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Volume 145
Issue 4
IEE Proceedings - Control Theory and Applications
Volume 145, Issue 4, July 1998
Volumes & issues:
Volume 145, Issue 4
July 1998
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- Author(s): C.-C. Chen
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 377 –382
- DOI: 10.1049/ip-cta:19981984
- Type: Article
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p.
377
–382
(6)
A globally exponentially stabilising composite feedback control is proposed for a general class of nonlinear singularly perturbed systems. The chosen design manifold becomes an exact integral manifold and the trajectories of the closed-loop systems, starting from any initial states, are steered along the integral manifold to the origin for all sufficiently small singular perturbation parameters ɛ. Moreover, an upper bound ɛ* for the singular perturbation parameter ɛ, such that the main result still holds, is given. The composite Lyapunov function technique is adopted in this paper. - Author(s): C.-H. Wang and C.-C. Hsu
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 383 –392
- DOI: 10.1049/ip-cta:19981887
- Type: Article
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p.
383
–392
(10)
The paper proposes a new performance index, the energy resemblance index (ERI), to address the performance evaluation and design issues in the digital redesign of analogue control systems. The ERI is defined as the ratio of the integral of the square error (ISE) of the continuous-time system over the error sequence energy (ESE) of the redesigned digital system. By directly transforming the analogue controller into a digital controller as a function of sampling time, ESEs using different discretisation methods for the redesigned system can be obtained via a recursive formula. The authors prove that the ESE will approach the ISE as the sampling time approaches zero for discretisation methods which satisfy a simple condition. Performance of the redesigned digital control system using different discretisation methods at different sampling times can be evaluated based on this index. As for the design, the proper sampling time can be determined based on the user-specified ERI percentage, so that the redesigned digital system performs accordingly. It is found that performance of the redesigned digital system depends on the discretisation method used, the controlled process and the sampling time chosen. There is no particular discretisation method which outperforms the others in all cases. - Author(s): P.-R. Chang and T.-H. Tan
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 393 –401
- DOI: 10.1049/ip-cta:19982109
- Type: Article
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p.
393
–401
(9)
The paper presents a new fuzzy logic control (FLC) approach which leads to a stereophonic reproduction controller for localising an auditory image in the desired direction and at the expected distance. Since an auditory event is usually less precisely resolved than the physical sound space, the auditory event need not coincide with a physical sound source, and can occur at a position where nothing is visible to a listener. It turns out that controlling the auditory image is more difficult than the localisation of a sound image. Unlike the conventional sound image localisation approach, our fuzzy logic controller can take account of knowledge in human auditory perception. The ambiguous human auditory perception in conjunction with the spatial reverberation from the surrounding environment can be represented by a number of fuzzy-set values. From these fuzzy representations, the auditory image localisation controller characterises the function of how control outputs depend on control inputs as fuzzy implications or associations. Furthermore, the overall stereophonic reproduction controller can be realised by a 45-rule fuzzy associative memory (FAM) system. The performance of FLC-based auditory image localisation is verified in a number of experiments. - Author(s): S.-J. Huang and C.-Y. Shy
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 403 –408
- DOI: 10.1049/ip-cta:19982110
- Type: Article
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p.
403
–408
(6)
For low cost automation, a traditional manually operated milling machine with a lead-screw transmission system was retrofitted with an AC servo-motor. This old fashioned machining table has nonlinear time-varying behaviour caused by obvious backlash and irregular coulomb friction of the sliding surfaces. It is difficult to design an appropriate classical controller for this complicated dynamic system. Hence intelligent model-free self-organising fuzzy control and neural network control strategies equipped with learning ability are employed to control this machining table, to improve both the adaptability and the path tracking accuracy. These control approaches can be implemented without the trial and error process for selecting initial parameters and fuzzy rules. The experimental results show that these control strategies achieve satisfactory transient response and tracking accuracy under the influence of ~0.4 mm of backlash on each axis and large stick-slip friction. - Author(s): L.A. Aguirre and C.R.F. Jácome
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 409 –414
- DOI: 10.1049/ip-cta:19982112
- Type: Article
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p.
409
–414
(6)
The structure of NARMAX models is described. No new algorithm for structure selection is proposed, but rather the paper investigates how different model structures are produced by a large class of nonlinearities in the system which generates the data. The concept of term clusters is used to understand how different types of terms are required to model nonlinear systems. A term cluster generating mechanism is suggested, this can be used not only to understand how certain types of terms appear in NARMAX models but also, in the case of prior knowledge, such a mechanism can serve as an aid to select the structure of nonlinear models. The results are quite general and can be applied to polynomial, rational and extended-set NARMAX representations. - Author(s): T. Clarke and X.-D. Sun
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 415 –422
- DOI: 10.1049/ip-cta:19982111
- Type: Article
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p.
415
–422
(8)
The observer-Kalman filter/eigensystem realisation algorithm is applied to the problem of generating a minimal state-space model realisation from a nonlinear helicopter model. The paper presents an interim result using a 10th order linear model, discusses the implications of this and generates some general guidelines before applying the technique to a nonlinear model. The outcome is a linear realisation which gives a better representation of the nonlinear model than obtained using small perturbation linearisation methods. The technique is capable of extracting unstable plant models from closed-loop stabilised systems, even when the feedback dynamics are not known. - Author(s): H. Janocha and B. Liu
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 423 –426
- DOI: 10.1049/ip-cta:19982113
- Type: Article
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p.
423
–426
(4)
An approach to simulate the performance of an active noise control system is proposed. The simulated result is shown to be a good approximation to that of a real system. By means of this approach some examples which may not be easily realisable in practical implementations are studied. Results concerning causality and filtered-x-type algorithms are interesting. Simulations show that the investigated active noise control system needs a considerable causality margin to perform well. This is explained by the inverse modelling nature of the selected feedforward controller. An example of the delayed inverse modelling of a nonminimum-phase system is given in which the quality of the inverse modelling depends on the delays. - Author(s): G. Song and L. Cai
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 427 –433
- DOI: 10.1049/ip-cta:19982114
- Type: Article
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p.
427
–433
(7)
A new approach, employing sliding-mode based smooth robust compensators, has been developed for simultaneous position and force control of an uncertain robot manipulator performing constrained tasks in the presence of environmental stick-slip friction. Under the proposed approach, the robot manipulator can exert a preset amount of force on the environment while tracking along a desired trajectory with global asymptotic stability, as proved by Lyapunov's direct method. No exact knowledge of link parameters (including link masses, the centre of mass, and the moment of inertia of links) is required. Unlike other approaches, the one proposed here takes into consideration the environmental friction as well as its dependency on normal contact force, and compensates for the friction effect. Furthermore, the proposed controller produces smooth control action, and ensures the robot's smooth motion on the contact surface. A numerical example of a two-link robot performing a constrained task is presented as an illustration. - Author(s): R.H.C. Takahashi and P.L.D. Peres
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 4, p. 435 –441
- DOI: 10.1049/ip-cta:19982115
- Type: Article
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p.
435
–441
(7)
An ℋ∞-norm guaranteed cost design for sliding surfaces in variable structure controllers is presented. This procedure is suitable for approximate rejection of nonmatching disturbances. Both unstructured signal disturbances and structured convex-bounded model uncertainties are considered. A state-space convex optimisation approach, via linear matrix inequalities, is employed in the surface design.
Global exponential stabilisation for nonlinear singularly perturbed systems
Digital redesign and performance evaluation using the energy resemblance index (ERI)
Fuzzy neural systems for controlling sound localisation in stereophonic reproduction
Intelligent control for handling motion nonlinearity in a retrofitted machining table
Cluster analysis of NARMAX models for signal-dependent systems
Minimal state-space model realisation of a nonlinear helicopter
Simulation approach and causality evaluation for an active noise control system
Robust position/force control of robot manipulators during constrained tasks
ℋ∞ design of switching surfaces for sliding-mode control with nonmatching disturbances
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