Dépouillements

Controller design for systems with multipacket transmissions / Ge Guo in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 12 p. Titre : Controller design for systems with multipacket transmissions Type de document : texte imprimé Auteurs : Ge Guo, Auteur ; Zibao Lu, Auteur ; Hui Jin, Auteur Année de publication : 2012 Article en page(s) : 12 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : State-space-equation  controller  Multipacket  transmission  Quantization  Time-delay Index. décimale : 629.8 Résumé : This paper investigates the problem of stability analysis and state-space-equation controller design for a type of nonlinear systems in which measurement data of the sensors and the control signals are communicated through independent communication channels via a multiple-packet transmission policy. The packet delays (and dropouts) at the sensors side and the actuators side are assumed to be different in properties and are treated separately. A framework of stability analysis and controller design under multiple-packet transmission policy is derived by simultaneous consideration of quantization effect, successive packet delays, dropouts, and noises. The main results are obtained by constructing a new Lyapunov functional and using a new tight bounding technique without introducing any free-weighting matrices. As a general tool for designing state-space-equation controllers for networked control systems, the presented method is less conservative with reduced number of variables and larger upper bounds of time-delays, which is shown by numerical examples. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Controller design for systems with multipacket transmissions [texte imprimé] / Ge Guo, Auteur ; Zibao Lu, Auteur ; Hui Jin, Auteur . - 2012 . - 12 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 12 p. Mots-clés : State-space-equation  controller  Multipacket  transmission  Quantization  Time-delay Index. décimale : 629.8 Résumé : This paper investigates the problem of stability analysis and state-space-equation controller design for a type of nonlinear systems in which measurement data of the sensors and the control signals are communicated through independent communication channels via a multiple-packet transmission policy. The packet delays (and dropouts) at the sensors side and the actuators side are assumed to be different in properties and are treated separately. A framework of stability analysis and controller design under multiple-packet transmission policy is derived by simultaneous consideration of quantization effect, successive packet delays, dropouts, and noises. The main results are obtained by constructing a new Lyapunov functional and using a new tight bounding technique without introducing any free-weighting matrices. As a general tool for designing state-space-equation controllers for networked control systems, the presented method is less conservative with reduced number of variables and larger upper bounds of time-delays, which is shown by numerical examples. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Determining model accuracy requirements for automotive engine coldstart hydrocarbon emissions control / Nasser L. Azad in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Determining model accuracy requirements for automotive engine coldstart hydrocarbon emissions control Type de document : texte imprimé Auteurs : Nasser L. Azad, Auteur ; Pannag R. Sanketi, Auteur ; Hedrick, J. Karl, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Automotive  engine  Systematic  method  Coldstart  hydrocarbon  (HC)  emissions  Accuracy  requirements Index. décimale : 629.8 Résumé : In this work, a systematic method is introduced to determine the required accuracy of an automotive engine model used for real-time optimal control of coldstart hydrocarbon (HC) emissions. The engine model structure and development are briefly explained and the model predictions versus experimental results are presented. The control design problem is represented with a dynamic optimization formulation on the basis of the engine model and solved using the Pontryagin's minimum principle (PMP). To relate the level of plant/model mismatch and the control performance degradation in practice, a sensitivity analysis using a computationally efficient method is employed. In this way, the sensitivities or the effects of small parameter variations on the optimal solution, which is the minimum of cumulative tailpipe HC emissions over the coldstart period, are calculated. There is a good agreement between the sensitivity analysis results and the experimental data. The sensitivities indicate the directions of the subsequent parameter estimation and model improvement tasks to enhance the control-relevant accuracy, and thus, the control performance. Furthermore, they provide some insights to simplify the engine model, which is critical for real-time implementation of the coldstart optimal control system. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Determining model accuracy requirements for automotive engine coldstart hydrocarbon emissions control [texte imprimé] / Nasser L. Azad, Auteur ; Pannag R. Sanketi, Auteur ; Hedrick, J. Karl, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Automotive  engine  Systematic  method  Coldstart  hydrocarbon  (HC)  emissions  Accuracy  requirements Index. décimale : 629.8 Résumé : In this work, a systematic method is introduced to determine the required accuracy of an automotive engine model used for real-time optimal control of coldstart hydrocarbon (HC) emissions. The engine model structure and development are briefly explained and the model predictions versus experimental results are presented. The control design problem is represented with a dynamic optimization formulation on the basis of the engine model and solved using the Pontryagin's minimum principle (PMP). To relate the level of plant/model mismatch and the control performance degradation in practice, a sensitivity analysis using a computationally efficient method is employed. In this way, the sensitivities or the effects of small parameter variations on the optimal solution, which is the minimum of cumulative tailpipe HC emissions over the coldstart period, are calculated. There is a good agreement between the sensitivity analysis results and the experimental data. The sensitivities indicate the directions of the subsequent parameter estimation and model improvement tasks to enhance the control-relevant accuracy, and thus, the control performance. Furthermore, they provide some insights to simplify the engine model, which is critical for real-time implementation of the coldstart optimal control system. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Design of reset control systems / Alfonso Baños in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Design of reset control systems : the PI + CI compensator Type de document : texte imprimé Auteurs : Alfonso Baños, Auteur ; Angel Vidal, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Reset  control  PID  Hybrid  systems Index. décimale : 629.8 Résumé : Reset compensation has been used to overcome limitations of linear and time invariant (LTI) compensation. In this work, a new reset compensator, referred to as proportional and integral (PI) + CI (Clegg integrator), is introduced. It basically consists of adding a Clegg integrator to a PI compensator, with the goal of improving the closed loop response by using the nonlinear characteristic of this element. It turns out that by resetting a percentage of the integral term in a PI compensator, a significant improvement can be obtained over a well-tuned PI compensator in some relevant practical cases, such as systems with dominant lag and integrating systems. The work is devoted to the development of PI + CI tuning rules for basic dynamic systems in a wide range of applications, including first and higher order plus dead time systems. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Design of reset control systems : the PI + CI compensator [texte imprimé] / Alfonso Baños, Auteur ; Angel Vidal, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Reset  control  PID  Hybrid  systems Index. décimale : 629.8 Résumé : Reset compensation has been used to overcome limitations of linear and time invariant (LTI) compensation. In this work, a new reset compensator, referred to as proportional and integral (PI) + CI (Clegg integrator), is introduced. It basically consists of adding a Clegg integrator to a PI compensator, with the goal of improving the closed loop response by using the nonlinear characteristic of this element. It turns out that by resetting a percentage of the integral term in a PI compensator, a significant improvement can be obtained over a well-tuned PI compensator in some relevant practical cases, such as systems with dominant lag and integrating systems. The work is devoted to the development of PI + CI tuning rules for basic dynamic systems in a wide range of applications, including first and higher order plus dead time systems. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Resonance tracking of continua using self-sensing actuators / Dominik Kern in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Titre : Resonance tracking of continua using self-sensing actuators Type de document : texte imprimé Auteurs : Dominik Kern, Auteur ; Tobias Brack, Auteur ; Wolfgang Seemann, Auteur Année de publication : 2012 Article en page(s) : 09 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Resonance  tracking  problem  Signal  selectivity  Phase-locked  loop  (PLL)  Self-sensing  actuators Index. décimale : 629.8 Résumé : This paper proposes and develops an innovative method to solve the resonance tracking problem for actuator and sensor applications to obtain maximum power transmission or signal selectivity using a modified phase-locked loop (PLL). The tracking of a higher eigenfrequency is very useful in some cases, but it is more challenging than the excitation of the only eigenfrequency of a 1-DoF system. The resonances are identified through employing their characteristic phase difference. The conventional PLL was modified to track a certain phase difference without deviation. The closed loop is a nonlinear control system due to the conversion between harmonic signals and phase signals. However, a model simplification to linear elements allows the goal oriented determination of the controller parameters. The advantages of self-sensing in combination with resonance tracking are attractive for practical applications such as ultrasonic motors and compact force sensors. The conducted experiments approved the effectiveness of the resonant excitation of higher oscillation modes of continua using self-sensing actuators. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Resonance tracking of continua using self-sensing actuators [texte imprimé] / Dominik Kern, Auteur ; Tobias Brack, Auteur ; Wolfgang Seemann, Auteur . - 2012 . - 09 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Mots-clés : Resonance  tracking  problem  Signal  selectivity  Phase-locked  loop  (PLL)  Self-sensing  actuators Index. décimale : 629.8 Résumé : This paper proposes and develops an innovative method to solve the resonance tracking problem for actuator and sensor applications to obtain maximum power transmission or signal selectivity using a modified phase-locked loop (PLL). The tracking of a higher eigenfrequency is very useful in some cases, but it is more challenging than the excitation of the only eigenfrequency of a 1-DoF system. The resonances are identified through employing their characteristic phase difference. The conventional PLL was modified to track a certain phase difference without deviation. The closed loop is a nonlinear control system due to the conversion between harmonic signals and phase signals. However, a model simplification to linear elements allows the goal oriented determination of the controller parameters. The advantages of self-sensing in combination with resonance tracking are attractive for practical applications such as ultrasonic motors and compact force sensors. The conducted experiments approved the effectiveness of the resonant excitation of higher oscillation modes of continua using self-sensing actuators. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Energy optimal control of servo-pneumatic cylinders through nonlinear static feedback linearization / Jihong Wang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Energy optimal control of servo-pneumatic cylinders through nonlinear static feedback linearization Type de document : texte imprimé Auteurs : Jihong Wang, Auteur ; Tim Gordon, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Optimal  control  Tracking  control  Pneumatic  actuators  Nonlinear  systems  Feedback  linearization Index. décimale : 629.8 Résumé : Although pneumatic actuators are widely used in industry, they have two major weaknesses—nonlinearities associated with compressibility of air and low energy efficiency. The former limits its applicability whenever accurate positioning is required, and the latter has a negative impact on users through increased energy costs. This paper addresses these issues with the aim of developing a widely applicable servo control strategy, which combines improved tracking accuracy and energy efficiency. A detailed actuator system model is linearized through nonlinear input–output feedback linearization, and the energy optimal velocity profile is derived. Simulation and experimental studies indicate that energy efficiency improvements of 3–7% are possible, while tracking accuracy can be ensured. The method is suitable for real-time implementation and is cost effective; it requires the implementation of an improved velocity profile, while hardware components do not need to be altered. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Energy optimal control of servo-pneumatic cylinders through nonlinear static feedback linearization [texte imprimé] / Jihong Wang, Auteur ; Tim Gordon, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Optimal  control  Tracking  control  Pneumatic  actuators  Nonlinear  systems  Feedback  linearization Index. décimale : 629.8 Résumé : Although pneumatic actuators are widely used in industry, they have two major weaknesses—nonlinearities associated with compressibility of air and low energy efficiency. The former limits its applicability whenever accurate positioning is required, and the latter has a negative impact on users through increased energy costs. This paper addresses these issues with the aim of developing a widely applicable servo control strategy, which combines improved tracking accuracy and energy efficiency. A detailed actuator system model is linearized through nonlinear input–output feedback linearization, and the energy optimal velocity profile is derived. Simulation and experimental studies indicate that energy efficiency improvements of 3–7% are possible, while tracking accuracy can be ensured. The method is suitable for real-time implementation and is cost effective; it requires the implementation of an improved velocity profile, while hardware components do not need to be altered. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Dynamics and control of the shoot-the-moon tabletop game / Peng Xu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Titre : Dynamics and control of the shoot-the-moon tabletop game Type de document : texte imprimé Auteurs : Peng Xu, Auteur ; Richard E. Groff, Auteur ; Timothy Burg, Auteur Année de publication : 2012 Article en page(s) : 09 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Tabletop  game  shoot-the-moon  Lagrangian  approach  Nonholonomic  dynamics  Nonlinear  dynamics Index. décimale : 629.8 Résumé : The classic tabletop game Shoot-the-Moon has interesting dynamics despite its simple structure, consisting of a steel ball rolling on two cylindrical rods. In this paper, we derive the equations of motion for Shoot-the-Moon using a Lagrangian approach and examine the underactuated, nonlinear, and nonholonomic dynamics. Two ball position controllers are designed, one using a local linearization and another using the nonlinear dynamics. Simulations of both controllers are performed, showing that the ball converges to the setpoint position for the linearized controller and continuous signals can be tracked by the nonlinear controller. Finally, the experimental results are presented for the nonlinear controller applied to a physical implementation of Shoot-the-Moon. The effect of the nonholonomic constraint relating the ball's linear and angular position is demonstrated. This system has rich dynamics that can provide a challenging problem for control design and serve as a new educational example. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Dynamics and control of the shoot-the-moon tabletop game [texte imprimé] / Peng Xu, Auteur ; Richard E. Groff, Auteur ; Timothy Burg, Auteur . - 2012 . - 09 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Mots-clés : Tabletop  game  shoot-the-moon  Lagrangian  approach  Nonholonomic  dynamics  Nonlinear  dynamics Index. décimale : 629.8 Résumé : The classic tabletop game Shoot-the-Moon has interesting dynamics despite its simple structure, consisting of a steel ball rolling on two cylindrical rods. In this paper, we derive the equations of motion for Shoot-the-Moon using a Lagrangian approach and examine the underactuated, nonlinear, and nonholonomic dynamics. Two ball position controllers are designed, one using a local linearization and another using the nonlinear dynamics. Simulations of both controllers are performed, showing that the ball converges to the setpoint position for the linearized controller and continuous signals can be tracked by the nonlinear controller. Finally, the experimental results are presented for the nonlinear controller applied to a physical implementation of Shoot-the-Moon. The effect of the nonholonomic constraint relating the ball's linear and angular position is demonstrated. This system has rich dynamics that can provide a challenging problem for control design and serve as a new educational example. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Adaptive control of multiagent systems for finding peaks of uncertain static fields / Mahdi Jadaliha in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 08 p. Titre : Adaptive control of multiagent systems for finding peaks of uncertain static fields Type de document : texte imprimé Auteurs : Mahdi Jadaliha, Auteur ; Joonho Lee, Auteur ; Jongeun Choi, Auteur Année de publication : 2012 Article en page(s) : 08 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Multiagent  systems  Cooperative  control  Adaptive  control Index. décimale : 629.8 Résumé : In this paper, we design and analyze a class of multiagent systems that locate peaks of uncertain static fields in a distributed and scalable manner. The scalar field of interest is assumed to be generated by a radial basis function network. Our distributed coordination algorithms for multiagent systems build on techniques from adaptive control. Each agent is driven by swarming and gradient ascent efforts based on its own recursively estimated field via locally collected measurements by itself and its neighboring agents. The convergence properties of the proposed multiagent systems are analyzed. We also propose a sampling scheme to facilitate the convergence. We provide simulation results by applying our proposed algorithms to nonholonomic differentially driven mobile robots. The extensive simulation results match well with the predicted behaviors from the convergence analysis and illustrate the usefulness of the proposed coordination and sampling algorithms. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Adaptive control of multiagent systems for finding peaks of uncertain static fields [texte imprimé] / Mahdi Jadaliha, Auteur ; Joonho Lee, Auteur ; Jongeun Choi, Auteur . - 2012 . - 08 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 08 p. Mots-clés : Multiagent  systems  Cooperative  control  Adaptive  control Index. décimale : 629.8 Résumé : In this paper, we design and analyze a class of multiagent systems that locate peaks of uncertain static fields in a distributed and scalable manner. The scalar field of interest is assumed to be generated by a radial basis function network. Our distributed coordination algorithms for multiagent systems build on techniques from adaptive control. Each agent is driven by swarming and gradient ascent efforts based on its own recursively estimated field via locally collected measurements by itself and its neighboring agents. The convergence properties of the proposed multiagent systems are analyzed. We also propose a sampling scheme to facilitate the convergence. We provide simulation results by applying our proposed algorithms to nonholonomic differentially driven mobile robots. The extensive simulation results match well with the predicted behaviors from the convergence analysis and illustrate the usefulness of the proposed coordination and sampling algorithms. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Self-learning based centrifugal compressor surge mapping with computationally efficient adaptive asymmetric support vector machine / Xin Wu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Titre : Self-learning based centrifugal compressor surge mapping with computationally efficient adaptive asymmetric support vector machine Type de document : texte imprimé Auteurs : Xin Wu, Auteur ; Yaoyu Li, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Surge  map  Centrifugal  compressor  Asymetric  support  vector  machine  Support  vectors  selection  Gaussian  curvature Index. décimale : 629.8 Résumé : When an air compressor is operated at very low flow rate for a given discharge pressure, surge may occur, resulting in large oscillations in pressure and flow in the compressor. To prevent the damage of the compressor, on account of surge, the control strategy employed is typically to operate it below the surge line (a map of the conditions at which surge begins). Surge line is strongly affected by the ambient air conditions. Previous research has developed to derive data-driven surge maps based on an asymmetric support vector machine (ASVM). The ASVM penalizes the surge case with much greater cost to minimize the possibility of undetected surge. This paper concerns the development of adaptive ASVM based self-learning surge map modeling via the combination with signal processing techniques for surge detection. During the actual operation of a compressor after the ASVM based surge map is obtained with historic data, new surge points can be identified with the surge detection methods such as short-time Fourier transform or wavelet transform. The new surge point can be used to update the surge map. However, with increasing number of surge points, the complexity of support vector machine (SVM) would grow dramatically. In order to keep the surge map SVM at a relatively low dimension, an adaptive SVM modeling algorithm is developed to select the minimum set of necessary support vectors in a three-dimension feature space based on Gaussian curvature to guarantee a desirable classification between surge and nonsurge areas. The proposed method is validated by applying the surge test data obtained from a testbed compressor at a manufacturing plant. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Self-learning based centrifugal compressor surge mapping with computationally efficient adaptive asymmetric support vector machine [texte imprimé] / Xin Wu, Auteur ; Yaoyu Li, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Mots-clés : Surge  map  Centrifugal  compressor  Asymetric  support  vector  machine  Support  vectors  selection  Gaussian  curvature Index. décimale : 629.8 Résumé : When an air compressor is operated at very low flow rate for a given discharge pressure, surge may occur, resulting in large oscillations in pressure and flow in the compressor. To prevent the damage of the compressor, on account of surge, the control strategy employed is typically to operate it below the surge line (a map of the conditions at which surge begins). Surge line is strongly affected by the ambient air conditions. Previous research has developed to derive data-driven surge maps based on an asymmetric support vector machine (ASVM). The ASVM penalizes the surge case with much greater cost to minimize the possibility of undetected surge. This paper concerns the development of adaptive ASVM based self-learning surge map modeling via the combination with signal processing techniques for surge detection. During the actual operation of a compressor after the ASVM based surge map is obtained with historic data, new surge points can be identified with the surge detection methods such as short-time Fourier transform or wavelet transform. The new surge point can be used to update the surge map. However, with increasing number of surge points, the complexity of support vector machine (SVM) would grow dramatically. In order to keep the surge map SVM at a relatively low dimension, an adaptive SVM modeling algorithm is developed to select the minimum set of necessary support vectors in a three-dimension feature space based on Gaussian curvature to guarantee a desirable classification between surge and nonsurge areas. The proposed method is validated by applying the surge test data obtained from a testbed compressor at a manufacturing plant. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Mode-independent stabilization of Markovian jump systems with time-varying delays / Ran Huang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Titre : Mode-independent stabilization of Markovian jump systems with time-varying delays : a sliding mode approach Type de document : texte imprimé Auteurs : Ran Huang, Auteur ; Yan Lin, Auteur ; Zhongwei Lin, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Markovian  jump  systems  Time-delay  Sliding  mode  control  Jumping  effect Résumé : This paper investigates mode-independent stabilization of Markovian jump systems with time-varying delays via a sliding mode approach. A sufficient condition is proposed to guarantee the existence of a mode-independent sliding surface. Because the real plant regime mode is not directly accessible and instantly available, a controller is reconfigured online by calculating a detection function such that the closed-loop system converges to the sliding surface in finite time. A comparison example is presented to illustrate merits of the developed theory. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Mode-independent stabilization of Markovian jump systems with time-varying delays : a sliding mode approach [texte imprimé] / Ran Huang, Auteur ; Yan Lin, Auteur ; Zhongwei Lin, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Mots-clés : Markovian  jump  systems  Time-delay  Sliding  mode  control  Jumping  effect Résumé : This paper investigates mode-independent stabilization of Markovian jump systems with time-varying delays via a sliding mode approach. A sufficient condition is proposed to guarantee the existence of a mode-independent sliding surface. Because the real plant regime mode is not directly accessible and instantly available, a controller is reconfigured online by calculating a detection function such that the closed-loop system converges to the sliding surface in finite time. A comparison example is presented to illustrate merits of the developed theory. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Task-space framework for bilateral teleoperation with time delays / Hanlei Wang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Titre : Task-space framework for bilateral teleoperation with time delays Type de document : texte imprimé Auteurs : Hanlei Wang, Auteur ; Yongchun Xie, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Task-space  control  framework  Bilateral  teleoperation  Delay-robust  control  schemes  Lyapunov–Krasovskii  stability  tool  Schwarz  inequality Index. décimale : 629.8 Résumé : This paper investigates the task-space control framework for bilateral teleoperation with communication time delays. Teleoperation in task space R3 × SO(3) presents some distinctive features different from its joint-space counterpart, i.e., SO(3) is nonconvex and bears quite different structure from Euclidean space Rn. Through analyzing the energy flows at the two ports of the teleoperator, we rigorously define the task-space interaction passivity of the teleoperator. Based on this passivity framework, we propose delay-robust control schemes to achieve master–slave position/orientation synchronization. Singularity-free task-space interaction passivity of the closed-loop teleoperator is ensured by the proposed task-space control framework. Using Lyapunov–Krasovskii stability tool and Schwarz inequality, we analyze the performance of the proposed teleoperation control scheme. We also discuss the problems incurred by time-varying delays and the corresponding solutions. Simulation study on a master–slave teleoperator composed of two kinematically dissimilar six-degree of freedom (DOF) manipulators is performed to illustrate the performance of the proposed control approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Task-space framework for bilateral teleoperation with time delays [texte imprimé] / Hanlei Wang, Auteur ; Yongchun Xie, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Mots-clés : Task-space  control  framework  Bilateral  teleoperation  Delay-robust  control  schemes  Lyapunov–Krasovskii  stability  tool  Schwarz  inequality Index. décimale : 629.8 Résumé : This paper investigates the task-space control framework for bilateral teleoperation with communication time delays. Teleoperation in task space R3 × SO(3) presents some distinctive features different from its joint-space counterpart, i.e., SO(3) is nonconvex and bears quite different structure from Euclidean space Rn. Through analyzing the energy flows at the two ports of the teleoperator, we rigorously define the task-space interaction passivity of the teleoperator. Based on this passivity framework, we propose delay-robust control schemes to achieve master–slave position/orientation synchronization. Singularity-free task-space interaction passivity of the closed-loop teleoperator is ensured by the proposed task-space control framework. Using Lyapunov–Krasovskii stability tool and Schwarz inequality, we analyze the performance of the proposed teleoperation control scheme. We also discuss the problems incurred by time-varying delays and the corresponding solutions. Simulation study on a master–slave teleoperator composed of two kinematically dissimilar six-degree of freedom (DOF) manipulators is performed to illustrate the performance of the proposed control approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Wiener–haar expansion for the modeling and prediction of the dynamic behavior of self-excited nonlinear uncertain systems / Lyes Nechak in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Wiener–haar expansion for the modeling and prediction of the dynamic behavior of self-excited nonlinear uncertain systems Type de document : texte imprimé Auteurs : Lyes Nechak, Auteur ; Sébastien Berger, Auteur ; Evelyne Aubry, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Uncertain  nonlinear  systems  Self-excited  systems  Modeling  Prediction  Generalized  polynominal  chaos  Wiener-haar  chaos  Mallat  algorithm  Nonintrusive  approaches Index. décimale : 629.8 Résumé : This paper deals with the modeling and the prediction of the dynamic behavior of uncertain nonlinear systems. An efficient method is proposed to treat these problems. It is based on the Wiener–Haar chaos concept resulting from the polynomial chaos theory and it generalizes the use of the multiresolution analysis well known in the signal processing theory. The method provides a powerful tool to describe stochastic processes as series of orthonormal piecewise functions whose weighting coefficients are identified using the Mallat pyramidal algorithm. This paper shows that the Wiener–Haar model allows an efficient description and prediction of the dynamic behavior of nonlinear systems with probabilistic uncertainty in parameters. Its contribution, compared to the representation using the generalized polynomial chaos model, is illustrated by evaluating the two models via their application to the problems of the modeling and the prediction of the dynamic behavior of a self-excited uncertain nonlinear system. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Wiener–haar expansion for the modeling and prediction of the dynamic behavior of self-excited nonlinear uncertain systems [texte imprimé] / Lyes Nechak, Auteur ; Sébastien Berger, Auteur ; Evelyne Aubry, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Uncertain  nonlinear  systems  Self-excited  systems  Modeling  Prediction  Generalized  polynominal  chaos  Wiener-haar  chaos  Mallat  algorithm  Nonintrusive  approaches Index. décimale : 629.8 Résumé : This paper deals with the modeling and the prediction of the dynamic behavior of uncertain nonlinear systems. An efficient method is proposed to treat these problems. It is based on the Wiener–Haar chaos concept resulting from the polynomial chaos theory and it generalizes the use of the multiresolution analysis well known in the signal processing theory. The method provides a powerful tool to describe stochastic processes as series of orthonormal piecewise functions whose weighting coefficients are identified using the Mallat pyramidal algorithm. This paper shows that the Wiener–Haar model allows an efficient description and prediction of the dynamic behavior of nonlinear systems with probabilistic uncertainty in parameters. Its contribution, compared to the representation using the generalized polynomial chaos model, is illustrated by evaluating the two models via their application to the problems of the modeling and the prediction of the dynamic behavior of a self-excited uncertain nonlinear system. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Guaranteed cost adaptive control of nonlinear platoons with actuator delay / Wei Yue in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Guaranteed cost adaptive control of nonlinear platoons with actuator delay Type de document : texte imprimé Auteurs : Wei Yue, Auteur ; Ge Guo, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Adaptive  nonlinear  control  Guaranteed  cost  control  Time-varying  nonlinearity  Actuator  delay  String  stability Index. décimale : 629.8 Résumé : This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon's longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Guaranteed cost adaptive control of nonlinear platoons with actuator delay [texte imprimé] / Wei Yue, Auteur ; Ge Guo, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Adaptive  nonlinear  control  Guaranteed  cost  control  Time-varying  nonlinearity  Actuator  delay  String  stability Index. décimale : 629.8 Résumé : This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon's longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Static friction in a robot joint / André Carvalho Bittencourt in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Titre : Static friction in a robot joint : modeling and identification of load and temperature effects Type de document : texte imprimé Auteurs : André Carvalho Bittencourt, Auteur ; Svante Gunnarsson, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Friction  Robot  joint Index. décimale : 629.8 Résumé : Friction is the result of complex interactions between contacting surfaces in down to a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed. In this paper, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of functions of relevant states which are linear and nonlinear in the parameters, and how the identification method described in Ref. [[1]] can be used to identify them when all states are measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque, and temperature. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, considerably improving the prediction performance compared to a standard model. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Static friction in a robot joint : modeling and identification of load and temperature effects [texte imprimé] / André Carvalho Bittencourt, Auteur ; Svante Gunnarsson, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 10 p. Mots-clés : Friction  Robot  joint Index. décimale : 629.8 Résumé : Friction is the result of complex interactions between contacting surfaces in down to a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed. In this paper, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of functions of relevant states which are linear and nonlinear in the parameters, and how the identification method described in Ref. [[1]] can be used to identify them when all states are measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque, and temperature. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, considerably improving the prediction performance compared to a standard model. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Thin-film PVDF sensor-based monitoring of cutting forces in peripheral end milling / Lei Ma in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Titre : Thin-film PVDF sensor-based monitoring of cutting forces in peripheral end milling Type de document : texte imprimé Auteurs : Lei Ma, Auteur ; Shreyes N. Melkote, Auteur ; John B. Morehouse, Auteur Année de publication : 2012 Article en page(s) : 09 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Thin  film  polyvinylidene  fluoride  In  situ  data  logging  platform  Peripheral  end  milling  process  Dynamic  strains Index. décimale : 629.8 Résumé : A sensor module that integrates a thin film polyvinylidene fluoride (PVDF) piezoelectric strain sensor and an in situ data logging platform has been designed and implemented for monitoring of the feed and transverse forces in the peripheral end milling process. The module, which is mounted on the tool shank, measures the dynamic strain(s) produced in the tool and logs the data into an on-board card for later retrieval. The close proximity between the signal source and the PVDF sensor(s) minimizes the attenuation and distortion of the signal along the transmission path and provides high-fidelity signals. It also facilitates the employment of a first principles model based on the Euler–Bernoulli beam theory and constitutive equations of the piezoelectric sensor material to relate the in situ measured PVDF sensor signals to the feed and transverse forces acting on the tool. The PVDF sensor signals are found to compare well with the force signals measured by a platform-type piezoelectric force dynamometer in peripheral end milling experiments. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Thin-film PVDF sensor-based monitoring of cutting forces in peripheral end milling [texte imprimé] / Lei Ma, Auteur ; Shreyes N. Melkote, Auteur ; John B. Morehouse, Auteur . - 2012 . - 09 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 09 p. Mots-clés : Thin  film  polyvinylidene  fluoride  In  situ  data  logging  platform  Peripheral  end  milling  process  Dynamic  strains Index. décimale : 629.8 Résumé : A sensor module that integrates a thin film polyvinylidene fluoride (PVDF) piezoelectric strain sensor and an in situ data logging platform has been designed and implemented for monitoring of the feed and transverse forces in the peripheral end milling process. The module, which is mounted on the tool shank, measures the dynamic strain(s) produced in the tool and logs the data into an on-board card for later retrieval. The close proximity between the signal source and the PVDF sensor(s) minimizes the attenuation and distortion of the signal along the transmission path and provides high-fidelity signals. It also facilitates the employment of a first principles model based on the Euler–Bernoulli beam theory and constitutive equations of the piezoelectric sensor material to relate the in situ measured PVDF sensor signals to the feed and transverse forces acting on the tool. The PVDF sensor signals are found to compare well with the force signals measured by a platform-type piezoelectric force dynamometer in peripheral end milling experiments. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Torque neutrality for active steering systems / Jonas Müller in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 06 p. Titre : Torque neutrality for active steering systems Type de document : texte imprimé Auteurs : Jonas Müller, Auteur Année de publication : 2012 Article en page(s) : 06 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Active  steering  system  Power-steering  actuator  Superposition  actuator  Feed-forward  control Index. décimale : 629.8 Résumé : This paper outlines a method for using an active steering system with two electrical actuators (one power-steering actuator and one superposition actuator) in order to manipulate the steering rack position without torque feedback to the steering wheel. To this effect, the power-steering actuator is used to implement a feed-forward control in order to compensate for the inertial effect introduced by the angle superposition. A rudimentary steering system model is used to derive the relevant transfer functions and assemble the control law for the superposition actuator. Experimental results of a research project at the BMW Group are included. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Torque neutrality for active steering systems [texte imprimé] / Jonas Müller, Auteur . - 2012 . - 06 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 06 p. Mots-clés : Active  steering  system  Power-steering  actuator  Superposition  actuator  Feed-forward  control Index. décimale : 629.8 Résumé : This paper outlines a method for using an active steering system with two electrical actuators (one power-steering actuator and one superposition actuator) in order to manipulate the steering rack position without torque feedback to the steering wheel. To this effect, the power-steering actuator is used to implement a feed-forward control in order to compensate for the inertial effect introduced by the angle superposition. A rudimentary steering system model is used to derive the relevant transfer functions and assemble the control law for the superposition actuator. Experimental results of a research project at the BMW Group are included. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Nonlinear estimation techniques applied on target tracking problems / Andrew Gadsden in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 13 p. Titre : Nonlinear estimation techniques applied on target tracking problems Type de document : texte imprimé Auteurs : Andrew Gadsden, Auteur ; Habibi, Saeid, Auteur ; Darcy Dunne, Auteur Année de publication : 2012 Article en page(s) : 13 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Estimation  Target  tracking  Kalman  filter  Particle  filter  Smooth  variable  structure  filter  Sliding  mode  estimation Index. décimale : 629.8 Résumé : This paper discusses the application of four nonlinear estimation techniques on two benchmark target tracking problems. The first problem is a generic air traffic control (ATC) scenario, which involves nonlinear system equations with linear measurements. The second study is a classical ground surveillance problem, where a moving airborne platform with a sensor is used to track a moving target. The tracking scenario is set in two dimensions, with the measurement providing nonlinear bearing-only observations. These two target tracking problems provide a good benchmark for comparing the following nonlinear estimation techniques: the common extended and unscented Kalman filters (EKF/UKF), the particle filter (PF), and the relatively new smooth variable structure filter (SVSF). The results of applying the SVSF on the two target tracking problems demonstrate its stability and robustness. Both of these attributes make use of the SVSF advantageous over other popular methods. The filters performances are quantified in terms of robustness, resilience to poor initial conditions and measurement outliers, and tracking accuracy and computational complexity. The purpose of this paper is to demonstrate the effectiveness of applying the SVSF on nonlinear target tracking problems, which in the past have typically been solved by Kalman or particle filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Nonlinear estimation techniques applied on target tracking problems [texte imprimé] / Andrew Gadsden, Auteur ; Habibi, Saeid, Auteur ; Darcy Dunne, Auteur . - 2012 . - 13 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 13 p. Mots-clés : Estimation  Target  tracking  Kalman  filter  Particle  filter  Smooth  variable  structure  filter  Sliding  mode  estimation Index. décimale : 629.8 Résumé : This paper discusses the application of four nonlinear estimation techniques on two benchmark target tracking problems. The first problem is a generic air traffic control (ATC) scenario, which involves nonlinear system equations with linear measurements. The second study is a classical ground surveillance problem, where a moving airborne platform with a sensor is used to track a moving target. The tracking scenario is set in two dimensions, with the measurement providing nonlinear bearing-only observations. These two target tracking problems provide a good benchmark for comparing the following nonlinear estimation techniques: the common extended and unscented Kalman filters (EKF/UKF), the particle filter (PF), and the relatively new smooth variable structure filter (SVSF). The results of applying the SVSF on the two target tracking problems demonstrate its stability and robustness. Both of these attributes make use of the SVSF advantageous over other popular methods. The filters performances are quantified in terms of robustness, resilience to poor initial conditions and measurement outliers, and tracking accuracy and computational complexity. The purpose of this paper is to demonstrate the effectiveness of applying the SVSF on nonlinear target tracking problems, which in the past have typically been solved by Kalman or particle filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Nonlinear attitude control of flexible spacecraft with scissored pairs of control moment gyros / Jixiang Fan in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 05 p. Titre : Nonlinear attitude control of flexible spacecraft with scissored pairs of control moment gyros Type de document : texte imprimé Auteurs : Jixiang Fan, Auteur ; Zhou, Di, Auteur Année de publication : 2012 Article en page(s) : 05 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Flexible  spacecraft  Nonlinear  controller  Three-axis  large-angle  attitude  maneuvers  Vibration  suppression  Pseudo-inverse  steering  law  Lyapunov  theory Résumé : Dynamic equations describing the attitude motion of flexible spacecraft with scissored pairs of control moment gyroscopes are established. A nonlinear controller is designed to drive the flexible spacecraft to implement three-axis large-angle attitude maneuvers with the vibration suppression. Singularity analysis for three orthogonally mounted scissored pairs of control moment gyros shows that there exists no internal singularity in this configuration. A new pseudo-inverse steering law is designed based on the synchronization of gimbal angles of the twin gyros in each pair. To improve the synchronization performance, an adaptive nonlinear feedback controller is designed for each pairs of control moment gyros by using the stability theory of Lyapunov. Simulation results are provided to show the validity of the controllers and the steering law. DEWEY : 629.8 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Nonlinear attitude control of flexible spacecraft with scissored pairs of control moment gyros [texte imprimé] / Jixiang Fan, Auteur ; Zhou, Di, Auteur . - 2012 . - 05 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 05 p. Mots-clés : Flexible  spacecraft  Nonlinear  controller  Three-axis  large-angle  attitude  maneuvers  Vibration  suppression  Pseudo-inverse  steering  law  Lyapunov  theory Résumé : Dynamic equations describing the attitude motion of flexible spacecraft with scissored pairs of control moment gyroscopes are established. A nonlinear controller is designed to drive the flexible spacecraft to implement three-axis large-angle attitude maneuvers with the vibration suppression. Singularity analysis for three orthogonally mounted scissored pairs of control moment gyros shows that there exists no internal singularity in this configuration. A new pseudo-inverse steering law is designed based on the synchronization of gimbal angles of the twin gyros in each pair. To improve the synchronization performance, an adaptive nonlinear feedback controller is designed for each pairs of control moment gyros by using the stability theory of Lyapunov. Simulation results are provided to show the validity of the controllers and the steering law. DEWEY : 629.8 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Control-oriented modeling requirements of a direct-drive machine tool axis / Michael A. Stephens in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 06 p. Titre : Control-oriented modeling requirements of a direct-drive machine tool axis Type de document : texte imprimé Auteurs : Michael A. Stephens, Auteur ; Chris Manzie, Auteur ; Malcolm C. Good, Auteur Année de publication : 2012 Article en page(s) : 06 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Computer  numerical  control  (CNC)  Direct-drive  servo  axes  Limit-cycle Index. décimale : 629.8 Résumé : The high performance demands on commercial computer numerical control (CNC) machine tools have led to the widespread adoption of direct-drive servo axes. In industrial machines, where the workpiece is manipulated by the axis, the plant dynamics seen by the control system may vary widely between different workpieces. These changing plant dynamics have been observed to lead to limit-cycle behavior for a given controller. In such a situation, conventional modeling approximations used by practitioners may fail to predict the onset of instability for these axes. This work demonstrates the failure of conventional modeling approximations to predict the observed instability in an industrial CNC servo axis and investigates the model fidelity required to replicate the observations. This represents an important consideration when designing model-based controllers for direct-drive axes in CNC machines. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Control-oriented modeling requirements of a direct-drive machine tool axis [texte imprimé] / Michael A. Stephens, Auteur ; Chris Manzie, Auteur ; Malcolm C. Good, Auteur . - 2012 . - 06 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 06 p. Mots-clés : Computer  numerical  control  (CNC)  Direct-drive  servo  axes  Limit-cycle Index. décimale : 629.8 Résumé : The high performance demands on commercial computer numerical control (CNC) machine tools have led to the widespread adoption of direct-drive servo axes. In industrial machines, where the workpiece is manipulated by the axis, the plant dynamics seen by the control system may vary widely between different workpieces. These changing plant dynamics have been observed to lead to limit-cycle behavior for a given controller. In such a situation, conventional modeling approximations used by practitioners may fail to predict the onset of instability for these axes. This work demonstrates the failure of conventional modeling approximations to predict the observed instability in an industrial CNC servo axis and investigates the model fidelity required to replicate the observations. This represents an important consideration when designing model-based controllers for direct-drive axes in CNC machines. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

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