techniques. The extracted order components correspond to the operation of specific machine elements and reflect their current healthy or faulty states. The study extends the angular-velocity Vold–Kalman OT scheme to simultaneously extract multiple order components. Theoretical derivation is illustrated with simulation of processing three synthetic signals to show its merit. Additionally, as an example to validate its effectiveness, the improved OT scheme is used to process pass-by noise emitted from an electric scooter with a planetary-gear-set transmission system. The gear-meshing orders are effectively decoupled from structure-borne resonances. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Motion control of a container with slosh / Richter, Hanz in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 10 p. Titre : Motion control of a container with slosh : constrained sliding mode approach Type de document : texte imprimé Auteurs : Richter, Hanz, Auteur Année de publication : 2010 Article en page(s) : 10 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Containers  Linear  matrix  inequalities  Motion  control  Position  control  Shapes  (structures)  Sloshing  Variable  structure  systems Index. décimale : 629.8 Résumé : A constrained sliding mode control methodology developed by the author is applied to the motion control of an open container filled with liquid. The objective is to control the position of the container to meet the performance and robustness requirements, and to specify a safe operating set, i.e., the set of initial conditions from which the system can be operated without exceeding a prescribed liquid level and additional constraints. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then, a robustly invariant cylinder formed as the Cartesian product of an ellipsoid, and a closed interval is constructed using linear matrix inequalities. A set of constraint qualification conditions are evaluated to ensure that the intersection of the cylinder and the state constraints is robustly positively invariant, constituting the required operating set. Simulations and experimental results corresponding to a high-speed transfer validate the methodology. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Motion control of a container with slosh : constrained sliding mode approach [texte imprimé] / Richter, Hanz, Auteur . - 2010 . - 10 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 10 p. Mots-clés : Containers  Linear  matrix  inequalities  Motion  control  Position  control  Shapes  (structures)  Sloshing  Variable  structure  systems Index. décimale : 629.8 Résumé : A constrained sliding mode control methodology developed by the author is applied to the motion control of an open container filled with liquid. The objective is to control the position of the container to meet the performance and robustness requirements, and to specify a safe operating set, i.e., the set of initial conditions from which the system can be operated without exceeding a prescribed liquid level and additional constraints. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then, a robustly invariant cylinder formed as the Cartesian product of an ellipsoid, and a closed interval is constructed using linear matrix inequalities. A set of constraint qualification conditions are evaluated to ensure that the intersection of the cylinder and the state constraints is robustly positively invariant, constituting the required operating set. Simulations and experimental results corresponding to a high-speed transfer validate the methodology. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Robust control and time-domain specifications for systems of delay differential equations via eigenvalue assignment / Sun, Yi in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Titre : Robust control and time-domain specifications for systems of delay differential equations via eigenvalue assignment Type de document : texte imprimé Auteurs : Sun, Yi, Auteur ; Patrick W. Nelson, Auteur ; A. Galip Ulsoy, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Delay-differential  systems  Differential  equations  Eigenvalues  and  eigenfunctions  Linear  systems  Matrix  algebra  Robust  control  Time-domain  analysis  Transient  response Index. décimale : 629.8 Résumé : An approach to eigenvalue assignment for systems of linear time-invariant (LTI) delay differential equations (DDEs), based upon the solution in terms of the matrix Lambert W function, is applied to the problem of robust control design for perturbed LTI systems of DDEs, and to the problem of time-domain response specifications. Robust stability of the closed-loop system can be achieved through eigenvalue assignment combined with the real stability radius concept. For a LTI system of DDEs with a single delay, which has an infinite number of eigenvalues, the recently developed Lambert W function-based approach is used to assign a dominant subset of them, which has not been previously feasible. Also, an approach to time-domain specifications for the transient response of systems of DDEs is developed in a way similar to systems of ordinary differential equations using the Lambert W function-based approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Robust control and time-domain specifications for systems of delay differential equations via eigenvalue assignment [texte imprimé] / Sun, Yi, Auteur ; Patrick W. Nelson, Auteur ; A. Galip Ulsoy, Auteur . - 2010 . - 07 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Mots-clés : Delay-differential  systems  Differential  equations  Eigenvalues  and  eigenfunctions  Linear  systems  Matrix  algebra  Robust  control  Time-domain  analysis  Transient  response Index. décimale : 629.8 Résumé : An approach to eigenvalue assignment for systems of linear time-invariant (LTI) delay differential equations (DDEs), based upon the solution in terms of the matrix Lambert W function, is applied to the problem of robust control design for perturbed LTI systems of DDEs, and to the problem of time-domain response specifications. Robust stability of the closed-loop system can be achieved through eigenvalue assignment combined with the real stability radius concept. For a LTI system of DDEs with a single delay, which has an infinite number of eigenvalues, the recently developed Lambert W function-based approach is used to assign a dominant subset of them, which has not been previously feasible. Also, an approach to time-domain specifications for the transient response of systems of DDEs is developed in a way similar to systems of ordinary differential equations using the Lambert W function-based approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Estimating road angles with the knowledge of the vehicle yaw angle / Ling-Yuan Hsu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 09 p. Titre : Estimating road angles with the knowledge of the vehicle yaw angle Type de document : texte imprimé Auteurs : Ling-Yuan Hsu, Auteur ; Tsung-Lin Chen, Auteur Année de publication : 2010 Article en page(s) : 09 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Acceleration  measurement  Displacement  measurement  Observers  Suspensions  (mechanical  components)  Vehicle  dynamics  Velocity  measurement Index. décimale : 629.8 Résumé : This paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a “full-state” vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, “switching observer” techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Estimating road angles with the knowledge of the vehicle yaw angle [texte imprimé] / Ling-Yuan Hsu, Auteur ; Tsung-Lin Chen, Auteur . - 2010 . - 09 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 09 p. Mots-clés : Acceleration  measurement  Displacement  measurement  Observers  Suspensions  (mechanical  components)  Vehicle  dynamics  Velocity  measurement Index. décimale : 629.8 Résumé : This paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a “full-state” vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, “switching observer” techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

A framework for discrete-time H2 preview control / A. J. Hazell in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Titre : A framework for discrete-time H2 preview control Type de document : texte imprimé Auteurs : A. J. Hazell, Auteur ; D. J. N. Limebeer, Auteur Année de publication : 2010 Article en page(s) : 14 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Closed  loop  systems  Control  system  analysis  Control  system  synthesis  Discrete  time  systems  Feedback  Feedforward  Matrix  algebra  Predictive  control  Riccati  equations Index. décimale : 629.8 Résumé : The purpose of this paper is to provide a set of synthesis and design tools for a wide class of [script H]2 preview control systems. A generic preview design problem, which features both previewable and nonpreviewable disturbances, is embedded in a standard generalized regulator framework. Preview regulation is accomplished by a two-degrees-of-freedom output-feedback controller. A number of theoretical issues are studied, including the efficient solution of the standard [script H]2 full-information Riccati equation and the efficient evaluation of the full-information preview gain matrices. The full-information problem is then extended to include the efficient implementation of the output-feedback controller. The synthesis of feedforward controllers with preview is analyzed as a special case—this problem is of interest to designers who wish to introduce preview as a separate part of a system design. The way in which preview reduces the [script H]2-norm of the closed-loop system is analyzed in detail. Closed-loop norm reduction formulas provide a systematic way of establishing how much preview is required to solve a particular problem, and determine when extending the preview horizon will not produce worthwhile benefits. The paper concludes with a summary of the main features of preview control, as well as some controller design insights. New application examples are introduced by reference. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] A framework for discrete-time H2 preview control [texte imprimé] / A. J. Hazell, Auteur ; D. J. N. Limebeer, Auteur . - 2010 . - 14 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Mots-clés : Closed  loop  systems  Control  system  analysis  Control  system  synthesis  Discrete  time  systems  Feedback  Feedforward  Matrix  algebra  Predictive  control  Riccati  equations Index. décimale : 629.8 Résumé : The purpose of this paper is to provide a set of synthesis and design tools for a wide class of [script H]2 preview control systems. A generic preview design problem, which features both previewable and nonpreviewable disturbances, is embedded in a standard generalized regulator framework. Preview regulation is accomplished by a two-degrees-of-freedom output-feedback controller. A number of theoretical issues are studied, including the efficient solution of the standard [script H]2 full-information Riccati equation and the efficient evaluation of the full-information preview gain matrices. The full-information problem is then extended to include the efficient implementation of the output-feedback controller. The synthesis of feedforward controllers with preview is analyzed as a special case—this problem is of interest to designers who wish to introduce preview as a separate part of a system design. The way in which preview reduces the [script H]2-norm of the closed-loop system is analyzed in detail. Closed-loop norm reduction formulas provide a systematic way of establishing how much preview is required to solve a particular problem, and determine when extending the preview horizon will not produce worthwhile benefits. The paper concludes with a summary of the main features of preview control, as well as some controller design insights. New application examples are introduced by reference. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Automatic in-process chatter avoidance in the high-speed milling process / van Dijk, N. J. M. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Titre : Automatic in-process chatter avoidance in the high-speed milling process Type de document : texte imprimé Auteurs : van Dijk, N. J. M., Auteur ; E. J. J. Doppenberg, Auteur ; R. P. H. Faassen, Auteur Année de publication : 2010 Article en page(s) : 14 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Machine  tool  spindles  Machining  chatter  Milling  Milling  machines  Wear Index. décimale : 629.8 Résumé : High-speed milling is often used in industry to maximize productivity of the manufacturing of high-technology components, such as aeronautical components, mold, and dies. The occurrence of chatter highly limits the efficiency and accuracy of high-speed milling operations. In this paper, two control strategies are presented that guarantee a chatter-free high-speed milling operation by automatic adaptation of spindle speed and feed. Moreover, the proposed strategies are robust for changing process conditions (e.g., due to heating of the spindle or tool wear). An important part of the control strategy is the detection of chatter. A novel chatter detection algorithm is presented that automatically detects chatter in an online fashion and in a premature phase such that no visible marks on the workpiece are present. Experiments on a state-of-the-art high-speed milling machine underline the effectiveness of the proposed detection and control strategies. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Automatic in-process chatter avoidance in the high-speed milling process [texte imprimé] / van Dijk, N. J. M., Auteur ; E. J. J. Doppenberg, Auteur ; R. P. H. Faassen, Auteur . - 2010 . - 14 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Mots-clés : Machine  tool  spindles  Machining  chatter  Milling  Milling  machines  Wear Index. décimale : 629.8 Résumé : High-speed milling is often used in industry to maximize productivity of the manufacturing of high-technology components, such as aeronautical components, mold, and dies. The occurrence of chatter highly limits the efficiency and accuracy of high-speed milling operations. In this paper, two control strategies are presented that guarantee a chatter-free high-speed milling operation by automatic adaptation of spindle speed and feed. Moreover, the proposed strategies are robust for changing process conditions (e.g., due to heating of the spindle or tool wear). An important part of the control strategy is the detection of chatter. A novel chatter detection algorithm is presented that automatically detects chatter in an online fashion and in a premature phase such that no visible marks on the workpiece are present. Experiments on a state-of-the-art high-speed milling machine underline the effectiveness of the proposed detection and control strategies. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Repeatable redundant manipulator control using nullspace quasivelocities / Alan Bowling in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Titre : Repeatable redundant manipulator control using nullspace quasivelocities Type de document : texte imprimé Auteurs : Alan Bowling, Auteur ; Sean Harmeyer, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Redundant  manipulators Index. décimale : 629.8 Résumé : This paper presents a repeatable control scheme for redundant manipulators. It is developed in terms of physically meaningful variables, a concept closely related to integrability and homogeneity. This approach sheds a different light on some well-known phenomena related to redundant manipulator control. The control is developed by determining enough physically meaningful variables to describe the manipulator's motions in the task and nullspaces, in a manner that allows them to be controlled independently. These variables are then used to develop physically meaningful controller error signals. As a consequence, all configurations in the workspace are repeatable, except for those at, or very close, to a kinematic singularity. The approach is illustrated on a 6DOF planar manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Repeatable redundant manipulator control using nullspace quasivelocities [texte imprimé] / Alan Bowling, Auteur ; Sean Harmeyer, Auteur . - 2010 . - 11 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Mots-clés : Redundant  manipulators Index. décimale : 629.8 Résumé : This paper presents a repeatable control scheme for redundant manipulators. It is developed in terms of physically meaningful variables, a concept closely related to integrability and homogeneity. This approach sheds a different light on some well-known phenomena related to redundant manipulator control. The control is developed by determining enough physically meaningful variables to describe the manipulator's motions in the task and nullspaces, in a manner that allows them to be controlled independently. These variables are then used to develop physically meaningful controller error signals. As a consequence, all configurations in the workspace are repeatable, except for those at, or very close, to a kinematic singularity. The approach is illustrated on a 6DOF planar manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Position-error based schemes for bilateral teleoperation with time delay: / Ilia G. Polushin in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Titre : Position-error based schemes for bilateral teleoperation with time delay: Type de document : texte imprimé Auteurs : Ilia G. Polushin, Auteur ; Liu, Peter X., Auteur ; Chung-Horng Lung, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Delays  Differential  equations  Feedback  Stability  Telerobotics  Time-varying  systems Index. décimale : 629.8 Résumé : The problem of stable bilateral teleoperation with position-error based force feedback in the presence of time-varying possibly unbounded communication delay is addressed. Two stabilization schemes are proposed that guarantee “independent of delay” stability of the teleoperator system. In particular, one of the schemes theoretically allows to achieve an arbitrary high force-reflection gain, which leads to better transparency without sacrificing the stability of the overall system. The stability analysis is based on the input-to-output stable small gain theorem for systems of functional-differential equations. Experimental results are presented, which demonstrate stable behavior of the telerobotic system with time-varying communication delay during contact with a rigid obstacle. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Position-error based schemes for bilateral teleoperation with time delay: [texte imprimé] / Ilia G. Polushin, Auteur ; Liu, Peter X., Auteur ; Chung-Horng Lung, Auteur . - 2010 . - 11 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Mots-clés : Delays  Differential  equations  Feedback  Stability  Telerobotics  Time-varying  systems Index. décimale : 629.8 Résumé : The problem of stable bilateral teleoperation with position-error based force feedback in the presence of time-varying possibly unbounded communication delay is addressed. Two stabilization schemes are proposed that guarantee “independent of delay” stability of the teleoperator system. In particular, one of the schemes theoretically allows to achieve an arbitrary high force-reflection gain, which leads to better transparency without sacrificing the stability of the overall system. The stability analysis is based on the input-to-output stable small gain theorem for systems of functional-differential equations. Experimental results are presented, which demonstrate stable behavior of the telerobotic system with time-varying communication delay during contact with a rigid obstacle. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Efficient operation of air-side economizer using extremum seeking control / Pengfei Li in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 10 p. Titre : Efficient operation of air-side economizer using extremum seeking control Type de document : texte imprimé Auteurs : Pengfei Li, Auteur ; Yaoyu Li, Auteur ; John E. Seem, Auteur Année de publication : 2010 Article en page(s) : 10 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Energy  conservation  Energy  consumption  HVAC  Optimal  control Index. décimale : 629.8 Résumé : As the heating, ventilating, and air conditioning (HVAC) systems accounts for a major sector of energy consumption for commercial buildings, there has been a greater demand for improving the efficiency of such systems. The air-side economizers have been developed as a class of energy-saving HVAC devices that may increase the energy efficiency by taking advantage of outdoor air during cool or cold weather. However, many economizers do not operate in the expected manner and waste even more energy than before installation, mostly due to the unreliable sensors and actuators in practice. Better control strategy is needed for optimal and robust operation. In this paper, an extremum-seeking control (ESC) based self-optimizing strategy is proposed to minimize the energy consumption, with the feedback of chilled water supply command rather than the temperature and humidity measurements. The mechanical cooling load is minimized by seeking the optimal outdoor air damper opening in real time. Such scheme does not need temperature and humidity sensors, and depends much less on the knowledge of the economizer model. Simulation was performed on a MODELICA based transient model of a single-duct air-handling unit developed with DYMOLA and AIRCONDITIONING LIBRARY. The simulation results demonstrated the potential of using ESC to achieve the minimal mechanical cooling load in a self-optimizing manner. In addition, an antiwindup ESC scheme is proposed to handle the ESC windup issue due to actuator (damper) saturation. The simulation results validated the effectiveness of the proposed antiwindup ESC. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Efficient operation of air-side economizer using extremum seeking control [texte imprimé] / Pengfei Li, Auteur ; Yaoyu Li, Auteur ; John E. Seem, Auteur . - 2010 . - 10 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 10 p. Mots-clés : Energy  conservation  Energy  consumption  HVAC  Optimal  control Index. décimale : 629.8 Résumé : As the heating, ventilating, and air conditioning (HVAC) systems accounts for a major sector of energy consumption for commercial buildings, there has been a greater demand for improving the efficiency of such systems. The air-side economizers have been developed as a class of energy-saving HVAC devices that may increase the energy efficiency by taking advantage of outdoor air during cool or cold weather. However, many economizers do not operate in the expected manner and waste even more energy than before installation, mostly due to the unreliable sensors and actuators in practice. Better control strategy is needed for optimal and robust operation. In this paper, an extremum-seeking control (ESC) based self-optimizing strategy is proposed to minimize the energy consumption, with the feedback of chilled water supply command rather than the temperature and humidity measurements. The mechanical cooling load is minimized by seeking the optimal outdoor air damper opening in real time. Such scheme does not need temperature and humidity sensors, and depends much less on the knowledge of the economizer model. Simulation was performed on a MODELICA based transient model of a single-duct air-handling unit developed with DYMOLA and AIRCONDITIONING LIBRARY. The simulation results demonstrated the potential of using ESC to achieve the minimal mechanical cooling load in a self-optimizing manner. In addition, an antiwindup ESC scheme is proposed to handle the ESC windup issue due to actuator (damper) saturation. The simulation results validated the effectiveness of the proposed antiwindup ESC. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Minimax state/residual-energy constrained shapers for flexible structures / Matthew Vossler in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 08 p. Titre : Minimax state/residual-energy constrained shapers for flexible structures : linear programming approach Type de document : texte imprimé Auteurs : Matthew Vossler, Auteur ; Singh, Tarunraj, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Control  system  synthesis  Flexible  structures  Linear  programming  Minimax  techniques  Robust  control  Vibration  control Index. décimale : 629.8 Résumé : The focus of this paper is on the design of shaped profiles subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by formulating a minimax optimization problem in a linear programming framework, permitting the generation of near-globally optimal shaped profiles. To illustrate the proposed technique, a deflection-limited/residual energy constrained, controller design for flexible structures undergoing rest-to-rest maneuvers will be presented. Techniques for improving robustness by the addition of state sensitivity equations, which increases the robustness in the vicinity of the nominal model, are explored. Results for the benchmark oscillator illustrate the benefit of the proposed approach over traditional designs. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Minimax state/residual-energy constrained shapers for flexible structures : linear programming approach [texte imprimé] / Matthew Vossler, Auteur ; Singh, Tarunraj, Auteur . - 2010 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 08 p. Mots-clés : Control  system  synthesis  Flexible  structures  Linear  programming  Minimax  techniques  Robust  control  Vibration  control Index. décimale : 629.8 Résumé : The focus of this paper is on the design of shaped profiles subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by formulating a minimax optimization problem in a linear programming framework, permitting the generation of near-globally optimal shaped profiles. To illustrate the proposed technique, a deflection-limited/residual energy constrained, controller design for flexible structures undergoing rest-to-rest maneuvers will be presented. Techniques for improving robustness by the addition of state sensitivity equations, which increases the robustness in the vicinity of the nominal model, are explored. Results for the benchmark oscillator illustrate the benefit of the proposed approach over traditional designs. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Nonlinear dynamics and Its applications in micro- and nanoresonators / Jeffrey F. Rhoads in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Titre : Nonlinear dynamics and Its applications in micro- and nanoresonators Type de document : texte imprimé Auteurs : Jeffrey F. Rhoads, Auteur ; Shaw, Steven W., Auteur ; Kimberly L. Turner, Auteur Année de publication : 2010 Article en page(s) : 14 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Micromechanical  devices  Nanoelectromechanical  devices  Resonance  Signal  processing Index. décimale : 629.8 Résumé : This review provides a summary of work on the resonant nonlinear dynamics of micro- and nanoelectromechanical systems. This research area, which has been active for approximately a decade, involves the study of nonlinear behaviors arising in small scale, vibratory, mechanical devices that are typically integrated with electronics for use in signal processing, actuation, and sensing applications. The inherent nature of these devices, which includes low damping, desired resonant operation, and the presence of nonlinear potential fields, sets an ideal stage for the appearance of nonlinear behavior. While nonlinearities are typically avoided in device design, they have the potential to allow designers to beneficially leverage nonlinear behavior in certain applications. This paper provides an overview of the fundamental research on nonlinear behaviors arising in micro-/nanoresonators, including direct and parametric resonances in individual resonators and coupled resonator arrays, and also describes the active exploitation of nonlinear dynamics in the development of resonant mass sensors, inertial sensors, and electromechanical signal processing systems. This paper closes with some brief remarks about important ongoing developments in the field. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Nonlinear dynamics and Its applications in micro- and nanoresonators [texte imprimé] / Jeffrey F. Rhoads, Auteur ; Shaw, Steven W., Auteur ; Kimberly L. Turner, Auteur . - 2010 . - 14 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 14 p. Mots-clés : Micromechanical  devices  Nanoelectromechanical  devices  Resonance  Signal  processing Index. décimale : 629.8 Résumé : This review provides a summary of work on the resonant nonlinear dynamics of micro- and nanoelectromechanical systems. This research area, which has been active for approximately a decade, involves the study of nonlinear behaviors arising in small scale, vibratory, mechanical devices that are typically integrated with electronics for use in signal processing, actuation, and sensing applications. The inherent nature of these devices, which includes low damping, desired resonant operation, and the presence of nonlinear potential fields, sets an ideal stage for the appearance of nonlinear behavior. While nonlinearities are typically avoided in device design, they have the potential to allow designers to beneficially leverage nonlinear behavior in certain applications. This paper provides an overview of the fundamental research on nonlinear behaviors arising in micro-/nanoresonators, including direct and parametric resonances in individual resonators and coupled resonator arrays, and also describes the active exploitation of nonlinear dynamics in the development of resonant mass sensors, inertial sensors, and electromechanical signal processing systems. This paper closes with some brief remarks about important ongoing developments in the field. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

On transient improvement of variable structure controlled systems using multimodel switching / Akar, Mehmet in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 05 p. Titre : On transient improvement of variable structure controlled systems using multimodel switching Type de document : texte imprimé Auteurs : Akar, Mehmet, Auteur Année de publication : 2010 Article en page(s) : 05 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Nonlinear  control  systems  Time-varying  systems  Uncertain  systems  Variable  structure  systems Index. décimale : 629.8 Résumé : This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] On transient improvement of variable structure controlled systems using multimodel switching [texte imprimé] / Akar, Mehmet, Auteur . - 2010 . - 05 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 05 p. Mots-clés : Nonlinear  control  systems  Time-varying  systems  Uncertain  systems  Variable  structure  systems Index. décimale : 629.8 Résumé : This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Chatter detection in machining using nonlinear energy operator / Emad Al-Regib in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 04 p. Titre : Chatter detection in machining using nonlinear energy operator Type de document : texte imprimé Auteurs : Emad Al-Regib, Auteur ; Ni, Jun, Auteur Année de publication : 2010 Article en page(s) : 04 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Cutting  Machine  tools  Machining  chatter  Milling  Process  control  Time-frequency  analysis  Turning  (machining)  Wigner  distribution Index. décimale : 629.8 Résumé : A normalized chatter detection index, which is independent of cutting conditions, is critical for machining process monitoring and control. This paper introduces a novel method for on-line machine-tool chatter detection. The method characterizes the significant transition in the cutting dynamics at the onset of chatter by the changes in the instantaneous energy of the machining system. This technique utilizes the relation between the Teager–Kaiser nonlinear energy operator and time-frequency (Wigner) distribution to develop a normalized chatter detection index. The validity of this technique is demonstrated with the actual experimental cutting data obtained from turning and milling processes. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Chatter detection in machining using nonlinear energy operator [texte imprimé] / Emad Al-Regib, Auteur ; Ni, Jun, Auteur . - 2010 . - 04 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 04 p. Mots-clés : Cutting  Machine  tools  Machining  chatter  Milling  Process  control  Time-frequency  analysis  Turning  (machining)  Wigner  distribution Index. décimale : 629.8 Résumé : A normalized chatter detection index, which is independent of cutting conditions, is critical for machining process monitoring and control. This paper introduces a novel method for on-line machine-tool chatter detection. The method characterizes the significant transition in the cutting dynamics at the onset of chatter by the changes in the instantaneous energy of the machining system. This technique utilizes the relation between the Teager–Kaiser nonlinear energy operator and time-frequency (Wigner) distribution to develop a normalized chatter detection index. The validity of this technique is demonstrated with the actual experimental cutting data obtained from turning and milling processes. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems / James Richard Forbes in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Titre : Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems Type de document : texte imprimé Auteurs : James Richard Forbes, Auteur ; Christopher John Damaren, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Closed  loop  systems  Flexible  manipulators  Manipulator  dynamics  Motion  control  Numerical  analysis  Stability Index. décimale : 629.8 Résumé : The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a family of very strictly passive compensators scheduled via time- or state-dependent scheduling signals is also very strictly passive. Two optimization problems are posed; we first present a simple method to optimize the linear SPR controllers, which compose the gain-scheduled controller. Second, we formulate the optimization problem associated with the gain-scheduled controller itself. Restricting our investigation to time-dependent scheduling signals, the signals are parameterized, and the optimization objective function seeks to find the form of the scheduling signals, which minimizes a combination of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals are not necessarily linear. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems [texte imprimé] / James Richard Forbes, Auteur ; Christopher John Damaren, Auteur . - 2010 . - 07 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 07 p. Mots-clés : Closed  loop  systems  Flexible  manipulators  Manipulator  dynamics  Motion  control  Numerical  analysis  Stability Index. décimale : 629.8 Résumé : The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a family of very strictly passive compensators scheduled via time- or state-dependent scheduling signals is also very strictly passive. Two optimization problems are posed; we first present a simple method to optimize the linear SPR controllers, which compose the gain-scheduled controller. Second, we formulate the optimization problem associated with the gain-scheduled controller itself. Restricting our investigation to time-dependent scheduling signals, the signals are parameterized, and the optimization objective function seeks to find the form of the scheduling signals, which minimizes a combination of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals are not necessarily linear. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Stochastic finite-time stabilization for uncertain jump systems via state feedback / Shuping He in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 04 p. Titre : Stochastic finite-time stabilization for uncertain jump systems via state feedback Type de document : texte imprimé Auteurs : Shuping He, Auteur ; Fei Liu, Auteur Année de publication : 2010 Article en page(s) : 04 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Linear  matrix  inequalities  Lyapunov  methods  Markov  processes  Robust  control  State  feedback Index. décimale : 629.8 Résumé : The stochastic finite-time stabilization problem is considered for a class of linear uncertain Markov jump systems that possess randomly jumping parameters. The transition of the jumping parameters is governed by a finite-state Markov process. By using the appropriate stochastic Lyapunov–Krasovskii functional approach, sufficient conditions are proposed for the design of stochastic finite-time stabilization controller. The stabilization criteria are formulated in the form of linear matrix inequalities and the designed finite-time stabilization controller is described as an optimization one. The designed finite-time stabilized controller makes the stochastic MJSs stochastic finite-time bounded and stochastic finite-time stabilizable for all admissible unknown external disturbances and uncertain parameters. Simulation results illustrate the effectiveness of the developed approaches. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Stochastic finite-time stabilization for uncertain jump systems via state feedback [texte imprimé] / Shuping He, Auteur ; Fei Liu, Auteur . - 2010 . - 04 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 04 p. Mots-clés : Linear  matrix  inequalities  Lyapunov  methods  Markov  processes  Robust  control  State  feedback Index. décimale : 629.8 Résumé : The stochastic finite-time stabilization problem is considered for a class of linear uncertain Markov jump systems that possess randomly jumping parameters. The transition of the jumping parameters is governed by a finite-state Markov process. By using the appropriate stochastic Lyapunov–Krasovskii functional approach, sufficient conditions are proposed for the design of stochastic finite-time stabilization controller. The stabilization criteria are formulated in the form of linear matrix inequalities and the designed finite-time stabilization controller is described as an optimization one. The designed finite-time stabilized controller makes the stochastic MJSs stochastic finite-time bounded and stochastic finite-time stabilizable for all admissible unknown external disturbances and uncertain parameters. Simulation results illustrate the effectiveness of the developed approaches. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Brachistochrone on a 1D curved surface using optimal control / Hennessey, Michael P. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 05 p. Titre : Brachistochrone on a 1D curved surface using optimal control Type de document : texte imprimé Auteurs : Hennessey, Michael P., Auteur ; Cheri Shakiban, Auteur Année de publication : 2010 Article en page(s) : 05 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Boundary-value  problems  Calculus  Curve  fitting  Iterative  methods  Mechanics  Open  loop  systems  Optimal  control  State  feedback Index. décimale : 629.8 Résumé : The brachistochrone for a steerable particle moving on a 1D curved surface in a gravity field is solved using an optimal control formulation with state feedback. The process begins with a derivation of a fourth-order open-loop plant model with the system input being the body yaw rate. Solving for the minimum-time control law entails introducing four costates and solving the Euler–Lagrange equations, with the Hamiltonian being stationary with respect to the control. Also, since the system is autonomous, the Hamiltonian must be zero. A two-point boundary value problem results with a transversality condition, and its solution requires iteration of the initial bearing angle so the integrated trajectory runs through the final point. For this choice of control, the Legendre–Clebsch necessary condition is not satisfied. However, the k=1 generalized Legendre–Clebsch necessary condition from singular control theory is satisfied for all numerical simulations performed, and optimality is assured. Simulations in MATLAB® exercise the theory developed and illustrate application such as to ski racing and minimizing travel time over either a concave or undulating surface when starting from rest. Lastly, a control law singularity in particle speed is overcome numerically. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Brachistochrone on a 1D curved surface using optimal control [texte imprimé] / Hennessey, Michael P., Auteur ; Cheri Shakiban, Auteur . - 2010 . - 05 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 05 p. Mots-clés : Boundary-value  problems  Calculus  Curve  fitting  Iterative  methods  Mechanics  Open  loop  systems  Optimal  control  State  feedback Index. décimale : 629.8 Résumé : The brachistochrone for a steerable particle moving on a 1D curved surface in a gravity field is solved using an optimal control formulation with state feedback. The process begins with a derivation of a fourth-order open-loop plant model with the system input being the body yaw rate. Solving for the minimum-time control law entails introducing four costates and solving the Euler–Lagrange equations, with the Hamiltonian being stationary with respect to the control. Also, since the system is autonomous, the Hamiltonian must be zero. A two-point boundary value problem results with a transversality condition, and its solution requires iteration of the initial bearing angle so the integrated trajectory runs through the final point. For this choice of control, the Legendre–Clebsch necessary condition is not satisfied. However, the k=1 generalized Legendre–Clebsch necessary condition from singular control theory is satisfied for all numerical simulations performed, and optimality is assured. Simulations in MATLAB® exercise the theory developed and illustrate application such as to ski racing and minimizing travel time over either a concave or undulating surface when starting from rest. Lastly, a control law singularity in particle speed is overcome numerically. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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