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Ajouter le résultat dans votre panierNew experimental results on the compensation of static friction in passive joints of robotic manipulators / Abdellatif, Houssem in IEEE Transactions on control systems technology, Vol. 18 N° 5 (Septembre 2010)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1005-1010
Titre : New experimental results on the compensation of static friction in passive joints of robotic manipulators Type de document : texte imprimé Auteurs : Abdellatif, Houssem, Auteur ; Heimann, Bodo, Auteur Année de publication : 2011 Article en page(s) : pp. 1005-1010 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Friction compensation Model-based control Pssive joint friction Robotic systems Index. décimale : 629.1 Résumé : The progress made in friction compensation in robotics was concentrated on friction losses in the actuated joints. The newly emerging parallel manipulators however, possess considerable number of passive joints. This paper discusses the influence of passive joint friction (PJF) in robot's dynamics and its impact on control performance. It gives a basic framework on the modeling, the detection of such phenomena and provides experimental examples achieved on a spatial parallel robot. All proposed methods do not require additional sensors and use only the actuators for detection and compensation. Due to its dependency on the robot's configuration, even small magnitudes of PJF can affect the system's behavior, especially at unfavorable configurations.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325657 [article] New experimental results on the compensation of static friction in passive joints of robotic manipulators [texte imprimé] / Abdellatif, Houssem, Auteur ; Heimann, Bodo, Auteur . - 2011 . - pp. 1005-1010.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1005-1010
Mots-clés : Friction compensation Model-based control Pssive joint friction Robotic systems Index. décimale : 629.1 Résumé : The progress made in friction compensation in robotics was concentrated on friction losses in the actuated joints. The newly emerging parallel manipulators however, possess considerable number of passive joints. This paper discusses the influence of passive joint friction (PJF) in robot's dynamics and its impact on control performance. It gives a basic framework on the modeling, the detection of such phenomena and provides experimental examples achieved on a spatial parallel robot. All proposed methods do not require additional sensors and use only the actuators for detection and compensation. Due to its dependency on the robot's configuration, even small magnitudes of PJF can affect the system's behavior, especially at unfavorable configurations.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325657
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1011-1022
Titre : Estimating regions of asymptotic stability of power electronics systems using genetic algorithms Type de document : texte imprimé Auteurs : Benjamin P. Loop, Auteur ; Scott D. Sudhoff, Auteur ; Stanislaw H. Zak, Auteur Année de publication : 2011 Article en page(s) : pp. 1011-1022 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Genetic algorithm Lyapunov methods Optimization methods Power electronics systems Stability Index. décimale : 629.1 Résumé : Electric power distribution systems composed of power electronics converters are susceptible to instabilities under certain conditions. Small-signal impedance approaches to stability analysis are incapable of predicting large-signal stability properties. Herein, a practical and scalable genetic algorithm based procedure for the estimation of regions of asymptotic stability of power electronics systems is proposed. The procedure is demonstrated on six nonlinear models that range from 6 to 75 state variables. The models represent the dynamics of Naval power electronics-based system components and systems.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282517 [article] Estimating regions of asymptotic stability of power electronics systems using genetic algorithms [texte imprimé] / Benjamin P. Loop, Auteur ; Scott D. Sudhoff, Auteur ; Stanislaw H. Zak, Auteur . - 2011 . - pp. 1011-1022.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1011-1022
Mots-clés : Genetic algorithm Lyapunov methods Optimization methods Power electronics systems Stability Index. décimale : 629.1 Résumé : Electric power distribution systems composed of power electronics converters are susceptible to instabilities under certain conditions. Small-signal impedance approaches to stability analysis are incapable of predicting large-signal stability properties. Herein, a practical and scalable genetic algorithm based procedure for the estimation of regions of asymptotic stability of power electronics systems is proposed. The procedure is demonstrated on six nonlinear models that range from 6 to 75 state variables. The models represent the dynamics of Naval power electronics-based system components and systems.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282517
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1023-1032
Titre : Adaptive vibration cancellation for tire-road friction coefficient estimation on winter maintenance vehicles Type de document : texte imprimé Auteurs : Gurkan Erdogan, Auteur ; Lee Alexander, Auteur ; Rajamani, Rajesh, Auteur Année de publication : 2011 Article en page(s) : pp. 1023-1032 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive feedforward Friction coefficient Vehicle dynamics Vibration cancellation Index. décimale : 629.1 Résumé : This paper focuses on the development and experimental evaluation of a novel adaptive feedforward vibration cancellation based friction estimation system. The friction estimation utilizes a small instrumented redundant wheel on the vehicle. Unlike other systems previously documented in literature, the developed system can provide a continuous measurement of the friction coefficient under all vehicle maneuvers, even when the longitudinal and lateral accelerations are both zero. A key challenge in the development of the estimation system is the need to remove the influence of vibrations and the influence of vehicle maneuvers from the measured signal of a force sensor. An adaptive feedforward algorithm based on the use of accelerometer signals as reference inputs is developed. The parameters of the feedforward model estimated by the adaptive algorithm themselves serve to determine the value of the friction coefficient. At the same time, the influence of vibrations and of vehicle maneuvers is removed. Detailed experimental results are presented on a skid pad wherein the road surface changes from dry asphalt to ice. Results are presented at different speeds and with and without lateral and longitudinal maneuvers. Excellent performance is obtained in estimation of the friction coefficient. The performance of the adaptive feedforward algorithm is shown to be significantly superior to that of a simple cross-correlation based algorithm for friction estimation.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286244 [article] Adaptive vibration cancellation for tire-road friction coefficient estimation on winter maintenance vehicles [texte imprimé] / Gurkan Erdogan, Auteur ; Lee Alexander, Auteur ; Rajamani, Rajesh, Auteur . - 2011 . - pp. 1023-1032.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1023-1032
Mots-clés : Adaptive feedforward Friction coefficient Vehicle dynamics Vibration cancellation Index. décimale : 629.1 Résumé : This paper focuses on the development and experimental evaluation of a novel adaptive feedforward vibration cancellation based friction estimation system. The friction estimation utilizes a small instrumented redundant wheel on the vehicle. Unlike other systems previously documented in literature, the developed system can provide a continuous measurement of the friction coefficient under all vehicle maneuvers, even when the longitudinal and lateral accelerations are both zero. A key challenge in the development of the estimation system is the need to remove the influence of vibrations and the influence of vehicle maneuvers from the measured signal of a force sensor. An adaptive feedforward algorithm based on the use of accelerometer signals as reference inputs is developed. The parameters of the feedforward model estimated by the adaptive algorithm themselves serve to determine the value of the friction coefficient. At the same time, the influence of vibrations and of vehicle maneuvers is removed. Detailed experimental results are presented on a skid pad wherein the road surface changes from dry asphalt to ice. Results are presented at different speeds and with and without lateral and longitudinal maneuvers. Excellent performance is obtained in estimation of the friction coefficient. The performance of the adaptive feedforward algorithm is shown to be significantly superior to that of a simple cross-correlation based algorithm for friction estimation.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286244
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1033-1043
Titre : Adaptive noncooperative N -Person games with unknown general quadratic objectives Type de document : texte imprimé Auteurs : Xiaohuan Tan, Auteur ; Jose B. Cruz, Auteur Année de publication : 2011 Article en page(s) : pp. 1033-1043 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive control Dynamic game Noncooperative Strategic bidding Index. décimale : 629.1 Résumé : Motivated by the problems of unknown objectives in strategic bidding in the restructured electricity power markets where in practice, not all participants have full access to competitors' information, this paper investigates a class of noncooperative N-person games with unknown objectives with linear and cross terms in controls. We first formulate and explicitly derive the Nash equilibrium solution for this type of games, then incorporate the concept of fictitious play with the technique of adaptive control to estimate multiple controller strategies, which are not necessarily a Nash solution. We show both theoretically and numerically that the adaptation procedure converges under certain conditions. The proposed scheme is applicable to all systems with similar mathematical structures and objectives.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280191 [article] Adaptive noncooperative N -Person games with unknown general quadratic objectives [texte imprimé] / Xiaohuan Tan, Auteur ; Jose B. Cruz, Auteur . - 2011 . - pp. 1033-1043.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1033-1043
Mots-clés : Adaptive control Dynamic game Noncooperative Strategic bidding Index. décimale : 629.1 Résumé : Motivated by the problems of unknown objectives in strategic bidding in the restructured electricity power markets where in practice, not all participants have full access to competitors' information, this paper investigates a class of noncooperative N-person games with unknown objectives with linear and cross terms in controls. We first formulate and explicitly derive the Nash equilibrium solution for this type of games, then incorporate the concept of fictitious play with the technique of adaptive control to estimate multiple controller strategies, which are not necessarily a Nash solution. We show both theoretically and numerically that the adaptation procedure converges under certain conditions. The proposed scheme is applicable to all systems with similar mathematical structures and objectives.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280191
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1044-1056
Titre : Trends in the stability properties of CLSS controllers : a root-locus analysis Type de document : texte imprimé Auteurs : John R. Huey, Auteur ; Singhose, Wiliam, Auteur Année de publication : 2011 Article en page(s) : pp. 1044-1056 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Input shaping Root locus Stability analysis Index. décimale : 629.1 Résumé : The control of flexible systems includes a variety of control strategies that are implemented via numerous architectures (open-loop control, feedback loops, etc.). One useful form of vibration control is input shaping. Traditionally, input shaping is an open-loop control strategy utilizing the destructive interference of vibration waves to eliminate oscillations. However, some research has advanced the traditional use of input shaping by utilizing it within feedback loops. This paper focuses on the closed-loop stability of feedback loops containing input shapers by analyzing their dynamics via root locus plots. Experimental results on an industrial bridge crane support the theoretical conclusions.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299016 [article] Trends in the stability properties of CLSS controllers : a root-locus analysis [texte imprimé] / John R. Huey, Auteur ; Singhose, Wiliam, Auteur . - 2011 . - pp. 1044-1056.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1044-1056
Mots-clés : Input shaping Root locus Stability analysis Index. décimale : 629.1 Résumé : The control of flexible systems includes a variety of control strategies that are implemented via numerous architectures (open-loop control, feedback loops, etc.). One useful form of vibration control is input shaping. Traditionally, input shaping is an open-loop control strategy utilizing the destructive interference of vibration waves to eliminate oscillations. However, some research has advanced the traditional use of input shaping by utilizing it within feedback loops. This paper focuses on the closed-loop stability of feedback loops containing input shapers by analyzing their dynamics via root locus plots. Experimental results on an industrial bridge crane support the theoretical conclusions.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299016
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1057-1067
Titre : Packet-based deadband control for internet-based networked control systems Type de document : texte imprimé Auteurs : Yun-Bo Zhao, Auteur ; Liu, Guo-Ping, Auteur ; Rees, David, Auteur Année de publication : 2011 Article en page(s) : pp. 1057-1067 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Deadband control Internet-based test rig Networked control systems Packet-baded control Stability Index. décimale : 629.1 Résumé : A packet-based deadband control approach is proposed for networked control systems (NCSs). Compared with previously reported packet-based control approaches to NCSs, the approach proposed in this paper takes full advantage of the packet-based data transmission in NCSs, and thus considerably reduces the use of the communication resources in NCSs whilst maintaining the system performance at a satisfactory level. A stabilized controller design method is obtained using time delay switched system theory, which has not been achieved in previously reported packet-based control approaches. The proposed deadband control strategy and the stabilized controller design method are verified using a numerical example as well as practical experiments based on an Internet-based test rig for NCSs.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5288548 [article] Packet-based deadband control for internet-based networked control systems [texte imprimé] / Yun-Bo Zhao, Auteur ; Liu, Guo-Ping, Auteur ; Rees, David, Auteur . - 2011 . - pp. 1057-1067.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1057-1067
Mots-clés : Deadband control Internet-based test rig Networked control systems Packet-baded control Stability Index. décimale : 629.1 Résumé : A packet-based deadband control approach is proposed for networked control systems (NCSs). Compared with previously reported packet-based control approaches to NCSs, the approach proposed in this paper takes full advantage of the packet-based data transmission in NCSs, and thus considerably reduces the use of the communication resources in NCSs whilst maintaining the system performance at a satisfactory level. A stabilized controller design method is obtained using time delay switched system theory, which has not been achieved in previously reported packet-based control approaches. The proposed deadband control strategy and the stabilized controller design method are verified using a numerical example as well as practical experiments based on an Internet-based test rig for NCSs.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5288548
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp 1068-1079
Titre : Adaptive motion/force control of mobile under-actuated manipulators with dynamics uncertainties by dynamic coupling and output feedback Type de document : texte imprimé Auteurs : Zhijun Li, Auteur ; Yipeng Yang, Auteur ; Jianxun Li, Auteur Année de publication : 2011 Article en page(s) : pp 1068-1079 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive control Dynamic coupling control Mobile manipulator Under-actuated joint Index. décimale : 629.1 Résumé : In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using dynamic coupling property of nonholonomic mobile under-actuated manipulators, adaptive output feedback control is investigated for the system by using a high gain observer to reconstruct the system states, whose states and time derivatives of the output are unavailable. Moreover, the nonholonomic constraint force between the wheels and the ground is also considered in the control design such that the slipping or slippage is avoided during the motion. It is shown that output tracking errors of motion and force converge to adjustable neighborhoods of the origin for the output feedback control.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291705 [article] Adaptive motion/force control of mobile under-actuated manipulators with dynamics uncertainties by dynamic coupling and output feedback [texte imprimé] / Zhijun Li, Auteur ; Yipeng Yang, Auteur ; Jianxun Li, Auteur . - 2011 . - pp 1068-1079.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp 1068-1079
Mots-clés : Adaptive control Dynamic coupling control Mobile manipulator Under-actuated joint Index. décimale : 629.1 Résumé : In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using dynamic coupling property of nonholonomic mobile under-actuated manipulators, adaptive output feedback control is investigated for the system by using a high gain observer to reconstruct the system states, whose states and time derivatives of the output are unavailable. Moreover, the nonholonomic constraint force between the wheels and the ground is also considered in the control design such that the slipping or slippage is avoided during the motion. It is shown that output tracking errors of motion and force converge to adjustable neighborhoods of the origin for the output feedback control.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291705
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1080-1091
Titre : Boundary control of a coupled nonlinear flexible marine riser Type de document : texte imprimé Auteurs : Ge, Shuzhi Sam, Auteur ; Wei He, Auteur ; Bernard Voon Ee How, Auteur Année de publication : 2011 Article en page(s) : pp. 1080-1091 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Boundary control Distributed parameter system Exponential stability Lyapunov's direct method Partial differential equations (PDEs) Uniform boundedness Index. décimale : 629.1 Résumé : In this paper, boundary control for a coupled nonlinear flexible marine riser with two actuators in transverse and longitudinal directions is developed to reduce the riser's vibrations. The dynamic behavior of the flexible riser is represented by a distributed parameter system with partial differential equations (PDEs) and the control is applied at the top boundary of the riser based on Lyapunov's direct method to regulate the riser's vibrations. With the proposed boundary control, uniform boundedness under ocean current disturbance, and exponential stability under free vibration condition can be achieved. The proposed control is independent of system parameters, which ensures the robustness of the system to variations in parameters. Numerical simulations for demonstrating the effectiveness of the proposed control are presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5337909 [article] Boundary control of a coupled nonlinear flexible marine riser [texte imprimé] / Ge, Shuzhi Sam, Auteur ; Wei He, Auteur ; Bernard Voon Ee How, Auteur . - 2011 . - pp. 1080-1091.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1080-1091
Mots-clés : Boundary control Distributed parameter system Exponential stability Lyapunov's direct method Partial differential equations (PDEs) Uniform boundedness Index. décimale : 629.1 Résumé : In this paper, boundary control for a coupled nonlinear flexible marine riser with two actuators in transverse and longitudinal directions is developed to reduce the riser's vibrations. The dynamic behavior of the flexible riser is represented by a distributed parameter system with partial differential equations (PDEs) and the control is applied at the top boundary of the riser based on Lyapunov's direct method to regulate the riser's vibrations. With the proposed boundary control, uniform boundedness under ocean current disturbance, and exponential stability under free vibration condition can be achieved. The proposed control is independent of system parameters, which ensures the robustness of the system to variations in parameters. Numerical simulations for demonstrating the effectiveness of the proposed control are presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5337909
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1092-1102
Titre : An inferential model-based predictive control scheme for optimizing the operation of boilers in building space-heating systems Type de document : texte imprimé Auteurs : Zaiyi Liao, Auteur ; Arthur L. Dexter, Auteur Année de publication : 2011 Article en page(s) : pp. 1092-1102 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Boiler control Energy efficiency Interential control Model predictive control (MPC) Thermal comfort Index. décimale : 629.1 Résumé : An inferential model-based predictive control scheme is described that can optimize the control of boilers in multi-zone heating systems in order to save energy and to improve thermal comfort. The controller has only three inputs: a measurement of the outside air temperature, an estimate of the total solar radiation falling on the exterior of the building, and a measurement of the temperature of the water being supplied by the boiler, and one output: the boiler control signal. The parameters of the model are estimated from input-output data collected using portable temperature loggers, which are temporarily installed in the building to monitor the room temperatures during a short commissioning period of one or two weeks. The performance of the control scheme in different heating systems is investigated using a heating system simulator, which had been developed and validated in previous projects. The simulation results show that the control scheme can significantly improve the overall performance of heating systems compared with conventional boiler control schemes and is easy to commission. The results of an experimental evaluation of the controller in a real building are also presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299104 [article] An inferential model-based predictive control scheme for optimizing the operation of boilers in building space-heating systems [texte imprimé] / Zaiyi Liao, Auteur ; Arthur L. Dexter, Auteur . - 2011 . - pp. 1092-1102.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1092-1102
Mots-clés : Boiler control Energy efficiency Interential control Model predictive control (MPC) Thermal comfort Index. décimale : 629.1 Résumé : An inferential model-based predictive control scheme is described that can optimize the control of boilers in multi-zone heating systems in order to save energy and to improve thermal comfort. The controller has only three inputs: a measurement of the outside air temperature, an estimate of the total solar radiation falling on the exterior of the building, and a measurement of the temperature of the water being supplied by the boiler, and one output: the boiler control signal. The parameters of the model are estimated from input-output data collected using portable temperature loggers, which are temporarily installed in the building to monitor the room temperatures during a short commissioning period of one or two weeks. The performance of the control scheme in different heating systems is investigated using a heating system simulator, which had been developed and validated in previous projects. The simulation results show that the control scheme can significantly improve the overall performance of heating systems compared with conventional boiler control schemes and is easy to commission. The results of an experimental evaluation of the controller in a real building are also presented.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299104
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1103-1115
Titre : A Decentralized fault-tolerant control system for accommodation of failures in higher-order flight control actuators Type de document : texte imprimé Auteurs : Jovan D. Boskovic, Auteur ; Raman K. Mehra, Auteur Année de publication : 2011 Article en page(s) : pp. 1103-1115 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive fault-tolerant control (FTC) Adaptive flight control under actuator faillures Pilot-in-the-loop simulations Second-order actuator dynamics Stable adaptive algorithms Index. décimale : 629.1 Résumé : In this paper, an effective integrated failure detection and identification (FDI) and fault-tolerant control (FTC) technique is developed for a class of nonlinear systems actuated by actuators that may undergo several different types of failures. Assuming that the actuator dynamics are fast, a baseline controller is designed and, using the singular perturbation arguments, shown to achieve the control objective. Typical failures in flight control actuators are considered next, and online FDI algorithms are derived for second-order actuator dynamics with non-measurable actuator rates, and third-order actuator dynamics when only output of the actuator is measurable. The FDI subsystem is decentralized in that an observer is run at each of the actuators, and the parameter estimates are adjusted using only the local information. The major issue of how to use this information to reconfigure the control law and assure the stability of the resulting closed-loop control system is addressed. An adaptive fault-tolerant controller that uses the parameter estimates from the FDI subsystem at every instant is designed next. It is demonstrated that all the signals in the system are bounded and that the tracking error converges to zero asymptotically despite multiple simultaneous actuator failures even in the case of second or third order actuator dynamics. The properties of the proposed FDI-FTC algorithms are evaluated through piloted simulations of the F/A-18 aircraft.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5313825 [article] A Decentralized fault-tolerant control system for accommodation of failures in higher-order flight control actuators [texte imprimé] / Jovan D. Boskovic, Auteur ; Raman K. Mehra, Auteur . - 2011 . - pp. 1103-1115.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1103-1115
Mots-clés : Adaptive fault-tolerant control (FTC) Adaptive flight control under actuator faillures Pilot-in-the-loop simulations Second-order actuator dynamics Stable adaptive algorithms Index. décimale : 629.1 Résumé : In this paper, an effective integrated failure detection and identification (FDI) and fault-tolerant control (FTC) technique is developed for a class of nonlinear systems actuated by actuators that may undergo several different types of failures. Assuming that the actuator dynamics are fast, a baseline controller is designed and, using the singular perturbation arguments, shown to achieve the control objective. Typical failures in flight control actuators are considered next, and online FDI algorithms are derived for second-order actuator dynamics with non-measurable actuator rates, and third-order actuator dynamics when only output of the actuator is measurable. The FDI subsystem is decentralized in that an observer is run at each of the actuators, and the parameter estimates are adjusted using only the local information. The major issue of how to use this information to reconfigure the control law and assure the stability of the resulting closed-loop control system is addressed. An adaptive fault-tolerant controller that uses the parameter estimates from the FDI subsystem at every instant is designed next. It is demonstrated that all the signals in the system are bounded and that the tracking error converges to zero asymptotically despite multiple simultaneous actuator failures even in the case of second or third order actuator dynamics. The properties of the proposed FDI-FTC algorithms are evaluated through piloted simulations of the F/A-18 aircraft.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5313825
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1116-1125
Titre : Nonlinear multivariable power plant coordinate control by constrained predictive scheme Type de document : texte imprimé Auteurs : Xiangjie Liu, Auteur ; Ping Guan, Auteur ; Chan, C. W., Auteur Année de publication : 2011 Article en page(s) : pp. 1116-1125 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Coordinate control Input-output feedback Linearization Neuro-fuzzy networks nonlinear predictive control Index. décimale : 629.1 Résumé : A coordinated control strategy is often used to ensure a thermal power plant to have a higher rate of load change, but without violating the thermal constraints. Although model predictive control has been widely used for controlling power plant, handling input constraints is a major problem especially as these plants are nonlinear. Two alternative methods of exploiting the nonlinear predictive control are presented in this paper. One is the input-output feedback linearization technique based on a suitably chosen approximated linear model. The other is based on neuro-fuzzy networks to represent a nonlinear dynamic process using a set of local models. From the criteria based on the integral absolute errors and the relative optimization time for completing the simulation, it is shown that the performance of the coordinated control of a steam-boiler generation plant using these two nonlinear predictive methods are better than the conventional predictive method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325642 [article] Nonlinear multivariable power plant coordinate control by constrained predictive scheme [texte imprimé] / Xiangjie Liu, Auteur ; Ping Guan, Auteur ; Chan, C. W., Auteur . - 2011 . - pp. 1116-1125.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1116-1125
Mots-clés : Coordinate control Input-output feedback Linearization Neuro-fuzzy networks nonlinear predictive control Index. décimale : 629.1 Résumé : A coordinated control strategy is often used to ensure a thermal power plant to have a higher rate of load change, but without violating the thermal constraints. Although model predictive control has been widely used for controlling power plant, handling input constraints is a major problem especially as these plants are nonlinear. Two alternative methods of exploiting the nonlinear predictive control are presented in this paper. One is the input-output feedback linearization technique based on a suitably chosen approximated linear model. The other is based on neuro-fuzzy networks to represent a nonlinear dynamic process using a set of local models. From the criteria based on the integral absolute errors and the relative optimization time for completing the simulation, it is shown that the performance of the coordinated control of a steam-boiler generation plant using these two nonlinear predictive methods are better than the conventional predictive method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325642
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1126-1145
Titre : Comparison of hybrid control techniques for buck and boost DC-DC converters Type de document : texte imprimé Auteurs : Mariéthoz, Sébastien, Auteur ; Stefan Almer, Auteur ; Mihai Bâja, Auteur Année de publication : 2011 Article en page(s) : pp. 1126-1145 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : DC-DC Hybrid control Model predictive control (MPC) Robust control Sampled data control Index. décimale : 629.1 Résumé : Five recent techniques from hybrid and optimal control are evaluated on two power electronics benchmark problems. The benchmarks involve a number of practically interesting operating scenarios for fixed-frequency synchronous dc-dc converters. The specifications are defined such that good performance can only be obtained if the switched and nonlinear nature of the problem is accounted for during the design phase. A nonlinear action is featured in all methods either intrinsically or as external logic. The designs are evaluated and compared on the same experimental platform. Experiments show that the proposed methods display high performances, while respecting circuit constraints, thus protecting the semiconductor devices. Moreover, the complexity of the controllers is compatible with the high-frequency requirements of the considered application.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353610 [article] Comparison of hybrid control techniques for buck and boost DC-DC converters [texte imprimé] / Mariéthoz, Sébastien, Auteur ; Stefan Almer, Auteur ; Mihai Bâja, Auteur . - 2011 . - pp. 1126-1145.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1126-1145
Mots-clés : DC-DC Hybrid control Model predictive control (MPC) Robust control Sampled data control Index. décimale : 629.1 Résumé : Five recent techniques from hybrid and optimal control are evaluated on two power electronics benchmark problems. The benchmarks involve a number of practically interesting operating scenarios for fixed-frequency synchronous dc-dc converters. The specifications are defined such that good performance can only be obtained if the switched and nonlinear nature of the problem is accounted for during the design phase. A nonlinear action is featured in all methods either intrinsically or as external logic. The designs are evaluated and compared on the same experimental platform. Experiments show that the proposed methods display high performances, while respecting circuit constraints, thus protecting the semiconductor devices. Moreover, the complexity of the controllers is compatible with the high-frequency requirements of the considered application.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353610
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1146-1154
Titre : Embedded optimization for input shaping Type de document : texte imprimé Auteurs : Lieboud Van den Broeck, Auteur ; Moritz Diehl, Auteur ; Swevers, Jan, Auteur Année de publication : 2011 Article en page(s) : pp. 1146-1154 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Mechanical systems Mechatronics Motion control Predictive control Time optimal control Vibration control Index. décimale : 629.1 Résumé : Traditional input shaping filters are linear mappings between reference input and system input. These filters are often unnecessarily conservative with respect to input and output bounds if multiple references with different amplitudes are applied. This conservatism is due to its offline design and linear mapping. This paper presents an online input prefilter design approach to overcome this conservatism. The resulting prefilters are called predictive prefilters because the online design is based on the model predictive control (MPC) framework. By theoretical considerations, simulation results and experimental results, it is shown that this new prefilter is at least as good as traditional prefilters, and can result in substantial gains in settling time. Tests show that a 30% decrease in settling time is possible in a common input shaping application.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282519 [article] Embedded optimization for input shaping [texte imprimé] / Lieboud Van den Broeck, Auteur ; Moritz Diehl, Auteur ; Swevers, Jan, Auteur . - 2011 . - pp. 1146-1154.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1146-1154
Mots-clés : Mechanical systems Mechatronics Motion control Predictive control Time optimal control Vibration control Index. décimale : 629.1 Résumé : Traditional input shaping filters are linear mappings between reference input and system input. These filters are often unnecessarily conservative with respect to input and output bounds if multiple references with different amplitudes are applied. This conservatism is due to its offline design and linear mapping. This paper presents an online input prefilter design approach to overcome this conservatism. The resulting prefilters are called predictive prefilters because the online design is based on the model predictive control (MPC) framework. By theoretical considerations, simulation results and experimental results, it is shown that this new prefilter is at least as good as traditional prefilters, and can result in substantial gains in settling time. Tests show that a 30% decrease in settling time is possible in a common input shaping application.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282519
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1155-1161
Titre : Team consensus for a network of unmanned vehicles in presence of actuator faults Type de document : texte imprimé Auteurs : Elham Semsar-Kazerooni, Auteur ; Khorasani, K., Auteur Année de publication : 2011 Article en page(s) : pp. 1155-1161 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Actuator faults Cooperative control Fault diagnosis Team consensus Index. décimale : 629.1 Résumé : In this paper, performance analysis of a team of unmanned vehicles (agents) that are subject to actuator faults is investigated. The team goal is to accomplish a cohesive motion in a modified leader-follower architecture by using a semi-decentralized optimal control strategy. The controller, which is recently proposed by the authors, is designed based on minimization of individual cost functions by using the available information from the neighboring sets. It is shown that a loss of effectiveness (LOE) fault in an actuator does not deteriorate the stability nor the consensus seeking goal of the team. This fault would only result in a different transient behavior, e.g., a change in the agent's convergence rate, without a change in the consensus value. On the other hand, if the fault in one or more of the agents is of the float type, either in the leader or the followers, the team could not maintain its consensus any longer, however the stability of the team can still be guaranteed. Moreover, the leader and the healthy followers adapt themselves to the follower's change when a float fault occurs in one of the agents. Finally, the behavior of the team in presence of the lock-in-place (LIP) actuator fault is also investigated. Simulation results are provided to demonstrate the performance of the team subject to the above three actuator fault scenarios.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286246 [article] Team consensus for a network of unmanned vehicles in presence of actuator faults [texte imprimé] / Elham Semsar-Kazerooni, Auteur ; Khorasani, K., Auteur . - 2011 . - pp. 1155-1161.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1155-1161
Mots-clés : Actuator faults Cooperative control Fault diagnosis Team consensus Index. décimale : 629.1 Résumé : In this paper, performance analysis of a team of unmanned vehicles (agents) that are subject to actuator faults is investigated. The team goal is to accomplish a cohesive motion in a modified leader-follower architecture by using a semi-decentralized optimal control strategy. The controller, which is recently proposed by the authors, is designed based on minimization of individual cost functions by using the available information from the neighboring sets. It is shown that a loss of effectiveness (LOE) fault in an actuator does not deteriorate the stability nor the consensus seeking goal of the team. This fault would only result in a different transient behavior, e.g., a change in the agent's convergence rate, without a change in the consensus value. On the other hand, if the fault in one or more of the agents is of the float type, either in the leader or the followers, the team could not maintain its consensus any longer, however the stability of the team can still be guaranteed. Moreover, the leader and the healthy followers adapt themselves to the follower's change when a float fault occurs in one of the agents. Finally, the behavior of the team in presence of the lock-in-place (LIP) actuator fault is also investigated. Simulation results are provided to demonstrate the performance of the team subject to the above three actuator fault scenarios.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286246
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1162-1171
Titre : Application of a transition graph-based predictive algorithm to a solar air conditioning plant Type de document : texte imprimé Auteurs : Darine Zambrano, Auteur ; Winston Garcia-Gabin, Auteur ; F. Camacho, Auteur Année de publication : 2011 Article en page(s) : pp. 1162-1171 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Air conditioning Graphs Predictive control Solar cooling Solar energy Switched systems Index. décimale : 629.1 Résumé : This brief presents the development of a transition graph-based predictive algorithm and its application to a solar air conditioning plant. The process considered is a hybrid system of variable configuration subject to disturbances in its main energy source, namely solar radiation. The predictive algorithm switches between the operating modes of the plant on the basis of minimizing the performance cost function associated to each operating mode and the switching cost function associated to the transition between operating modes. The cost functions depend on the predicted states of the plant. A transition graph is used to reduce the computational cost of the optimization problem; the graph is plotted using the concept of reachability. The main objective of the predictive algorithm is to find the optimal solution to the configuration problem and the optimal control signal of the plant throughout the day. Experimental results show that solar energy was used during most of the test and cooling demand was satisfied.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299106 [article] Application of a transition graph-based predictive algorithm to a solar air conditioning plant [texte imprimé] / Darine Zambrano, Auteur ; Winston Garcia-Gabin, Auteur ; F. Camacho, Auteur . - 2011 . - pp. 1162-1171.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1162-1171
Mots-clés : Air conditioning Graphs Predictive control Solar cooling Solar energy Switched systems Index. décimale : 629.1 Résumé : This brief presents the development of a transition graph-based predictive algorithm and its application to a solar air conditioning plant. The process considered is a hybrid system of variable configuration subject to disturbances in its main energy source, namely solar radiation. The predictive algorithm switches between the operating modes of the plant on the basis of minimizing the performance cost function associated to each operating mode and the switching cost function associated to the transition between operating modes. The cost functions depend on the predicted states of the plant. A transition graph is used to reduce the computational cost of the optimization problem; the graph is plotted using the concept of reachability. The main objective of the predictive algorithm is to find the optimal solution to the configuration problem and the optimal control signal of the plant throughout the day. Experimental results show that solar energy was used during most of the test and cooling demand was satisfied.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5299106
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1172-1179
Titre : Reducing cross-coupling in a compliant XY nanopositioner for fast and accurate raster scanning Type de document : texte imprimé Auteurs : Yuen Kuan Yong, Auteur ; Kexiu Liu, Auteur ; S.O. Rezza Moheimani, Auteur Année de publication : 2011 Article en page(s) : pp. 1172-1179 Note générale : Génie Aérosapatial Langues : Anglais (eng) Mots-clés : Compliant XY nanopositioner Cross-coupling H-intinity control High-speed scans Raster scanning Index. décimale : 629.1 Résumé : A compliant XY nanopositioner is presented in this brief. The device is designed to have a very low cross-coupling between the X- and Y-axis. Despite this, during high-speed raster scans, the cross-coupling effect can not be ignored. In this brief, a H∞ controller is designed and implemented to minimize the X-to- <;i>Y<;/i> cross-coupling of the nanoscale positioning stage, particularly at its mechanical resonance frequencies. The controller is augmented with integral action to achieve accurate tracking, as well as sufficient damping. Raster scan results over an area of 10 μm × 10 μm with small positioning errors are demonstrated. High-speed accurate raster scans of up to 100 Hz, with nanoscale resolution are also illustrated.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5288545 [article] Reducing cross-coupling in a compliant XY nanopositioner for fast and accurate raster scanning [texte imprimé] / Yuen Kuan Yong, Auteur ; Kexiu Liu, Auteur ; S.O. Rezza Moheimani, Auteur . - 2011 . - pp. 1172-1179.
Génie Aérosapatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1172-1179
Mots-clés : Compliant XY nanopositioner Cross-coupling H-intinity control High-speed scans Raster scanning Index. décimale : 629.1 Résumé : A compliant XY nanopositioner is presented in this brief. The device is designed to have a very low cross-coupling between the X- and Y-axis. Despite this, during high-speed raster scans, the cross-coupling effect can not be ignored. In this brief, a H∞ controller is designed and implemented to minimize the X-to- <;i>Y<;/i> cross-coupling of the nanoscale positioning stage, particularly at its mechanical resonance frequencies. The controller is augmented with integral action to achieve accurate tracking, as well as sufficient damping. Raster scan results over an area of 10 μm × 10 μm with small positioning errors are demonstrated. High-speed accurate raster scans of up to 100 Hz, with nanoscale resolution are also illustrated.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5288545
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1180-1187
Titre : Estimation and control under information constraints for LAAS helicopter benchmark Type de document : texte imprimé Auteurs : Alexander L. Fradkov, Auteur ; Boris Andrievsky, Auteur ; Dimitri Peaucelle, Auteur Année de publication : 2011 Article en page(s) : pp. 1180-1187 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Helicopter control Information capacity Parameter identification State estimation Index. décimale : 629.1 Résumé : A scheme for state estimation and control under information constraints is implemented for “LAAS Helicopter benchmark”. Parameter estimates of the “Helicopter” pitch dynamics model are obtained by means of the real-time identification algorithm. The hybrid continuous-discrete observation procedure for transmission of the measured data over the limited-band communication channel with adaptive tuning of the coder range parameter is proposed and used in the experiments for pitch motion control of the “Helicopter”. Experimental results for pitch motion control of the “Helicopter” are presented, showing efficiency of the proposed method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291708 [article] Estimation and control under information constraints for LAAS helicopter benchmark [texte imprimé] / Alexander L. Fradkov, Auteur ; Boris Andrievsky, Auteur ; Dimitri Peaucelle, Auteur . - 2011 . - pp. 1180-1187.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1180-1187
Mots-clés : Helicopter control Information capacity Parameter identification State estimation Index. décimale : 629.1 Résumé : A scheme for state estimation and control under information constraints is implemented for “LAAS Helicopter benchmark”. Parameter estimates of the “Helicopter” pitch dynamics model are obtained by means of the real-time identification algorithm. The hybrid continuous-discrete observation procedure for transmission of the measured data over the limited-band communication channel with adaptive tuning of the coder range parameter is proposed and used in the experiments for pitch motion control of the “Helicopter”. Experimental results for pitch motion control of the “Helicopter” are presented, showing efficiency of the proposed method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291708
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1188-1194
Titre : An online simplified rotor resistance estimator for induction motors Type de document : texte imprimé Auteurs : Kenne, Godpromesse, Auteur ; Rostand Sorel Simo, Auteur ; Françoise Lamnabhi-Lagarrigue, Auteur Année de publication : 2011 Article en page(s) : pp. 1188-1194 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Equivalent injection term Nonlinear observer Online parameter estimation Index. décimale : 629.1 Résumé : This brief presents an adaptive variable structure identifier that provides finite time convergent estimate of the induction motor rotor resistance under feasible persistent of excitation condition. The proposed rotor resistance scheme is based on the standard dynamic model of induction motor expressed in a fixed reference frame attached to the stator. The available variables are the rotor speed, the stator currents and voltages. Experiments show that the proposed method achieved very good estimation of the rotor resistance which is subjected to online large variation during operation of the induction motor. Also, the proposed online simplified rotor resistance estimator is robust with respect to the variation of the stator resistance, measurement noise, modeling errors, discretization effects and parameter uncertainties. Important advantages of the proposed algorithm include that it is an online method (the value of Rr can be continuously updated) and it is very simple to implement in real-time (this feature distinguishes the proposed identifier from the known ones).
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5308220 [article] An online simplified rotor resistance estimator for induction motors [texte imprimé] / Kenne, Godpromesse, Auteur ; Rostand Sorel Simo, Auteur ; Françoise Lamnabhi-Lagarrigue, Auteur . - 2011 . - pp. 1188-1194.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1188-1194
Mots-clés : Equivalent injection term Nonlinear observer Online parameter estimation Index. décimale : 629.1 Résumé : This brief presents an adaptive variable structure identifier that provides finite time convergent estimate of the induction motor rotor resistance under feasible persistent of excitation condition. The proposed rotor resistance scheme is based on the standard dynamic model of induction motor expressed in a fixed reference frame attached to the stator. The available variables are the rotor speed, the stator currents and voltages. Experiments show that the proposed method achieved very good estimation of the rotor resistance which is subjected to online large variation during operation of the induction motor. Also, the proposed online simplified rotor resistance estimator is robust with respect to the variation of the stator resistance, measurement noise, modeling errors, discretization effects and parameter uncertainties. Important advantages of the proposed algorithm include that it is an online method (the value of Rr can be continuously updated) and it is very simple to implement in real-time (this feature distinguishes the proposed identifier from the known ones).
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5308220
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1195-1198
Titre : Act-and-wait and intermittent control : some comments Type de document : texte imprimé Auteurs : Peter Gawthrop, Auteur Année de publication : 2011 Article en page(s) : pp. 1195-1198 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Act-and-wait control Intermittent control Periodic control Pole-placement Predictive control Time-delay systems Index. décimale : 629.1 Résumé : The act-and-wait control introduced by Insperger is shown to be related to a form of intermittent control. Theoretical and practical similarities and differences between the two methods are explored. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325659 [article] Act-and-wait and intermittent control : some comments [texte imprimé] / Peter Gawthrop, Auteur . - 2011 . - pp. 1195-1198.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1195-1198
Mots-clés : Act-and-wait control Intermittent control Periodic control Pole-placement Predictive control Time-delay systems Index. décimale : 629.1 Résumé : The act-and-wait control introduced by Insperger is shown to be related to a form of intermittent control. Theoretical and practical similarities and differences between the two methods are explored. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325659
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1199-1206
Titre : A Simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots Type de document : texte imprimé Auteurs : Bong Seok Park, Auteur ; Sung, Jin Yoo, Auteur ; Jin Bae Park, Auteur Année de publication : 2011 Article en page(s) : pp. 1199-1206 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Actuator dynamics Adaptive control Dynamic surface design Nonholonomic mobile robotss Robot dynamics Robot kinematics Index. décimale : 629.1 Résumé : Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325660 [article] A Simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots [texte imprimé] / Bong Seok Park, Auteur ; Sung, Jin Yoo, Auteur ; Jin Bae Park, Auteur . - 2011 . - pp. 1199-1206.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1199-1206
Mots-clés : Actuator dynamics Adaptive control Dynamic surface design Nonholonomic mobile robotss Robot dynamics Robot kinematics Index. décimale : 629.1 Résumé : Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325660
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1207-1215
Titre : Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness asembly systems Type de document : texte imprimé Auteurs : Jian Huang, Auteur ; Pei Di, Auteur ; Toshio Fukuda, Auteur Année de publication : 2011 Article en page(s) : pp. 1207-1215 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Fault detection Hybrid systems Piecewise affine (PWA) systems Robotic wiring harness assembly Set-membership approach Index. décimale : 629.1 Résumé : Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325651 [article] Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness asembly systems [texte imprimé] / Jian Huang, Auteur ; Pei Di, Auteur ; Toshio Fukuda, Auteur . - 2011 . - pp. 1207-1215.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1207-1215
Mots-clés : Fault detection Hybrid systems Piecewise affine (PWA) systems Robotic wiring harness assembly Set-membership approach Index. décimale : 629.1 Résumé : Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325651
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1216-1225
Titre : Gain scheduled control of an air conditioning system using the youla parameterization Type de document : texte imprimé Auteurs : Rasmussen, Bryan P., Auteur ; Alleyne, Andrew G., Auteur Année de publication : 2011 Article en page(s) : pp. 1216-1225 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Air conditioning Gain-scheduling Heating Ventilation Lyapunov Nonlinear control Index. décimale : 629.1 Résumé : Vapor compression systems form the basis for the majority of air conditioning and refrigeration systems. A primary control challenge addressed here is the coupled nonlinear multiple-input-multiple-output (MIMO) dynamics associated with the multiphase heat and mass transfer in the primary refrigerant loop. This paper develops a MIMO gain scheduled control strategy to regulate system efficiency while meeting changing demands for cooling capacity. An approach based on the Youla parameterization is shown to be a generalization of the more common local controller network method, while exposing several degrees of design freedom that can be exploited to improve stability. The challenge of guaranteeing stability of the nonlinear closed loop systems, despite endogenous and arbitrarily fast gain scheduling, is addressed. Experimental results confirm the effectiveness of the proposed approach.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339092 [article] Gain scheduled control of an air conditioning system using the youla parameterization [texte imprimé] / Rasmussen, Bryan P., Auteur ; Alleyne, Andrew G., Auteur . - 2011 . - pp. 1216-1225.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1216-1225
Mots-clés : Air conditioning Gain-scheduling Heating Ventilation Lyapunov Nonlinear control Index. décimale : 629.1 Résumé : Vapor compression systems form the basis for the majority of air conditioning and refrigeration systems. A primary control challenge addressed here is the coupled nonlinear multiple-input-multiple-output (MIMO) dynamics associated with the multiphase heat and mass transfer in the primary refrigerant loop. This paper develops a MIMO gain scheduled control strategy to regulate system efficiency while meeting changing demands for cooling capacity. An approach based on the Youla parameterization is shown to be a generalization of the more common local controller network method, while exposing several degrees of design freedom that can be exploited to improve stability. The challenge of guaranteeing stability of the nonlinear closed loop systems, despite endogenous and arbitrarily fast gain scheduling, is addressed. Experimental results confirm the effectiveness of the proposed approach.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339092
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1226-1232
Titre : Guaranteed cost control for networked control systems based on an improved predictive control method Type de document : texte imprimé Auteurs : Rui, Wang, Auteur ; Liu, Guo-Ping, Auteur ; Wang, Wei, Auteur Année de publication : 2011 Article en page(s) : pp. 1226-1232 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Guaranteed cost control Linear matrix inequalities (LMIs) Networked control system (NCS) Predictive control Switched systems Index. décimale : 629.1 Résumé : This brief deals with the problem of guaranteed cost control for a class of uncertain networked control systems with time-varying delay. An improved predictive controller design strategy is proposed to compensate for the delay and data dropout in both the forward and backward channels to achieve the desired control performance. The varying controller gains which are designed to vary with delays can lead to less conservative results. Meanwhile, an algorithm involving a convex optimization problem is presented to achieve a suboptimal guaranteed cost. Furthermore, a numerical simulation and a practical experiment are given to illustrate the effectiveness of the proposed method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5352229 [article] Guaranteed cost control for networked control systems based on an improved predictive control method [texte imprimé] / Rui, Wang, Auteur ; Liu, Guo-Ping, Auteur ; Wang, Wei, Auteur . - 2011 . - pp. 1226-1232.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1226-1232
Mots-clés : Guaranteed cost control Linear matrix inequalities (LMIs) Networked control system (NCS) Predictive control Switched systems Index. décimale : 629.1 Résumé : This brief deals with the problem of guaranteed cost control for a class of uncertain networked control systems with time-varying delay. An improved predictive controller design strategy is proposed to compensate for the delay and data dropout in both the forward and backward channels to achieve the desired control performance. The varying controller gains which are designed to vary with delays can lead to less conservative results. Meanwhile, an algorithm involving a convex optimization problem is presented to achieve a suboptimal guaranteed cost. Furthermore, a numerical simulation and a practical experiment are given to illustrate the effectiveness of the proposed method.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5352229
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1233-1240
Titre : Fault diagnosis of MEMS lateral comb resonators using multiple-model adaptive estimators Type de document : texte imprimé Auteurs : Afshin Izadian, Auteur ; Parviz Famouri, Auteur Année de publication : 2011 Article en page(s) : pp. 1233-1240 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive estimators Fault diagnosis Kalman filtering Lateral comb resonators (LCRs) Index. décimale : 629.1 Résumé : In this brief a fault diagnostic unit is developed for microelectromechanical systems (MEMS) by means of multiple model adaptive estimation technique. Fault modeling tools such as contamination and reliability analysis of microelectromechanical layout enabled interpretation of microsystems behavior by evaluating their structural variations and modeling them in form of electric circuits. This technique cannot directly diagnose the faults during operation of microsystems. However, these fault-representing models can be used in multiple model adaptive estimation technique to form fault diagnosis units. Here, fault-representing systems are modeled by Kalman filters in real-time applications and are used to evaluate the fault in microsystems. MEMS lateral comb resonators are fabricated to experimentally demonstrate the fault diagnosis performance in multiple model adaptive estimation technique.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5406017 [article] Fault diagnosis of MEMS lateral comb resonators using multiple-model adaptive estimators [texte imprimé] / Afshin Izadian, Auteur ; Parviz Famouri, Auteur . - 2011 . - pp. 1233-1240.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1233-1240
Mots-clés : Adaptive estimators Fault diagnosis Kalman filtering Lateral comb resonators (LCRs) Index. décimale : 629.1 Résumé : In this brief a fault diagnostic unit is developed for microelectromechanical systems (MEMS) by means of multiple model adaptive estimation technique. Fault modeling tools such as contamination and reliability analysis of microelectromechanical layout enabled interpretation of microsystems behavior by evaluating their structural variations and modeling them in form of electric circuits. This technique cannot directly diagnose the faults during operation of microsystems. However, these fault-representing models can be used in multiple model adaptive estimation technique to form fault diagnosis units. Here, fault-representing systems are modeled by Kalman filters in real-time applications and are used to evaluate the fault in microsystems. MEMS lateral comb resonators are fabricated to experimentally demonstrate the fault diagnosis performance in multiple model adaptive estimation technique.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5406017
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