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Volume 146
Issue 6
IEE Proceedings - Control Theory and Applications
Volume 146, Issue 6, November 1999
Volumes & issues:
Volume 146, Issue 6
November 1999
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- Author(s): Z. Doulgeri
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 493 –498
- DOI: 10.1049/ip-cta:19990710
- Type: Article
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p.
493
–498
(6)
The paper examines the relationship of an outer-loop robust control approach for robot manipulators with sliding-mode control. The approach is based on the general problem of stabilising a linear system with bounded uncertainties; it involves controls across switching surfaces which for the case of robots are proved to be decoupled and global asymptotically attractive. The design methodology highlights different design aspects from those highlighted in typical sliding-mode control schemes but the resulting controls are equivalent. Equivalence of this approach to the sliding-mode control is shown through simulation experiments for a planar two-degrees-of-freedom manipulator. - Author(s): H. -X. Li
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 499 –504
- DOI: 10.1049/ip-cta:19990437
- Type: Article
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p.
499
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(6)
The application of genetic algorithms to the identification of the Hammerstein model is studied. The method uses the piecewise linears and not a polynomial to approximate to the memoryless nonlinear characterisation. Numerical simulation results provided show the efficiency of the method. - Author(s): X. Lai ; J. -H. She ; Y. Ohyama ; Z. Cai
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 505 –510
- DOI: 10.1049/ip-cta:19990749
- Type: Article
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p.
505
–510
(6)
A fuzzy-control strategy for the control of an acrobot is described. The strategy combines model-free and model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. The control law for the torque is derived directly from the energy of the acrobot. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model for balancing, employs the concept of parallel distributed compensation. The stability of the fuzzy-control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities and is found by a convex optimisation technique. - Author(s): K. Y. Chang and W. J. Chang
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 511 –516
- DOI: 10.1049/ip-cta:19990722
- Type: Article
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p.
511
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(6)
Based on the concept of variable structure control, this paper investigates the design of the controller u(t) to achieve the error state upper bound covariance control with H∞ norm and variance constraints for a stochastic model reference system. By using the invariance property of variable structure control, the matched reference model input and the plant error term disappear on the sliding mode of the error system. With the aid of the Ito-formula, the controller u(t) is proposed. Combining the sliding phase and hitting phase of variable structure control design, the control feedback gain matrix G is derived to achieve the goals. - Author(s): S. Chen ; J. Wu ; R. H. Istepanian ; J. Chu ; J. F. Whidborne
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 517 –526
- DOI: 10.1049/ip-cta:19990745
- Type: Article
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p.
517
–526
(10)
A tractable closed-loop stability-related measure for controller structures, realised using the δ operator and digitally implemented with `finite word length' (FWL), is derived. The optimal realisations of the general finite-precision controller are defined as those that maximise this measure and are shown to be the solutions of a constrained nonlinear optimisation problem. For the special case of digital PID controllers, the constrained problem can be decoupled into two simpler unconstrained optimisation problems. A global optimisation strategy based on the adaptive simulated annealing (ASA) is adopted to provide an efficient method for solving this complex optimal realisation problem. Two numerical examples are presented to illustrate the design procedure, and the simulation results confirm that the optimal FWL realizations of the δ-operator based controller have better closed-loop stability margins than those of the usual shift-operator based controller, especially under fast sampling conditions. - Author(s): E. Ronco and P. J. Gawthrop
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 527 –534
- DOI: 10.1049/ip-cta:19990720
- Type: Article
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p.
527
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An `incremental polynomial model-controller network' (IPMCN) is introduced. Smooth control switching is obtained from the use of odd polynomial controllers. The decomposition of the operating space, together with the construction of the network, is achieved on-line while controlling the system. The performance and robustness of this scheme are illustrated through various simulations. - Author(s): K. R. Godfrey ; H. A. Barker ; A. J. Tucker
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 535 –548
- DOI: 10.1049/ip-cta:19990529
- Type: Article
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p.
535
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Perturbation signals for linear system identification in the frequency domain are considered. The fundamental requirement is for a low-amplitude signal with as much power as possible contained in specified harmonics. For the purposes of comparison, two new measures of signal quality are developed. The first relates the power contained in the specified harmonics to the amplitude of the signal. The second relates the least power of any specified harmonic to the average power of the specified harmonics. It is seen that perturbation signal design is a compromise between these two measures. Two classes of signal are examined, each containing several different signal types. In the first class are computer-optimised signals, with power spectra that meet a harmonic specification as closely as possible. In the second class are pseudo-random signals, with fixed power spectra. The qualities of the signals in meeting four harmonic specifications are compared, giving three overall conclusions. First, the new measures of signal quality provide an excellent basis for comparing perturbation signals. Secondly, signals with only odd harmonics present are to be preferred to signals with all harmonics present. Thirdly, it is very useful to have available the different types of computer-optimised perturbation signals, and that pseudo-random signals provide highly acceptable alternatives when the specification is for uniform power in specified harmonics. - Author(s): M. J. Grimble
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 549 –560
- DOI: 10.1049/ip-cta:19990712
- Type: Article
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p.
549
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Feedforward controllers are more sensitive to modelling errors than feedback designs and an H∞ solution of the feedforward problem, where robustness can be improved, is therefore desirable. A novel optimisation problem is required to provide the necessary independent tuning flexibility. The optimisation problem is based on an extended cost function which allows separate costing of the terms due to the feedback, reference and feedforward controllers. This enables the amount of feedforward action to be varied relative to the feedback action and the robustness of the feedback loop to be shaped independently of the tracking performance. The use of separate cost terms that enable the amount of feedforward control, relative to feedback action, to be tuned is essential in some applications. The solution of a new 3 1/2-degree-of-freedom H∞/H2 stochastic optimal control problem is discussed which may be either H2 or H∞ optimal. The system includes a 2 1/2-degree-of-freedom tracking controller and a feedforward control action. The feedback controller must be robust and is therefore normally designed to minimise an H∞ criterion. However, the solution obtained is sufficiently general that the feedback, tracking or feedforward control functions can be chosen to minimise either an H2 or an H∞ criterion. - Author(s): I. K. Konstantopoulos and P. J. Antsaklis
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 561 –565
- DOI: 10.1049/ip-cta:19990632
- Type: Article
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p.
561
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(5)
A systematic optimisation approach to robust eigenstructure assignment for control systems with output feedback is presented. The proposed scheme assigns the maximum allowable number of closed-loop eigenvalues to desired locations, and determines the corresponding closed-loop eigenvectors as close to desired ones as possible. Additionally, the stability of the remaining closed-loop eigenvalues is guaranteed by the satisfaction of an appropriate Lyapunov equation. The overall design is robust with respect to time-varying parameter perturbations. The approach is applied to a literature example, where it is shown to capture the shape of the desired transient response. - Author(s): V. A. Tsachouridis and G. A. Medrano-Cerda
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 567 –577
- DOI: 10.1049/ip-cta:19990588
- Type: Article
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p.
567
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(11)
A design of a robust computer control system for balancing and improving the steady-state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H∞ theory and is implemented via a robust reduced order dynamic observer. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Disturbance attenuation and relative stability characteristics are studied via frequency response analysis. Simulation and experimental results are reported. - Author(s): C. -C. Wong ; J. -Y. Chen ; J. -Y. Chen
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 578 –584
- DOI: 10.1049/ip-cta:19990606
- Type: Article
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p.
578
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(7)
A fuzzy controller design using linguistic control rule adjustment is proposed. The proposed adaptive law, which results from the direct adaptive approach, is used to indirectly regulate the output fuzzy variables in the fuzzy controller according to the prelabelled rules. The main advantage of the proposed method is that the determination of rule selection is formed by an analytical parameter equation with multiple input variables of the fuzzy controller. Practically, it is not easy to characterise the linguistic control rules and their membership function distribution without expert knowledge, especially in those cases when the input state variables of the fuzzy controller are increased. The rules are first labelled, then an adaptive law is used to tune the injected parameters in the IF-part to appropriately determine each output fuzzy variable under situations of lack of any knowledge of the plant. The derivation result shows that the proposed adaptive fuzzy controller is stable in the Lyapunov sense. Finally, a nonlinear system simulation example is applied to verify the effectiveness and the ability of the proposed fuzzy controller. - Author(s): A. C. Zolotas and G. D. Halikias
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 585 –589
- DOI: 10.1049/ip-cta:19990746
- Type: Article
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p.
585
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(5)
An optimisation algorithm is proposed for designing PID controllers, which minimises the asymptotic open-loop gain of a system, subject to appropriate robust-stability and performance QFT constraints. The algorithm is simple and can be used to automate the loop-shaping step of the QFT design procedure. The effectiveness of the method is illustrated with an example. - Author(s): P. -L. Liu and T. -J. Su
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 591 –597
- DOI: 10.1049/ip-cta:19990681
- Type: Article
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p.
591
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The problems of stability for single and large-scale uncertain systems including time-varying delays are considered. By applying comparison theorem and some analytical methods, new delay-dependent sufficient conditions with linear state feedback controllers are derived. The stability criteria are delay-dependent and less conservative than delay-independent stability criteria and delay-dependent stability criteria when delay is small. The proposed stability criteria are relatively simple to check numerically and the result can be generalised to handle systems with uncertainties and those by allowing for time-varying delays. - Author(s): X. Guan ; Z. Lin ; G. Duan ; G. Duan
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 598 –602
- DOI: 10.1049/ip-cta:19990714
- Type: Article
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p.
598
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The uncertain systems under considered depend on norm-bounded time-varying matrices of uncertain parameters. The authors develop a quadratic guaranteed cost control method for robust stabilisation via linear memoryless state feedback and static output feedback. Also presented is a robust state feedback controller and static output feedback controller. It is shown that the state feedback controller and output feedback controller can be constructed by solving a linear matrix inequality. - Author(s): W. -H. Chen ; D. J. Ballance ; P. J. Gawthrop ; J. J. Gribble ; J. O'Reilly
- Source: IEE Proceedings - Control Theory and Applications, Volume 146, Issue 6, p. 603 –611
- DOI: 10.1049/ip-cta:19990744
- Type: Article
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p.
603
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A new class of nonlinear PID controllers are derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system.
Sliding regime of a nonlinear robust controller for robot manipulators
Identification of Hammerstein models using genetic algorithms
Fuzzy control strategy for acrobots combining model-free and model-based control
Variable structure controller design with H∞ norm and variance constraints for stochastic model reference systems
Optimising stability bounds of finite-precision controller structures for sampled-data systems in the δ-operator domain
Incremental polynomial model-controller network: a self-organising nonlinear controller
Comparison of perturbation signals for linear system identification in the frequency domain
Polynomial solution of the 3 1/2-DOF H2/H∞ feedforward control problem
Optimisation approach to robust eigenstructure assignment
Discrete-time H∞ control of a triple inverted pendulum with single control input
Fuzzy control of nonlinear systems using rule adjustment
Optimal design of PID controllers using the QFT method
Stability for single and large-scale uncertain systems with time-varying delays
Robust guaranteed cost control for discrete-time uncertain systems with delay
Nonlinear PID Predictive Controller
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