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Volume 143
Issue 1
IEE Proceedings - Control Theory and Applications
Volume 143, Issue 1, January 1996
Volumes & issues:
Volume 143, Issue 1
January 1996
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- Author(s): R. Taylor ; R.W. Pratt ; B.D. Caldwell
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 1 –8
- DOI: 10.1049/ip-cta:19960091
- Type: Article
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The in-flight interaction between an aircraft's flight control system (FCS), structural dynamics and unsteady aerodynamics has been of concern to aircraft designers for many years. Frequently, due to a limited understanding of the array of complex issues involved, a very conservative approach is essential to achieve a FCS which will obtain flight clearance. The paper examines the impact of the nonlinear nature of the servo-hydraulic actuation system on the aeroservoelastic interaction. A method of predicting the occurrence of a limit cycling condition in such a system is presented, with comparisons made to experimental results. In addition, the paper demonstrates how an application of actuator performance limits can be used to predict a maximum level of structural response. Finally, the possibility of reducing the current clearance requirements from a consideration of this maximum structural response is discussed. - Author(s): N.V. Shakhlevich ; Y.N. Sotskov ; F. Werner
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 9 –16
- DOI: 10.1049/ip-cta:19960089
- Type: Article
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This paper deals with an adaptive approach for scheduling problems. The main idea is to produce, for a class of similar problems, a special heuristic rule which is successful for problems of this class. It is realised by ‘tuning’ the parameters of the algorithm while ‘learning’ on the peculiarities of considering a class of problems. Once trained on the sample problems (in our experiments a well-known test problem with 10 jobs and 10 machines has been considered), the adaptive algorithm solves ‘close’ problems better than a branch and bound algorithm with a time limit (both in running time and in accuracy of the constructed schedule) and better than the 25 heuristics (in accuracy) used in the learning stage. However, the adaptive algorithm is unable to perform better than the branch and bound algorithm with a time limit for such scheduling problems, which are not sufficiently close to the sample problem. - Author(s): Y.M. Enab
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 17 –24
- DOI: 10.1049/ip-cta:19960119
- Type: Article
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The reason for the present upsurge of interest in intelligent control is that the present generation of control systems are incapable, to a greater or lesser extent, of dealing with problems of a certain complexity. Fortunately, the human operator (HO) is often expert in keeping the complex control systems on the right track. In this paper a method for controller design has been investigated based on a concept of developing a mathematical model for HO behaviour. The method treats HO behaviour as a dynamic process by itself, transformed from the unknown dynamics of the ship to be controlled. The method of controller design entails observing the human controller, constructing a model of the human controller, and using that model as a basis for an automatic control system. During the observation phase the HO controls the ship, and the data representing the state of the ship and human actions are registered. During the modelling phase, a human operator behaviour model (HOBM) is constructed as a neural network and its parameters are estimated. During the testing phase, the HOBM controls the ship and its performance is evaluated under the observation phase conditions and completely different conditions. The method has been successfully applied using computer simulation for the ship steering problem. - Author(s): C. MacLeod and R.M. Goodall
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 25 –30
- DOI: 10.1049/ip-cta:19960057
- Type: Article
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Methods for achieving target performance specifications for suspension controllers on low-speed Maglev vehicles using linear quadratic (LQ) control are examined. In particular, a technique involving frequency-domain weightings in the performance criterion integral to reach performance targets simultaneously for stochastic and deterministic inputs is investigated. It is shown that good performance is obtained with the added benefit of obviating the vexed problem of estimating criterion integral weightings in conventional LQG control design. - Author(s): J. Chen and R.J. Patton
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 31 –36
- DOI: 10.1049/ip-cta:19960059
- Type: Article
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The paper studies the optimal filtering and robust fault diagnosis problems for stochastic systems with unknown disturbances. An optimal observer is proposed, which can produce disturbance decoupled state estimation with minimum variance for time varying systems with both noise and unknown disturbances. The existence conditions and the observer design procedure are presented. The output estimation error with disturbance decoupling and minimum variance properties is used as a residual signal. A statistical testing procedure is applied to examine the residual and is used to diagnose faults. The method developed is applied to an illustrative example, and simulation results show that the optimal observer can give good state estimation; the fault detection approach taken is able to detect faults reliably in the presence of both modelling errors and noise. - Author(s): S.O. Reza Moheimani and I.R. Petersen
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 37 –43
- DOI: 10.1049/ip-cta:19960058
- Type: Article
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The paper is concerned with the design of robust state feedback controllers for a class of uncertain systems with norm bounded uncertainty, where uncertainty enters in both the state and input matrices. The controller is designed to place the closed loop poles of the uncertain system in a specified disk and guarantees an upper bound on a quadratic cost function. A procedure is given for the construction of a controller which minimises a bound on an integral quadratic performance index. - Author(s): P. Turner ; G. Montague ; J. Morris
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 44 –48
- DOI: 10.1049/ip-cta:19960061
- Type: Article
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The paper discusses several methods of modelling complex nonlinear dynamics using neural networks. Particular reference is made to the problem of modelling direction-dependent relationships. A typical example of this would be top product composition control in a distillation column, where it is easier (i.e. faster) to make the product less pure than it is to make it more pure by an equivalent amount. Recurrent neural networks are identified as a potential method of modelling this type of relationship. The particular architecture chosen for this example is referred to as ‘semirecurrent’, since only past values of the predictions of the network are fed back to the input layer. This architecture is successfully used to model direction-dependent relationships in both simulated and actual industrial process data. - Author(s): A. Desbiens ; A. Pomerleau ; D. Hodouin
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 49 –56
- DOI: 10.1049/ip-cta:19960062
- Type: Article
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A systematic tuning method of SISO controllers for two-by-two processes is proposed. The first step consists of selecting, for each loop, the desired tracking closed-loop dynamics. From this information, the open-loop characteristics are deduced, leading to the frequency responses (magnitude and phase) of the unknown SISO controllers. An optimisation method is used to get a good approximation of each corresponding transfer function. Constraints are implemented to ensure a stable closed-loop system. For processes having delays, a Smith predictor structure is proposed. This frequency based tuning method is tested on three different processes (minimum and nonminimum phase) and leads to performances corresponding closely to the closed-loop specifications. - Author(s): A. Millett and M. O'Malley
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 57 –63
- DOI: 10.1049/ip-cta:19960157
- Type: Article
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A method of determining the exact coefficient bound, when a polynomial is extended by a single degree, is given. However, this method is unsuitable when additional coefficients with robust bounds are sought. To overcome this, an alternative approach, relying on Kharitonov's theorem, is used as the basis of an algorithm for determining robust bounds on unknown coefficients in Hurwitz polynomials extended to higher degree. A description of the algorithm implementation and some encouraging results are provided. - Author(s): G.-W. Lee and F.-T. Cheng
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 64 –72
- DOI: 10.1049/ip-cta:19960064
- Type: Article
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A new robust control scheme called the computed torque plus H∞ compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H∞ control technique. In the H∞ control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H∞ compensation method indeed exhibits better tracking performance than computed torque alone. - Author(s): M. Sepúlveda ; M. Nussbaum ; P. Levys
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 73 –84
- DOI: 10.1049/ip-cta:19960088
- Type: Article
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The paper presents Visiplan, a knowledge-based modelling language that is applied to resource allocation and sequencing problems. Expert knowledge is encapsulated throughout the whole modelling and problem solving process. This enables the user's effort to be targetted at defining what he or she wishes to solve (i.e. the problem) but not how to solve it (i.e. not the implementation details behind the optimisation technique). Approximation methods that mix artificial intelligence and operation research techniques are successfully used for solving combinatorial problems. The key elements of this approach are combined in a tool appropriate for solving resource allocation and sequencing problems. - Author(s): A. Tornambè
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 85 –90
- DOI: 10.1049/ip-cta:19960206
- Type: Article
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The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the two bodies are in contact. A simulation test is included. - Author(s): N.R. Jennings ; J.A. Pople ; E.H. Mamdani
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 91 –102
- DOI: 10.1049/ip-cta:19960186
- Type: Article
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p.
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Distributed artificial intelligence (DAI) systems, in which multiple agents communicate and co-operate with one another to achieve their individual and collective goals, are a promising enabling technology for constructing large, real-world industrial control applications. To facilitate the development of such systems a number of generic DAI frameworks have been devised. These frameworks typically aid the development process by providing a language, a set of structures, and/or some tools with which the necessary infrastructure and support mechanisms for interacting agents can be instantiated. The paper reports on one such framework, called ARCHON™, which has been used to build DAI systems in the following industrial control domains: electricity distribution management, electricity transportation management, cement factory control, particle accelerator control and flexible assembly robotic cells. A distinguishing and novel feature of the ARCHON framework is that it extends the level of support offered to the system builder — it provides generic and reusable knowledge about the process of co-operation, in addition to the more standard development facilities. This generic knowledge is embedded in a domain-independent co-ordination module and it is the rationale, design, implementation and evaluation of this module which forms the major contribution of the paper. - Author(s): C.M. Kwan
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 103 –109
- DOI: 10.1049/ip-cta:19960090
- Type: Article
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A new robust adaptive control scheme is proposed for the simultaneous force/motion control of constrained rigid robots including motor dynamics. When slow motor dynamics are present, two problems arise. First, the performance of the controller will be degraded because of the interaction between robot and motor. Second, the uncertainties in the robot are no longer in the range space of control, which means that conventional methods cannot be easily applied. To confront these problems, a novel sliding mode technique is proposed which can achieve robustness to parameter variations in both manipulator and motor. Also the joint position errors can be driven to zero and the force errors can be reduced to arbitrarily small values. No joint acceleration measurement is needed. - Author(s): D.-Y. Xu
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, page: 110 –110
- DOI: 10.1049/ip-cta:19960063
- Type: Article
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- Author(s): A.S.C. Sinha
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 1, p. 111 –112
- DOI: 10.1049/ip-cta:19960129
- Type: Article
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p.
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Alternative approach to aeroservoelastic design and clearance
Adaptive scheduling algorithm based on mixed graph model
Intelligent controller design for the ship steering problem
Frequency-shaping LQ control of Maglev suspension systems for optimal performance with deterministic and stochastic inputs
Optimal filtering and robust fault diagnosis of stochastic systems with unknown disturbances
Quadratic guaranteed cost control with robust pole placement in a disk
Nonlinear and direction-dependent dynamic process modelling using neural networks
Frequency based tuning of SISO controllers for two-by-two processes
Application of Kharitonov's theorem to robustly increase the degree of Hurwitz polynomials
Robust control of manipulators using the computed torque plus H∞ compensation method
Visiplan: A knowledge-based modelling tool
Modelling and controlling one-degree-of-freedom impacts
Designing a reusable co-ordination module for co-operative industrial control applications
Robust adaptive force/motion control of constrained robots
Comment: Counter-example to a recent result on stabilisation of feedback control systems with infinite delays
Reply: Stabilisation of feedback control systems with infinite delays
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