Documents disponibles écrits par cet auteur

Compensating random time delays in a feedback networked control system with a Kalman filter / Probst, Alexander C. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 06 p. Titre : Compensating random time delays in a feedback networked control system with a Kalman filter Type de document : texte imprimé Auteurs : Probst, Alexander C., Auteur ; Magaña, Mario E., Auteur ; Sawodny, Oliver, Auteur Année de publication : 2011 Article en page(s) : 06 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Padé  approximation  Random  time  delay  Time  stamps  Kalman  filter  Networked  feedback  control  system  Maximum  like-lihood  allocation Index. décimale : 629.8 Résumé : This paper presents procedures to handle time delays in a feedback control loop in which both measurement and control signals are sent through a network, where random time delays occur. Even when time stamps are utilized, for example, the control signal time delay still must be estimated. Using a Padé approximation and a Kalman filter, we can estimate the mean time delay. Furthermore, methods are described to estimate the time delay of every packet instead of the mean for the measurement channel, which greatly enhances the performance of the Padé approximation approach. This is done by matching the measurements to the expected measurements provided by the filter with maximum likelihood. The methods are applied to an inverted pendulum to assess performance. DEWEY : 629.8 ISSN : 002-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...] [article] Compensating random time delays in a feedback networked control system with a Kalman filter [texte imprimé] / Probst, Alexander C., Auteur ; Magaña, Mario E., Auteur ; Sawodny, Oliver, Auteur . - 2011 . - 06 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 06 p. Mots-clés : Padé  approximation  Random  time  delay  Time  stamps  Kalman  filter  Networked  feedback  control  system  Maximum  like-lihood  allocation Index. décimale : 629.8 Résumé : This paper presents procedures to handle time delays in a feedback control loop in which both measurement and control signals are sent through a network, where random time delays occur. Even when time stamps are utilized, for example, the control signal time delay still must be estimated. Using a Padé approximation and a Kalman filter, we can estimate the mean time delay. Furthermore, methods are described to estimate the time delay of every packet instead of the mean for the measurement channel, which greatly enhances the performance of the Padé approximation approach. This is done by matching the measurements to the expected measurements provided by the filter with maximum likelihood. The methods are applied to an inverted pendulum to assess performance. DEWEY : 629.8 ISSN : 002-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...]

Optimal system design of SISO-servopneumatic positioning drives / Alexander Hildebrandt in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 35-44 Titre : Optimal system design of SISO-servopneumatic positioning drives Type de document : texte imprimé Auteurs : Alexander Hildebrandt, Auteur ; Rudiger Neumann, Auteur ; Sawodny, Oliver, Auteur Année de publication : 2011 Article en page(s) : pp. 35-44 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Component  sizing  Exact  input/output  linearization  Internal  dynamics  Nonlinear  system  Pneumatic  drive  Zerodynamics Index. décimale : 629.1 Résumé : Servopneumatic actuators are very attractive for automated handling tasks or robot operations. They have many advantages such as high speed, high robustness in rough manufacturing environment or high power-to-weight ratio. The considered actuator system is a standard configuration in pneumatics consisting of a double acting pneumatic cylinder controlled by a proportional directional control valve. For the set-up a detailed mathematical model is derived. In order to guarantee an accurate tracking behaviour, a model-based nonlinear controller is presented. Model based approaches for the control design have several advantages. Tuning of the controller can be reached in a systematic way even in the case of a large variety of different configurations. But not only the control design itself can be treated. The model offers the possibility to optimize the size of components for demanded automation tasks. In most cases, this is solved based on steady state assumptions. In this contribution, a method for a design procedure for the pneumatic actuator system based on the dynamic equation is presented. With the representation of the system, an optimization procedure for the components is introduced. The optimization criteria consist of the minimization of the air consumption and investment costs. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4815391 [article] Optimal system design of SISO-servopneumatic positioning drives [texte imprimé] / Alexander Hildebrandt, Auteur ; Rudiger Neumann, Auteur ; Sawodny, Oliver, Auteur . - 2011 . - pp. 35-44. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 35-44 Mots-clés : Component  sizing  Exact  input/output  linearization  Internal  dynamics  Nonlinear  system  Pneumatic  drive  Zerodynamics Index. décimale : 629.1 Résumé : Servopneumatic actuators are very attractive for automated handling tasks or robot operations. They have many advantages such as high speed, high robustness in rough manufacturing environment or high power-to-weight ratio. The considered actuator system is a standard configuration in pneumatics consisting of a double acting pneumatic cylinder controlled by a proportional directional control valve. For the set-up a detailed mathematical model is derived. In order to guarantee an accurate tracking behaviour, a model-based nonlinear controller is presented. Model based approaches for the control design have several advantages. Tuning of the controller can be reached in a systematic way even in the case of a large variety of different configurations. But not only the control design itself can be treated. The model offers the possibility to optimize the size of components for demanded automation tasks. In most cases, this is solved based on steady state assumptions. In this contribution, a method for a design procedure for the pneumatic actuator system based on the dynamic equation is presented. With the representation of the system, an optimization procedure for the components is introduced. The optimization criteria consist of the minimization of the air consumption and investment costs. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4815391