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Volume 148
Issue 1
IEE Proceedings - Control Theory and Applications
Volume 148, Issue 1, January 2001
Volumes & issues:
Volume 148, Issue 1
January 2001
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- Author(s): A. Visioli
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 1 –8
- DOI: 10.1049/ip-cta:20010232
- Type: Article
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The paper presents a comparison between different methods, based on fuzzy logic, for the tuning of PID controllers. Specifically considered are different control structures in which a fuzzy mechanism is adopted to improve the performances given by Ziegler–Nichols parameters. To verify the full capabilities of each controller, genetic algorithms are used to tune the parameters of the fuzzy inference systems (scaling coefficients, shape of the membership functions, etc.). Furthermore, a discussion about the practical implementation issue of the controllers is provided, and comparisons made with a typical PID-like fuzzy controller and a standard and a nonlinear PID controller. The results show the superiority of the fuzzy set-point weighting methodology over the other methods. - Author(s): W.-H. Chen
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 9 –16
- DOI: 10.1049/ip-cta:20010198
- Type: Article
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The paper addresses the problem of the control of nonlinear systems with ill-defined relative degree. The analytic solution to an optimal tracking problem in terms of a generalised predictive performance index is presented, where the output tracking error is predicted by Taylor series approximation up to an arbitrarily chosen order. It is shown that the optimal control for nonlinear systems with ill-defined relative degree is discontinuous, and the optimal control law is not unique when the system is within the singular point set. Approximate implementation of the optimal predictive control law is discussed. The nonlinear predictive controller presented is successfully demonstrated by an numerical example. - Author(s): N.K. Poulsen ; B. Kouvaritakis ; M. Cannon
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 17 –24
- DOI: 10.1049/ip-cta:20010231
- Type: Article
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The focus of the paper is the development and application to experimental equipment of fast constrained predictive control algorithms based on feedback linearisation. Rather than use quadratic programming (QP) optimisation is performed, deploying a computationally much cheaper alternative based on interpolation and linear programming (LP). Despite its undemanding computational nature, this algorithm is found to perform well both in simulation, and when applied to an actual couple-tanks rig. The advantages of the algorithm are further illustrated by comparison with PID control. - Author(s): Y.-C. Chang
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 25 –34
- DOI: 10.1049/ip-cta:20010236
- Type: Article
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An adaptive neural network-based position feedback tracking control scheme for robotic systems involving plant uncertainties and external disturbances is proposed. The developed controller is based on a neural network system and a linear reduced-order observer. The resulting closed-loop system guarantees a transient and asymptotic performance, in the sense that the tracking error locally converges to a small region around zero in terms of L∞ bound and H∞ performance. The implementation of the neural network basis functions depends only on the desired reference information. Only position measurements are required for feedback, and the developed controller is driven by the position tracking error. Consequently, the adaptive neural network-based controller developed possesses the properties of computational simplicity and easy implementation. Finally, a simulation example is provided to illustrate the tracking performance of a two-link robotic manipulator. - Author(s): J. Wang ; D.J.D. Wang ; P.R. Moore ; J. Pu
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 35 –42
- DOI: 10.1049/ip-cta:20010238
- Type: Article
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A modelling study on pneumatic cylinder actuator systems is carried out based on the standard orifice theory. The pneumatic cylinder actuators are modelled as a cascade connection of two nonlinear subsystems affine in the control input. The model validation has been conducted by comparing open-loop system dynamical responses obtained through simulation and experiments. Finally, a class of robust servocontrol strategy is proposed, which guarantees the profile following precision. An example is included to demonstrate the servocontrol design procedure. - Author(s): A. Balestrino and G. Cannata
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 43 –48
- DOI: 10.1049/ip-cta:20010233
- Type: Article
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A technique for the recursive inversion of matrices and matrix functions is presented. The proposed method can be modelled as a discrete nonlinear dynamic system. Convergence, stability and robustness properties are discussed and eventually verified through various numerical experiments. - Author(s): T.-Y. Kuc ; S.-M. Baek ; K. Park
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 49 –54
- DOI: 10.1049/ip-cta:20010150
- Type: Article
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An adaptive learning controller is proposed for tracking of nonholonomic mobile robots. It consists of an exponential learning control scheme for velocity dynamics and a reference velocity control scheme for the kinematic steering system. In the adaptive learning controller, the velocity dynamics learning control tracks the reference velocity by learning the inverse function of robot dynamics, while the reference velocity controller stabilises the kinematic steering system to the desired reference model even without assuming an ideal velocity servo. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired trajectory uniformly and asymptotically. The proposed learning controller is applied to a wheeled mobile robot to demonstrate its feasibility and effectiveness. - Author(s): S.H. Jin and J.B. Park
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 55 –59
- DOI: 10.1049/ip-cta:20010237
- Type: Article
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A robust ℋ∞ filtering technique is proposed for convex polytopic uncertain systems. This class of uncertainty can describe the parametric uncertainty more precisely, without conservatism, than the norm-bounded uncertainty. By applying a bounded real lemma to the error dynamics and using the Schur complement with the appropriate change of variables, a nonlinear matrix inequality is obtained. It is then shown that the congruence transformation, with some newly defined variables, converts this nonlinear matrix inequality into the convex optimisation problem for the design of robust ℋ∞ filters, which is expressed by linear matrix inequality and can be solved very efficiently by so called interior point algorithms. The optimal tolerance level can be directly computed without the aid of the conventional bisection method, and the proposed algorithm does not require the additional search procedures needed for dealing with the norm-bounded uncertainty. Numerical examples are given to show that the proposed filter is more robust than the robust ℋ2 filter against the parameter variation, as well as the noise in the worst-case frequency range and to illustrate the advantage of describing the uncertainty as polytopic rather than norm bounded. - Author(s): F. Alonge ; F. D'Ippolito ; F.M. Raimondi ; A. Urso
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 61 –69
- DOI: 10.1049/ip-cta:20010147
- Type: Article
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The paper illustrates a new systematic method for designing PI-type fuzzy controllers for direct field-oriented controlled induction motor drives. First, linear and decoupled models expressing the dynamics of speed, rotor flux, direct and inquadrature stator currents are derived using a nonlinear static compensator and choosing convenient input variables. Then, to guide the dynamics of the above quantities, four conventional PI controllers are designed independently, choosing their bandwidths conveniently. Finally, the input and output scale factors of PI-type fuzzy controllers are derived from the conventional PI controller parameters. The whole drive controller also includes a rotor flux observer and limiters to satisfy constraints on stator currents and voltages. Experimental results are shown to validate the proposed method. - Author(s): Y.-S. Zhong
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 70 –80
- DOI: 10.1049/ip-cta:20010149
- Type: Article
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The paper deals with the problem of calculating exact extreme stability margins of interval systems consisting of interval plants and fixed controllers based on Bode envelopes. Algorithms are first presented to find the exact extreme phases of an interval real-rational function at a given frequency under the constraint that its module is equal to a given constant. These algorithms are computationally tractable since we need only to calculate phases for six or fewer cases. Then the results on the extreme phases of an interval real-rational function are applied to calculate the extreme case phase and gain margins of an interval system based on its Bode envelope, and to give a new method to find the Nyquist envelope of an interval system. - Author(s): P.F. Puleston ; S. Spurgeon ; G. Monsees
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 81 –87
- DOI: 10.1049/ip-cta:20010234
- Type: Article
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p.
81
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A controller-design procedure based on sliding-mode techniques is presented for speed control in an automotive engine. Only the engine-speed and manifold-pressure measurements are available to the control law. It is assumed that the load-torque disturbance on the engine is not known, while uncertainties in the system parameters are also taken into consideration. The engine acceleration is estimated through a high-gain observer. A comprehensive nonlinear simulation model is used to assess the performance of the closed-loop system. It is shown that the sliding-mode controller can achieve the full range of setpoint speeds. In addition, the closed-loop system is robust with respect to both initial speed and changes in the load torque. - Author(s): M. Hamerlain ; T. Youssef ; M. Belhocine
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 1, p. 88 –96
- DOI: 10.1049/ip-cta:20010148
- Type: Article
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p.
88
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When applying a classical sliding-mode control based on variable structure systems, a high-frequency chatter appears. This phenomenon, caused by discontinuous control, is usually undesirable for most practical applications. The paper proposes a robust control law for decreasing the chatter, based on a generalised sliding-mode control that switches on the derivative of control instead of the control input itself. This new robust control algorithm will be applied on a SCARA type manipulator arm with three degrees of freedom, in the case of trajectory tracking mode, to show the reduced chatter and its robustness against manipulated payload variation and external disturbance. Experimental results demonstrating the advantages and superiority of the generalised variable structure controller over the classical variable structure controller are presented.
Tuning of PID controllers with fuzzy logic
Analytic predictive controllers for nonlinear systems with ill-defined relative degree
Nonlinear constrained predictive control applied to a coupled-tanks apparatus
Neural network-based tracking control for robotic systems using only position feedback
Modelling study, analysis and robust servocontrol of pneumatic cylinder actuator systems
Inversion of matrices and matrix functions as a nonlinear discrete system: Stability and sensitivity analysis
Adaptive learning controller for autonomous mobile robots
Robust ℋ ℋ∞ filtering for polytopic uncertain systems via convex optimisation
Method for designing PI-type fuzzy controllers for induction motor drives
Extreme stability margins of interval systems
Automotive engine speed control: A robust nonlinear control framework
Switching on the derivative of control to reduce chatter
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