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IEEE Transactions on control systems technology |
Dépouillements
Ajouter le résultat dans votre panierA new diagnostic model for identifying parametric faults / Rajamani Doraiswami in IEEE Transactions on control systems technology, Vol. 18 N° 3 (Mai 2010)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 533-544
Titre : A new diagnostic model for identifying parametric faults Type de document : texte imprimé Auteurs : Rajamani Doraiswami, Auteur ; Chris P. Diduch, Auteur ; Jiong Tang, Auteur Année de publication : 2011 Article en page(s) : pp. 533-544 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Faillure detection and isolation (FDI) Fault diagnosis Least squares estimation Parametric faults Parity equations System identification Index. décimale : 629.1 Résumé : This paper presents a new approach to failure detection and isolation (FDI) for systems modeled as an interconnection of subsystems that are each subject to parametric faults. This paper develops the concept of a diagnostic model and the concept of a fault emulator which are used to model and parameterize subsystem faults. There are two stages to the FDI scheme. In the first stage there is a requirement to identify the diagnostic model. Once identified, the diagnostic model is used in the second stage to generate a residual. Artifacts within the measured residual are then used as a basis for identifying parametric faults. The scheme is distinct from others as it does not require an online recursive least squares type identifier.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208200 [article] A new diagnostic model for identifying parametric faults [texte imprimé] / Rajamani Doraiswami, Auteur ; Chris P. Diduch, Auteur ; Jiong Tang, Auteur . - 2011 . - pp. 533-544.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 533-544
Mots-clés : Faillure detection and isolation (FDI) Fault diagnosis Least squares estimation Parametric faults Parity equations System identification Index. décimale : 629.1 Résumé : This paper presents a new approach to failure detection and isolation (FDI) for systems modeled as an interconnection of subsystems that are each subject to parametric faults. This paper develops the concept of a diagnostic model and the concept of a fault emulator which are used to model and parameterize subsystem faults. There are two stages to the FDI scheme. In the first stage there is a requirement to identify the diagnostic model. Once identified, the diagnostic model is used in the second stage to generate a residual. Artifacts within the measured residual are then used as a basis for identifying parametric faults. The scheme is distinct from others as it does not require an online recursive least squares type identifier.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208200
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 545-558
Titre : Stabilization of automotive vehicles using active steering and adaptive brake control allocation Type de document : texte imprimé Auteurs : Johannes Tjonnas, Auteur ; Tor A. Johansen, Auteur Année de publication : 2011 Article en page(s) : pp. 545-558 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Active safety Adaptive control Automotive stabilization Control allocation Optimization Index. décimale : 629.1 Résumé : In this work a dynamic control allocation approach is presented for an automotive vehicle yaw stabilization scheme. The stabilization strategy consists of a high level module that deals with the vehicle motion control objective (yaw rate reference generation and tracking), a low level module that handles the braking control for each wheel (longitudinal slip control and maximal tire-road friction parameter estimation), and an intermediate level dynamic control allocation module that generates the longitudinal slip reference for the low level brake control module and commands front wheel steering angle corrections. The control allocation design is such that the actual torque about the yaw axis tends to the desired torque calculated form the high level module, with desirable distribution of control forces satisfying actuator constraints and minimal control effort objectives. Conditions for uniform asymptotic stability are given for the case when the control allocation includes adaptation of the tire-road maximal friction coefficients, and the scheme has been implemented in a realistic non linear multi body vehicle simulation environment. The simulation cases show that the yaw control allocation strategy stabilizes the vehicle in extreme maneuvers where the non linear vehicle yaw dynamics otherwise (without active braking or active steering) becomes unstable in the sense of over- or under steering. The control allocation implementation is efficient and suitable for low cost automotive electronic control units.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208201 [article] Stabilization of automotive vehicles using active steering and adaptive brake control allocation [texte imprimé] / Johannes Tjonnas, Auteur ; Tor A. Johansen, Auteur . - 2011 . - pp. 545-558.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 545-558
Mots-clés : Active safety Adaptive control Automotive stabilization Control allocation Optimization Index. décimale : 629.1 Résumé : In this work a dynamic control allocation approach is presented for an automotive vehicle yaw stabilization scheme. The stabilization strategy consists of a high level module that deals with the vehicle motion control objective (yaw rate reference generation and tracking), a low level module that handles the braking control for each wheel (longitudinal slip control and maximal tire-road friction parameter estimation), and an intermediate level dynamic control allocation module that generates the longitudinal slip reference for the low level brake control module and commands front wheel steering angle corrections. The control allocation design is such that the actual torque about the yaw axis tends to the desired torque calculated form the high level module, with desirable distribution of control forces satisfying actuator constraints and minimal control effort objectives. Conditions for uniform asymptotic stability are given for the case when the control allocation includes adaptation of the tire-road maximal friction coefficients, and the scheme has been implemented in a realistic non linear multi body vehicle simulation environment. The simulation cases show that the yaw control allocation strategy stabilizes the vehicle in extreme maneuvers where the non linear vehicle yaw dynamics otherwise (without active braking or active steering) becomes unstable in the sense of over- or under steering. The control allocation implementation is efficient and suitable for low cost automotive electronic control units.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208201
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 559-573
Titre : Performance limitations in field-oriented control for asynchronous machines with low resolution position sensing Type de document : texte imprimé Auteurs : Luca Bascetta, Auteur ; Gianantonio Magnani, Auteur ; Rocco, Paolo, Auteur Année de publication : 2011 Article en page(s) : pp. 559-573 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Asynchronous machine Field oriented control (FOC) Induction motor Low resolution sensing Index. décimale : 629.1 Résumé : The traditional control architecture adopted for asynchronous motors consists of a cascaded control with an inner current loop, based on field-oriented control and an external velocity loop. In the majority of industrial applications this architecture makes use of velocity and flux observers, both fed by a position measurement that is often characterized by low resolution. This paper investigates the effects of the velocity/flux estimation error on the performance of the current/velocity regulation. A methodology, based on a linearized model of the motion control system, is introduced to quantify the perturbations caused by these estimators. Large discrepancies between the stator currents and their estimates, as well as distortion of the mechanical transfer function are explained in the light of these simplified models. Guidelines to improve the design of the current/velocity regulators are presented too. An experimental case study demonstrates how these tools can be exploited to analyze the motion control system of a commercial washing machine.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5200348 [article] Performance limitations in field-oriented control for asynchronous machines with low resolution position sensing [texte imprimé] / Luca Bascetta, Auteur ; Gianantonio Magnani, Auteur ; Rocco, Paolo, Auteur . - 2011 . - pp. 559-573.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 559-573
Mots-clés : Asynchronous machine Field oriented control (FOC) Induction motor Low resolution sensing Index. décimale : 629.1 Résumé : The traditional control architecture adopted for asynchronous motors consists of a cascaded control with an inner current loop, based on field-oriented control and an external velocity loop. In the majority of industrial applications this architecture makes use of velocity and flux observers, both fed by a position measurement that is often characterized by low resolution. This paper investigates the effects of the velocity/flux estimation error on the performance of the current/velocity regulation. A methodology, based on a linearized model of the motion control system, is introduced to quantify the perturbations caused by these estimators. Large discrepancies between the stator currents and their estimates, as well as distortion of the mechanical transfer function are explained in the light of these simplified models. Guidelines to improve the design of the current/velocity regulators are presented too. An experimental case study demonstrates how these tools can be exploited to analyze the motion control system of a commercial washing machine.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5200348
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 574-590
Titre : Performance analysis of guidance laws based on timescale gap Type de document : texte imprimé Auteurs : Narayanachar Dhananjay, Auteur ; Debasish Ghose, Auteur ; M. Seetharama Bhat, Auteur Année de publication : 2011 Article en page(s) : pp. 574-590 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Guidance laws Nonlinear systems Proportional navigation Timescale gap Index. décimale : 629.1 Résumé : An analytical treatment of performance analysis of guidance laws is possible only in simplistic scenarios. As the complexity of the guidance system increases, a search for analytical solutions becomes quite impractical. In this paper, a new performance measure, based upon the notion of a timescale gap that can be computed through numerical simulations, is developed for performance analysis of guidance laws. Finite time Lyapunov exponents are used to define the timescale gap. It is shown that the timescale gap can be used for quantification of the rate of convergence of trajectories to the collision course. Comparison between several guidance laws, based on the timescale gap, is presented. Realistic simulations to study the effect of aerodynamics and atmospheric variations on the timescale gap of these guidance laws are also presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208380 [article] Performance analysis of guidance laws based on timescale gap [texte imprimé] / Narayanachar Dhananjay, Auteur ; Debasish Ghose, Auteur ; M. Seetharama Bhat, Auteur . - 2011 . - pp. 574-590.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 574-590
Mots-clés : Guidance laws Nonlinear systems Proportional navigation Timescale gap Index. décimale : 629.1 Résumé : An analytical treatment of performance analysis of guidance laws is possible only in simplistic scenarios. As the complexity of the guidance system increases, a search for analytical solutions becomes quite impractical. In this paper, a new performance measure, based upon the notion of a timescale gap that can be computed through numerical simulations, is developed for performance analysis of guidance laws. Finite time Lyapunov exponents are used to define the timescale gap. It is shown that the timescale gap can be used for quantification of the rate of convergence of trajectories to the collision course. Comparison between several guidance laws, based on the timescale gap, is presented. Realistic simulations to study the effect of aerodynamics and atmospheric variations on the timescale gap of these guidance laws are also presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208380
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 591-601
Titre : Input-delayed control of uncertain seat suspension systems with human-body model Type de document : texte imprimé Auteurs : Huijun, Gao, Auteur ; Yingbo Zhao, Auteur ; Weichao Sun, Auteur Année de publication : 2011 Article en page(s) : pp. 591-601 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Human body Input delay Multi-objective control Parameter uncertainty Seat suspension Index. décimale : 629.1 Résumé : This paper deals with the problem of input-delayed robust H?? state-feedback controller design for a class of semi-active seat suspension systems with parameter uncertainties and actuator time delays. A vertical vibration model of human body is employed and put together with the plant of the seat suspension system. The controller design is cast into a convex multi-objective optimization problem with linear matrix inequality (LMI) constraints by defining a Lyapunov functional and using the delay partitioning method. The usefulness and advantages of the proposed controller design methodology are demonstrated through a design example.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208208 [article] Input-delayed control of uncertain seat suspension systems with human-body model [texte imprimé] / Huijun, Gao, Auteur ; Yingbo Zhao, Auteur ; Weichao Sun, Auteur . - 2011 . - pp. 591-601.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 591-601
Mots-clés : Human body Input delay Multi-objective control Parameter uncertainty Seat suspension Index. décimale : 629.1 Résumé : This paper deals with the problem of input-delayed robust H?? state-feedback controller design for a class of semi-active seat suspension systems with parameter uncertainties and actuator time delays. A vertical vibration model of human body is employed and put together with the plant of the seat suspension system. The controller design is cast into a convex multi-objective optimization problem with linear matrix inequality (LMI) constraints by defining a Lyapunov functional and using the delay partitioning method. The usefulness and advantages of the proposed controller design methodology are demonstrated through a design example.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208208
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 602-612
Titre : Active noise hybrid time-varying control for motorcycle helmets Type de document : texte imprimé Auteurs : Rosa Castae-Selga, Auteur ; Ricardo S. Sanchez Pea, Auteur Année de publication : 2011 Article en page(s) : pp. 602-612 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Active noise control (ANC) Linear parameter varying (LPV) control Motorcycle helmets Robust control Index. décimale : 629.1 Résumé : Recent noise at work regulations in the EU (2003) have been established to prevent noise induced hearing loss (NIHL). This imposes better performance results to traditional feedback active noise control (ANC) in motorcycle helmets, which suffer from well known limitations. Here two new ideas are applied to this problem. First, an hybrid (feedforward/feedback) linear time invariant (LTI) controller is designed for a motorcycle helmet ANC, which improves the resulting attenuation. This is achieved by adding an extra pair of microphones which measure the external noise that is then used as the feedforward input signal. In addition and to increase even more the resulting performance, the air velocity is measured in real-time and used as the parameter which schedules a linear parameter varying (LPV) feedback (FB) controller. This is combined with the previous feedforward (FF) controller, resulting in a time-varying hybrid controller. Both hybrid, LTI and LPV controllers are designed using linear matrix inequality (LMI)-based optimization. Two experiments have been carried out to measure the relation between external noise spectra and velocity: a wind tunnel test and a freeway ride experience. The resulting controllers are tested in a simulation which uses actual data obtained from the freeway experiment. The resulting attenuations in this motivating study seem promising for future controller tests to be performed in real-time, with the adequate hardware.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208211 [article] Active noise hybrid time-varying control for motorcycle helmets [texte imprimé] / Rosa Castae-Selga, Auteur ; Ricardo S. Sanchez Pea, Auteur . - 2011 . - pp. 602-612.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 602-612
Mots-clés : Active noise control (ANC) Linear parameter varying (LPV) control Motorcycle helmets Robust control Index. décimale : 629.1 Résumé : Recent noise at work regulations in the EU (2003) have been established to prevent noise induced hearing loss (NIHL). This imposes better performance results to traditional feedback active noise control (ANC) in motorcycle helmets, which suffer from well known limitations. Here two new ideas are applied to this problem. First, an hybrid (feedforward/feedback) linear time invariant (LTI) controller is designed for a motorcycle helmet ANC, which improves the resulting attenuation. This is achieved by adding an extra pair of microphones which measure the external noise that is then used as the feedforward input signal. In addition and to increase even more the resulting performance, the air velocity is measured in real-time and used as the parameter which schedules a linear parameter varying (LPV) feedback (FB) controller. This is combined with the previous feedforward (FF) controller, resulting in a time-varying hybrid controller. Both hybrid, LTI and LPV controllers are designed using linear matrix inequality (LMI)-based optimization. Two experiments have been carried out to measure the relation between external noise spectra and velocity: a wind tunnel test and a freeway ride experience. The resulting controllers are tested in a simulation which uses actual data obtained from the freeway experiment. The resulting attenuations in this motivating study seem promising for future controller tests to be performed in real-time, with the adequate hardware.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208211
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 613-621
Titre : Transient control of electro-hydraulic fully flexible engine valve actuation system Type de document : texte imprimé Auteurs : Zongxuan Sun, Auteur ; Tang-Wei Kuo, Auteur Année de publication : 2011 Article en page(s) : pp. 613-621 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Camless Engine control Electro-hydraulic actuator Motion control Tracking control Index. décimale : 629.1 Résumé : Fully flexible valve actuation (FFVA) system, often referred to as camless valvetrain, employs electronically controlled actuators in place of the camshaft to drive the intake and/or exhaust valves for internal combustion engines. This system enables the engine controller to tailor the valve event according to the engine operating condition in real-time to improve fuel economy, emissions, and torque output performance. This paper presents the transient control of a laboratory electro-hydraulic fully flexible valve actuation system. Transient control of the FFVA system includes lift transient, duration transient, phase transient, speed transient, and mode transient. With constant engine speed, the valve profile is periodic in time domain and the lift, phase, and duration transients can be realized using robust repetitive control. When the engine speed varies, the period of the valve profile changes in real-time. This phenomenon poses a fundamental challenge to the transient control problem and repetitive control cannot be applied anymore. To overcome this challenge, we propose a new valve profile consisting of a periodic portion and a dwell portion with time-varying duration. Robust repetitive control is then applied to the periodic portion and proportional plus integral and derivative (PID) control is applied to the dwell portion. These two controls are switched in real-time to achieve asymptotic valve profile tracking performance. To demonstrate the effectiveness of the proposed control method, we show real-time valve-lift profiles used to explore homogeneous charge compression ignition (HCCI) combustion at different engine operating conditions.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208209 [article] Transient control of electro-hydraulic fully flexible engine valve actuation system [texte imprimé] / Zongxuan Sun, Auteur ; Tang-Wei Kuo, Auteur . - 2011 . - pp. 613-621.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 613-621
Mots-clés : Camless Engine control Electro-hydraulic actuator Motion control Tracking control Index. décimale : 629.1 Résumé : Fully flexible valve actuation (FFVA) system, often referred to as camless valvetrain, employs electronically controlled actuators in place of the camshaft to drive the intake and/or exhaust valves for internal combustion engines. This system enables the engine controller to tailor the valve event according to the engine operating condition in real-time to improve fuel economy, emissions, and torque output performance. This paper presents the transient control of a laboratory electro-hydraulic fully flexible valve actuation system. Transient control of the FFVA system includes lift transient, duration transient, phase transient, speed transient, and mode transient. With constant engine speed, the valve profile is periodic in time domain and the lift, phase, and duration transients can be realized using robust repetitive control. When the engine speed varies, the period of the valve profile changes in real-time. This phenomenon poses a fundamental challenge to the transient control problem and repetitive control cannot be applied anymore. To overcome this challenge, we propose a new valve profile consisting of a periodic portion and a dwell portion with time-varying duration. Robust repetitive control is then applied to the periodic portion and proportional plus integral and derivative (PID) control is applied to the dwell portion. These two controls are switched in real-time to achieve asymptotic valve profile tracking performance. To demonstrate the effectiveness of the proposed control method, we show real-time valve-lift profiles used to explore homogeneous charge compression ignition (HCCI) combustion at different engine operating conditions.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208209
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 622-635
Titre : Shaky hand : a novel laboratory demonstrator Type de document : texte imprimé Auteurs : Yoshikazu Hirayama, Auteur ; Tim Clarke, Auteur Année de publication : 2011 Article en page(s) : pp. 622-635 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Control Demonstrator Hardware Index. décimale : 629.1 Résumé : The Shaky Hand system is a new, visually appealing laboratory demonstrator. It is presented as a novel concept for use in control education-as an effective combination of mechanical and electronic hardware, firmware and software. Based on a simple village fete game, the aim is to guide, under feedback control, a wire loop along a meandering wire track from one end to another, without touching the loop to the track. The system utilizes a set of electromagnetic proximity sensors to locate and follow the track. This paper describes the mechanical and electrical components that make up Shaky Hand, and the control strategy that is used to effect successful control action. Shaky Hand is also implemented in simulation, and the paper describes the mathematical modelling.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208379 [article] Shaky hand : a novel laboratory demonstrator [texte imprimé] / Yoshikazu Hirayama, Auteur ; Tim Clarke, Auteur . - 2011 . - pp. 622-635.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 622-635
Mots-clés : Control Demonstrator Hardware Index. décimale : 629.1 Résumé : The Shaky Hand system is a new, visually appealing laboratory demonstrator. It is presented as a novel concept for use in control education-as an effective combination of mechanical and electronic hardware, firmware and software. Based on a simple village fete game, the aim is to guide, under feedback control, a wire loop along a meandering wire track from one end to another, without touching the loop to the track. The system utilizes a set of electromagnetic proximity sensors to locate and follow the track. This paper describes the mechanical and electrical components that make up Shaky Hand, and the control strategy that is used to effect successful control action. Shaky Hand is also implemented in simulation, and the paper describes the mathematical modelling.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208379
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 636-653
Titre : A survey of fault detection, isolation, and reconfiguration methods Type de document : texte imprimé Auteurs : Inseok Hwang, Auteur ; Sungwan Kim, Auteur ; Youdan Kim, Auteur Année de publication : 2011 Article en page(s) : pp. 636-653 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Analytic redundancy Fault detection Fault isolation Fault reconfiguration Survey Index. décimale : 629.1 Résumé : Fault detection, isolation, and reconfiguration (FDIR) is an important and challenging problem in many engineering applications and continues to be an active area of research in the control community. This paper presents a survey of the various model-based FDIR methods developed in the last decade. In the paper, the FDIR problem is divided into the fault detection and isolation (FDI) step, and the controller reconfiguration step. For FDI, we discuss various model-based techniques to generate residuals that are robust to noise, unknown disturbance, and model uncertainties, as well as various statistical techniques of testing the residuals for abrupt changes (or faults). We then discuss various techniques of implementing reconfigurable control strategy in response to faults.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282515 [article] A survey of fault detection, isolation, and reconfiguration methods [texte imprimé] / Inseok Hwang, Auteur ; Sungwan Kim, Auteur ; Youdan Kim, Auteur . - 2011 . - pp. 636-653.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 636-653
Mots-clés : Analytic redundancy Fault detection Fault isolation Fault reconfiguration Survey Index. décimale : 629.1 Résumé : Fault detection, isolation, and reconfiguration (FDIR) is an important and challenging problem in many engineering applications and continues to be an active area of research in the control community. This paper presents a survey of the various model-based FDIR methods developed in the last decade. In the paper, the FDIR problem is divided into the fault detection and isolation (FDI) step, and the controller reconfiguration step. For FDI, we discuss various model-based techniques to generate residuals that are robust to noise, unknown disturbance, and model uncertainties, as well as various statistical techniques of testing the residuals for abrupt changes (or faults). We then discuss various techniques of implementing reconfigurable control strategy in response to faults.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282515
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 654-663
Titre : Model-based electrochemical estimation and constraint management for pulse operation of lithium ion batteries Type de document : texte imprimé Auteurs : Kandler A. Smith, Auteur ; Christopher D. Rahn, Auteur ; Chao-Yang Wang, Auteur Année de publication : 2011 Article en page(s) : pp. 654-663 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Electrochemical model Lithium ion battery Model reduction Reference governor State of charge (SOC) estimation Index. décimale : 629.1 Résumé : High-power lithium ion batteries are often rated with multiple current and voltage limits depending on the duration of the pulse event. These variable control limits, however, are difficult to realize in practice. In this paper, a linear Kalman filter based on a reduced order electrochemical model is designed to estimate internal battery potentials, concentration gradients, and state-of-charge (SOC) from external current and voltage measurements. A reference current governor predicts the operating margin with respect to electrode side reactions and surface depletion/saturation conditions responsible for damage and sudden loss of power. The estimates are compared with results from an experimentally validated, 1-D, nonlinear finite volume model of a 6 Ah hybrid electric vehicle battery. The linear filter provides, to within ~ 2%, performance in the 30%-70% SOC range except in the case of severe current pulses that draw electrode surface concentrations to near saturation and depletion, although the estimates recover as concentration gradients relax. With 4 to 7 states, the filter has low-order comparable to empirical equivalent circuit models commonly employed and described in the literature. Accurate estimation of the battery's internal electrochemical state enables an expanded range of pulse operation.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256311 [article] Model-based electrochemical estimation and constraint management for pulse operation of lithium ion batteries [texte imprimé] / Kandler A. Smith, Auteur ; Christopher D. Rahn, Auteur ; Chao-Yang Wang, Auteur . - 2011 . - pp. 654-663.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 654-663
Mots-clés : Electrochemical model Lithium ion battery Model reduction Reference governor State of charge (SOC) estimation Index. décimale : 629.1 Résumé : High-power lithium ion batteries are often rated with multiple current and voltage limits depending on the duration of the pulse event. These variable control limits, however, are difficult to realize in practice. In this paper, a linear Kalman filter based on a reduced order electrochemical model is designed to estimate internal battery potentials, concentration gradients, and state-of-charge (SOC) from external current and voltage measurements. A reference current governor predicts the operating margin with respect to electrode side reactions and surface depletion/saturation conditions responsible for damage and sudden loss of power. The estimates are compared with results from an experimentally validated, 1-D, nonlinear finite volume model of a 6 Ah hybrid electric vehicle battery. The linear filter provides, to within ~ 2%, performance in the 30%-70% SOC range except in the case of severe current pulses that draw electrode surface concentrations to near saturation and depletion, although the estimates recover as concentration gradients relax. With 4 to 7 states, the filter has low-order comparable to empirical equivalent circuit models commonly employed and described in the literature. Accurate estimation of the battery's internal electrochemical state enables an expanded range of pulse operation.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256311
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 664-672
Titre : Finite-state input shaping Type de document : texte imprimé Auteurs : Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Singhose, Wiliam, Auteur Année de publication : 2011 Article en page(s) : pp. 664-672 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Command shaping Discrete automata Finite actuation Hybrid system Input shaping Quantized control Vibration Index. décimale : 629.1 Résumé : Input shaping is an effective method for suppressing motion-induced oscillation in flexible systems. This technique works well on systems with continuously-variable actuation. However, many systems only have a finite number of actuation states. For example, some relay-driven cranes have three actuation states: off, low-speed, and full speed. The discretizing effect of finite-state actuation can reduce the effectiveness of input shaping. This paper investigates the detrimental effects of discretization. The operational effects of finite-state input shaping are evaluated by using experimental results from a human-operated bridge crane, and a 3-D simulation of this crane.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280190 [article] Finite-state input shaping [texte imprimé] / Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Singhose, Wiliam, Auteur . - 2011 . - pp. 664-672.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 664-672
Mots-clés : Command shaping Discrete automata Finite actuation Hybrid system Input shaping Quantized control Vibration Index. décimale : 629.1 Résumé : Input shaping is an effective method for suppressing motion-induced oscillation in flexible systems. This technique works well on systems with continuously-variable actuation. However, many systems only have a finite number of actuation states. For example, some relay-driven cranes have three actuation states: off, low-speed, and full speed. The discretizing effect of finite-state actuation can reduce the effectiveness of input shaping. This paper investigates the detrimental effects of discretization. The operational effects of finite-state input shaping are evaluated by using experimental results from a human-operated bridge crane, and a 3-D simulation of this crane.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280190
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 673-687
Titre : SP-SDP for fuel consumption and tailpipe emissions minimization in an EVT hybrid Type de document : texte imprimé Auteurs : Ed D. Tate, Auteur ; Grizzle, J. W., Auteur ; Huei Peng, Auteur Année de publication : 2011 Article en page(s) : pp. 673-687 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Dynamic programming Fuel economy Hybrid electric vehicle Powertrain control Index. décimale : 629.1 Résumé : Control strategies have been developed for hybrid electric vehicles (HEV) that minimize fuel consumption while satisfying a charge sustaining constraint. Since one of the components of an HEV is typically the ubiquitous internal combustion engine, tailpipe emissions must also be considered. This paper uses shortest-path stochastic dynamic programming (SP-SDP) to address the minimization of a weighted sum of fuel consumption and tailpipe emissions for an HEV equipped with a dual mode electrically variable transmission (EVT) and a catalytic converter. The shortest path formulation of SDP is chosen to directly address the charge sustaining requirement. Using simple methods, an SP-SDP solution required more than eight thousand hours. Using linear programming and duality, an SP-SDP problem is solved in about three hours on a desktop PC. The resulting time-invariant feedback controller reduces tailpipe emissions by more than 50% when compared to a popular baseline controller.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5229347 [article] SP-SDP for fuel consumption and tailpipe emissions minimization in an EVT hybrid [texte imprimé] / Ed D. Tate, Auteur ; Grizzle, J. W., Auteur ; Huei Peng, Auteur . - 2011 . - pp. 673-687.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 673-687
Mots-clés : Dynamic programming Fuel economy Hybrid electric vehicle Powertrain control Index. décimale : 629.1 Résumé : Control strategies have been developed for hybrid electric vehicles (HEV) that minimize fuel consumption while satisfying a charge sustaining constraint. Since one of the components of an HEV is typically the ubiquitous internal combustion engine, tailpipe emissions must also be considered. This paper uses shortest-path stochastic dynamic programming (SP-SDP) to address the minimization of a weighted sum of fuel consumption and tailpipe emissions for an HEV equipped with a dual mode electrically variable transmission (EVT) and a catalytic converter. The shortest path formulation of SDP is chosen to directly address the charge sustaining requirement. Using simple methods, an SP-SDP solution required more than eight thousand hours. Using linear programming and duality, an SP-SDP problem is solved in about three hours on a desktop PC. The resulting time-invariant feedback controller reduces tailpipe emissions by more than 50% when compared to a popular baseline controller.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5229347
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 688-698
Titre : Adaptive PI stabilization of switched power converters Type de document : texte imprimé Auteurs : Michael Hernandez-Gomez, Auteur ; Romeo Ortega, Auteur ; Françoise Lamnabhi-Lagarrigue, Auteur Année de publication : 2011 Article en page(s) : pp. 688-698 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Boost converter Incremental passivity Passitivity Power converter Voltage source converter Index. décimale : 629.1 Résumé : Linear proportional-integral (PI) controllers are widely used in power converter applications. In a recent paper, a methodology to design such controllers ensuring asymptotic stability was proposed. The technique relied on the basic fact that if an affine system can be rendered passive with a constant control, then it is stabilizable with a PI. A structural condition was imposed then on the power converter to satisfy the former property with a passive output generated as a linear combination of the states. This condition is technical and has no clear physical interpretation. In this brief this result is extended in three directions: first, the aforementioned condition is removed; second, a larger class of converters (with switching external sources) is considered; third, the load resistance is assumed unknown and an adaptive PI controller (with three different estimators) is proposed. Instrumental to establish the result is the proof that the nonlinear incremental model of power converters defines a passive map-a property first observed by Sanders and Verghese in the early 1990's. The methodology is applied to the problem of power factor compensation of a 3-phase voltage source rectifier, already considered in our previous paper, which is revisited from the incremental passivity perspective yielding simpler proofs. Also, a stable adaptive PI is designed for the output voltage regulation of a quadratic boost converter. Simulations complete the brief.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5175285 [article] Adaptive PI stabilization of switched power converters [texte imprimé] / Michael Hernandez-Gomez, Auteur ; Romeo Ortega, Auteur ; Françoise Lamnabhi-Lagarrigue, Auteur . - 2011 . - pp. 688-698.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 688-698
Mots-clés : Boost converter Incremental passivity Passitivity Power converter Voltage source converter Index. décimale : 629.1 Résumé : Linear proportional-integral (PI) controllers are widely used in power converter applications. In a recent paper, a methodology to design such controllers ensuring asymptotic stability was proposed. The technique relied on the basic fact that if an affine system can be rendered passive with a constant control, then it is stabilizable with a PI. A structural condition was imposed then on the power converter to satisfy the former property with a passive output generated as a linear combination of the states. This condition is technical and has no clear physical interpretation. In this brief this result is extended in three directions: first, the aforementioned condition is removed; second, a larger class of converters (with switching external sources) is considered; third, the load resistance is assumed unknown and an adaptive PI controller (with three different estimators) is proposed. Instrumental to establish the result is the proof that the nonlinear incremental model of power converters defines a passive map-a property first observed by Sanders and Verghese in the early 1990's. The methodology is applied to the problem of power factor compensation of a 3-phase voltage source rectifier, already considered in our previous paper, which is revisited from the incremental passivity perspective yielding simpler proofs. Also, a stable adaptive PI is designed for the output voltage regulation of a quadratic boost converter. Simulations complete the brief.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5175285
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 699-704
Titre : Internal model control of lightly damped systems subject to periodic exogenous signals Type de document : texte imprimé Auteurs : Lu, Yu-Sheng, Auteur Année de publication : 2011 Article en page(s) : pp. 699-704 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Bandpass filters Control systems Internal model control Lightly damped systems Optical disk drives Periodic exogenous signals Index. décimale : 629.1 Résumé : This paper presents an internal model control (IMC) design for lightly-damped systems subject to periodic exogenous signals. For such systems, the conventional design of the so-called IMC filter in the IMC structure can result in oscillatory behavior even when the closed-loop transfer function is designed to be well damped. To circumvent this problem, several band-pass filters are incorporated into the IMC filter based on knowledge of the frequencies of the plant's resonance modes and exogenous signals. The track-following system of an optical disk drive is employed to illustrate the design of the proposed IMC filter. Experimental results confirm the effectiveness of the proposed design.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5169868 [article] Internal model control of lightly damped systems subject to periodic exogenous signals [texte imprimé] / Lu, Yu-Sheng, Auteur . - 2011 . - pp. 699-704.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 699-704
Mots-clés : Bandpass filters Control systems Internal model control Lightly damped systems Optical disk drives Periodic exogenous signals Index. décimale : 629.1 Résumé : This paper presents an internal model control (IMC) design for lightly-damped systems subject to periodic exogenous signals. For such systems, the conventional design of the so-called IMC filter in the IMC structure can result in oscillatory behavior even when the closed-loop transfer function is designed to be well damped. To circumvent this problem, several band-pass filters are incorporated into the IMC filter based on knowledge of the frequencies of the plant's resonance modes and exogenous signals. The track-following system of an optical disk drive is employed to illustrate the design of the proposed IMC filter. Experimental results confirm the effectiveness of the proposed design.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5169868
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 705-713
Titre : Dynamic calibration of adaptive optics systems : a system identification approach Type de document : texte imprimé Auteurs : Chiuso, Alessandro, Auteur ; Riccardo Muradore, Auteur ; Enrico Marchetti, Auteur Année de publication : 2011 Article en page(s) : pp. 705-713 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive optics (AOs) Closed-loop identification Subspace methods Index. décimale : 629.1 Résumé : Adaptive optics is used in astronomy to obtain high resolution images, close to diffraction limited, of stars and galaxies with ground telescopes, otherwise blurred by atmospheric turbulence. The measurements of one or more wavefront sensor are used to flatten distorted wavefronts with one or more deformable mirror in a feedback loop. In this brief, we shall report our experience on the problem of building an accurate (dynamical) model of the actuation (deformable mirror) and sensing (wavefront sensor) of adaptive optics system. This will be done adapting state-of-the-art system identification and model reduction techniques to the problem at hand. Our results are based on real data collected under various operating conditions from a demonstrator developed at the European Southern Observatory (ESO), which is now operating in the Paranal Observatory (Chile).
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299108 [article] Dynamic calibration of adaptive optics systems : a system identification approach [texte imprimé] / Chiuso, Alessandro, Auteur ; Riccardo Muradore, Auteur ; Enrico Marchetti, Auteur . - 2011 . - pp. 705-713.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 705-713
Mots-clés : Adaptive optics (AOs) Closed-loop identification Subspace methods Index. décimale : 629.1 Résumé : Adaptive optics is used in astronomy to obtain high resolution images, close to diffraction limited, of stars and galaxies with ground telescopes, otherwise blurred by atmospheric turbulence. The measurements of one or more wavefront sensor are used to flatten distorted wavefronts with one or more deformable mirror in a feedback loop. In this brief, we shall report our experience on the problem of building an accurate (dynamical) model of the actuation (deformable mirror) and sensing (wavefront sensor) of adaptive optics system. This will be done adapting state-of-the-art system identification and model reduction techniques to the problem at hand. Our results are based on real data collected under various operating conditions from a demonstrator developed at the European Southern Observatory (ESO), which is now operating in the Paranal Observatory (Chile).
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299108
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 714-722
Titre : Optimal discrete-time design of three-axis magnetic attitude control laws Type de document : texte imprimé Auteurs : Tiziano Pulecchi, Auteur ; Marco Lovera, Auteur ; Andras Varga, Auteur Année de publication : 2011 Article en page(s) : pp. 714-722 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Attitude control Magnetic actuators Periodic optimal control Periodic systems Spacecraft control Static output feedback Index. décimale : 629.1 Résumé : The problem of designing discrete-time attitude controllers for three-axis stabilization of magnetically actuated spacecraft is considered. Several methods are discussed and an approach to the tuning of various classes of projection-based controllers is proposed relying on periodic optimal output feedback control techniques. The main advantages of the proposed methods are discussed and illustrated in a simulation study.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5200344 [article] Optimal discrete-time design of three-axis magnetic attitude control laws [texte imprimé] / Tiziano Pulecchi, Auteur ; Marco Lovera, Auteur ; Andras Varga, Auteur . - 2011 . - pp. 714-722.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 714-722
Mots-clés : Attitude control Magnetic actuators Periodic optimal control Periodic systems Spacecraft control Static output feedback Index. décimale : 629.1 Résumé : The problem of designing discrete-time attitude controllers for three-axis stabilization of magnetically actuated spacecraft is considered. Several methods are discussed and an approach to the tuning of various classes of projection-based controllers is proposed relying on periodic optimal output feedback control techniques. The main advantages of the proposed methods are discussed and illustrated in a simulation study.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5200344
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 723-731
Titre : Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach Type de document : texte imprimé Auteurs : Zhang, Guozhu, Auteur ; Chen, Jie, Auteur ; Zhiping Lee, Auteur Année de publication : 2011 Article en page(s) : pp. 723-731 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive robust control (ARC) Dynamic surface control (DSC) Servo mechanism State observer Two-axis turntable Index. décimale : 629.1 Résumé : In order to achieve high performance control for servo mechanisms with electrical dynamics and unmeasurable states, an observer-based adaptive robust controller (ARC) is developed via dynamic surface control (DSC) technique. To represent electrical dynamics, a third-order model is used to describe the servo mechanism. However, the third-order model brings some difficulties to observer construction and recursive controller design. To solve this problem, we first transform the model into a particular form suitable for observer design, and then construct a parameterized observer to estimate the unmeasurable states. The state estimation is based on the output and its derivatives, which can be acquired by an output differential observer. Subsequently, an observer-based ARC can be developed through DSC technique, with which the problem of "explosion of complexity" caused by backstepping method in the traditional ARC design can be overcome. A stability analysis is given, showing that our control law can guarantee uniformly ultimate boundedness of the solution of the closed-loop system, and make the tracking error arbitrarily small. This scheme is implemented on a precision two-axis turntable. Experimental results are presented to illustrate the effectiveness and the achievable control performance of the proposed scheme.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208210 [article] Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach [texte imprimé] / Zhang, Guozhu, Auteur ; Chen, Jie, Auteur ; Zhiping Lee, Auteur . - 2011 . - pp. 723-731.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 723-731
Mots-clés : Adaptive robust control (ARC) Dynamic surface control (DSC) Servo mechanism State observer Two-axis turntable Index. décimale : 629.1 Résumé : In order to achieve high performance control for servo mechanisms with electrical dynamics and unmeasurable states, an observer-based adaptive robust controller (ARC) is developed via dynamic surface control (DSC) technique. To represent electrical dynamics, a third-order model is used to describe the servo mechanism. However, the third-order model brings some difficulties to observer construction and recursive controller design. To solve this problem, we first transform the model into a particular form suitable for observer design, and then construct a parameterized observer to estimate the unmeasurable states. The state estimation is based on the output and its derivatives, which can be acquired by an output differential observer. Subsequently, an observer-based ARC can be developed through DSC technique, with which the problem of "explosion of complexity" caused by backstepping method in the traditional ARC design can be overcome. A stability analysis is given, showing that our control law can guarantee uniformly ultimate boundedness of the solution of the closed-loop system, and make the tracking error arbitrarily small. This scheme is implemented on a precision two-axis turntable. Experimental results are presented to illustrate the effectiveness and the achievable control performance of the proposed scheme.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208210
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 732-740
Titre : SLAM with joint sensor bias estimation : closed form solutions on observability, error bounds and convergence rates Type de document : texte imprimé Auteurs : Linthotage D. L. Perera, Auteur ; Wijerupage Sardha Wijesoma, Auteur ; Martin David Adams, Auteur Année de publication : 2011 Article en page(s) : pp. 732-740 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Bias estimation Mapping Robot localization Index. décimale : 629.1 Résumé : Notable problems in Simultaneous Localization and Mapping (SLAM) are caused by biases and drifts in both exteroceptive and proprioceptive sensors. The impacts of sensor biases include inconsistent map estimates and inaccurate localization. Unlike Map Aided Localisation with Joint Sensor Bias Estimation (MAL-JSBE), SLAM with Joint Sensor Bias Estimation (SLAM-JSBE) is more complex as it encompasses a state space, which increases with the discovery of new landmarks and the inherent map to vehicle correlations. The properties such as observability, error bounds and convergence rates of SLAM-JSBE using an augmented estimation theoretic, state space approach, are investigated here. SLAM-JSBE experiments, which adhere to the derived constraints, are demonstrated using a low cost inertial navigation sensor suite.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208263 [article] SLAM with joint sensor bias estimation : closed form solutions on observability, error bounds and convergence rates [texte imprimé] / Linthotage D. L. Perera, Auteur ; Wijerupage Sardha Wijesoma, Auteur ; Martin David Adams, Auteur . - 2011 . - pp. 732-740.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 732-740
Mots-clés : Bias estimation Mapping Robot localization Index. décimale : 629.1 Résumé : Notable problems in Simultaneous Localization and Mapping (SLAM) are caused by biases and drifts in both exteroceptive and proprioceptive sensors. The impacts of sensor biases include inconsistent map estimates and inaccurate localization. Unlike Map Aided Localisation with Joint Sensor Bias Estimation (MAL-JSBE), SLAM with Joint Sensor Bias Estimation (SLAM-JSBE) is more complex as it encompasses a state space, which increases with the discovery of new landmarks and the inherent map to vehicle correlations. The properties such as observability, error bounds and convergence rates of SLAM-JSBE using an augmented estimation theoretic, state space approach, are investigated here. SLAM-JSBE experiments, which adhere to the derived constraints, are demonstrated using a low cost inertial navigation sensor suite.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208263
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 741-749
Titre : An H (infinity) LPV design for sampling varying controllers: experimentation with a T-inverted pendulum Type de document : texte imprimé Auteurs : David Robert, Auteur ; Olivier Sename, Auteur ; Daniel Simon, Auteur Année de publication : 2011 Article en page(s) : pp. 741-749 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Digital control H (infinity) control Linear parameter varying (LPV) systems Real experiments Index. décimale : 629.1 Résumé : This brief deals with the adaptation of a real-time controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for linear parameter varying (LPV) systems is then developed to get an H∞ sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T-inverted pendulum are provided to show the efficiency of the approach.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208376 [article] An H (infinity) LPV design for sampling varying controllers: experimentation with a T-inverted pendulum [texte imprimé] / David Robert, Auteur ; Olivier Sename, Auteur ; Daniel Simon, Auteur . - 2011 . - pp. 741-749.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 741-749
Mots-clés : Digital control H (infinity) control Linear parameter varying (LPV) systems Real experiments Index. décimale : 629.1 Résumé : This brief deals with the adaptation of a real-time controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for linear parameter varying (LPV) systems is then developed to get an H∞ sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T-inverted pendulum are provided to show the efficiency of the approach.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208376
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 750-756
Titre : RBF Networks-based adaptive inverse model control system for electronic throttle Type de document : texte imprimé Auteurs : Yuan Xiaofang, Auteur ; Wang Yaonan, Auteur ; Wei Sun, Auteur Année de publication : 2011 Article en page(s) : pp. 750-756 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Back-propagation Electronic throttle Inverse model control Model identification Neural networks Index. décimale : 629.1 Résumé : An electronic throttle is a dc-motor-driven valve that regulates air inflow into the combustion system of the engine. An effective controller for electronic throttle is not easy to accomplish since the plant is burdened with strong nonlinear effects of stick-slip friction, spring, and gear backlash. In this brief, an adaptive inverse model control system (AIMCS) is designed for the plant, and two radial basis function (RBF) neural networks are utilized in the AIMCS. The plant is identified by a RBF networks identifier, which provides the sensitivity information of the plant to the control input. And another RBF networks is utilized as inverse model controller established by inverse system method. The RBF networks are offline learned firstly and are online trained using back propagation algorithms. To guarantee convergence and for faster learning, adaptive learning rates are developed. Simulation and experiment results show the effectiveness of the AIMCS.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256140 [article] RBF Networks-based adaptive inverse model control system for electronic throttle [texte imprimé] / Yuan Xiaofang, Auteur ; Wang Yaonan, Auteur ; Wei Sun, Auteur . - 2011 . - pp. 750-756.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 750-756
Mots-clés : Back-propagation Electronic throttle Inverse model control Model identification Neural networks Index. décimale : 629.1 Résumé : An electronic throttle is a dc-motor-driven valve that regulates air inflow into the combustion system of the engine. An effective controller for electronic throttle is not easy to accomplish since the plant is burdened with strong nonlinear effects of stick-slip friction, spring, and gear backlash. In this brief, an adaptive inverse model control system (AIMCS) is designed for the plant, and two radial basis function (RBF) neural networks are utilized in the AIMCS. The plant is identified by a RBF networks identifier, which provides the sensitivity information of the plant to the control input. And another RBF networks is utilized as inverse model controller established by inverse system method. The RBF networks are offline learned firstly and are online trained using back propagation algorithms. To guarantee convergence and for faster learning, adaptive learning rates are developed. Simulation and experiment results show the effectiveness of the AIMCS.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256140
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 757-766
Titre : An autonomous mobile robotics testbed : construction, validation, and experiments Type de document : texte imprimé Auteurs : Travis A. Riggs, Auteur ; Tamer Inanc, Auteur ; Weizhong Zhang, Auteur Année de publication : 2011 Article en page(s) : pp. 757-766 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Color vision Mobile robots Multi-camera color consistency Path planning Testbed Index. décimale : 629.1 Résumé : This paper describes design and construction of an Autonomous Mobile Robotics Systems Testbed in detail. The testbed is an indoor experimental platform for developing and validating theoretical as well as practical research work in identification, coordinative and cooperative control, trajectory generation, computational intelligence, and sensing for multiple autonomous mobile robotics systems. It provides a designated space for multiple mobile robots while tracking their position and orientation in real-time using an overhead vision system. Several problems encountered in developing the testbed such as multi-camera color consistency, radial lens distortion, hat pattern design are clearly addressed. The testbed is analyzed for its performance and several experiments with ER1 mobile robots are presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5229334 [article] An autonomous mobile robotics testbed : construction, validation, and experiments [texte imprimé] / Travis A. Riggs, Auteur ; Tamer Inanc, Auteur ; Weizhong Zhang, Auteur . - 2011 . - pp. 757-766.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 757-766
Mots-clés : Color vision Mobile robots Multi-camera color consistency Path planning Testbed Index. décimale : 629.1 Résumé : This paper describes design and construction of an Autonomous Mobile Robotics Systems Testbed in detail. The testbed is an indoor experimental platform for developing and validating theoretical as well as practical research work in identification, coordinative and cooperative control, trajectory generation, computational intelligence, and sensing for multiple autonomous mobile robotics systems. It provides a designated space for multiple mobile robots while tracking their position and orientation in real-time using an overhead vision system. Several problems encountered in developing the testbed such as multi-camera color consistency, radial lens distortion, hat pattern design are clearly addressed. The testbed is analyzed for its performance and several experiments with ER1 mobile robots are presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5229334
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