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Volume 148
Issue 4
IEE Proceedings - Control Theory and Applications
Volume 148, Issue 4, July 2001
Volumes & issues:
Volume 148, Issue 4
July 2001
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- Author(s): Y.-W. Cho ; C.-W. Park ; J.-H. Kim ; M. Park
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 273 –282
- DOI: 10.1049/ip-cta:20010355
- Type: Article
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p.
273
–282
(10)
A parameter estimator is developed for a plant that can be represented by a dynamic fuzzy-state space model. The essential idea behind online estimation is the comparison of the measured state with that of an estimation model whose structure is the same as that of the parametised model. Based on the parameter estimation scheme, an indirect model reference adaptive fuzzy control scheme is proposed to provide asymptotic tracking of a reference signal for systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. - Author(s): O.M. Al-Jarrah and M. Al-Rousan
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 283 –290
- DOI: 10.1049/ip-cta:20010463
- Type: Article
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p.
283
–290
(8)
Fault detection and accommodation plays a very important role in critical applications. A new software redundancy approach based on an adaptive neurofuzzy system (ANFIS) is introduced. An ANFIS model is used to detect the fault while another model is used to accommodate it. An accurate plant model is assumed with arbitrary additive faults. The two models are trained online using a gradient-based approach. The accommodation mechanism is based on matching the output of the plant with the output of a reference model. Furthermore, the accommodation mechanism does not assume a special type of system or nonlinearity. Simulation studies prove the effectiveness of the new system even when a severe failure occurs. Robustness to noise and inaccuracies in the plant model are also demonstrated. - Author(s): J. Zhou and T. Hagiwara
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 291 –297
- DOI: 10.1049/ip-cta:20010468
- Type: Article
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p.
291
–297
(7)
The computations of the gains of the frequency response operators of finite-dimensional linear continuous-time periodic systems are discussed. A skew-rectangular truncation approach is proposed, which is convergent uniformly over the concerned frequency interval in the l2-induced norm sense. An upper bound formula for the frequency response gains is presented. - Author(s): C.Y. Xia
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 299 –305
- DOI: 10.1049/ip-cta:20010471
- Type: Article
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p.
299
–305
(7)
To solve the absolute stability problems of SIMO and MISO systems with several nonlinear time-varying elements, a new conception of isolated part transfer function is introduced. The necessary and sufficient conditions for all isolated part transfer functions to be positive real are obtained. A conjecture is proposed, and a corollary of the conjecture is proved. - Author(s): M.-G. Her ; K.-S. Hsu ; W.-S. Yu ; M. Karkoub
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 306 –314
- DOI: 10.1049/ip-cta:20010466
- Type: Article
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p.
306
–314
(9)
A control scheme is derived for a ‘master-slave’ telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a ‘master’ robot, operated by a human arm, and a kinematically identical ‘slave’ robot, located at a remote site. When the operator moves the handler of the ‘master’ back and forth, the remote ‘slave’ mimics the motion in a constrained or unconstrained environment. The disturbance and reaction forces from the environment and the loads are fed back to the handler of the ‘master’ and felt by the operator. Thus, the operator gets a feel of what is ‘out there’ without being ‘there’. The advantage of the presented control scheme is the integration of the dynamics of the operator arm, actuators, and the environment in the closed-loop control system for stability analysis. It is shown that the experimental and theoretical results are in good agreement, and that the designed controller is robust to constrained/unconstrained environment and load disturbances. - Author(s): Y.K. Foo and Y.C. Soh
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 315 –317
- DOI: 10.1049/ip-cta:20010554
- Type: Article
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p.
315
–317
(3)
The problem of robust stabilisation of interval plants with a first-order compensator is considered. A first-order compensator can robustly place the closed-loop poles of an interval plant in the shifted left-half plane or a shifted circular region if and only if it can simultaneously place the closed-loop poles of all the vertex plants in the same region. - Author(s): T.J.A.de Vries ; W.J.R. Velthuis ; L.J. Idema
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 318 –322
- DOI: 10.1049/ip-cta:20010556
- Type: Article
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p.
318
–322
(5)
For motion control, learning feedforward controllers (LFFCs) should be applied when accurate process modelling is difficult. When controlling such processes with LFFCs in the form of multidimensional B-spline networks, large network sizes and a poor generalising ability may result, known as the curse of dimensionality. Therefore, a parsimonious (reduced dimensionality) LFFC is required. Empirical modelling methods are not suited to obtain parsimonious networks for highly nonlinear processes because large data sets are needed. Alternatively, (qualitative) process knowledge can be used to construct parsimonious LFF controllers. In the research reported, a parsimonious LFFC has been applied to a linear motor motion system. Experiments showed fast learning, good network parsimony, and small tracking errors for a range of motions. - Author(s): H.-Y. Su ; F. Liu ; J. Chu
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 323 –328
- DOI: 10.1049/ip-cta:20010568
- Type: Article
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p.
323
–328
(6)
The delay-dependent memoryless robust stabilisation problem for a class of uncertain linear systems containing multiple time-delays and a saturating actuator is considered. The uncertain time-delay systems under consideration are described by state differential equations with time-varying unknown-but-bounded uncertain parameters and multiple time-delays in both state and control; the delays are assumed to be constant bounded but unknown. A new sufficient condition for the existence of a memoryless robust stabilising control law is derived based on the Lyapunov theorem and linear matrix inequality (LMI) approach. The results depend on the size of delays and are given in terms of several linear matrix inequalities. A numerical example is presented to illustrate the results obtained. - Author(s): T.J. Owens and S. Askarpour
- Source: IEE Proceedings - Control Theory and Applications, Volume 148, Issue 4, p. 329 –332
- DOI: 10.1049/ip-cta:20010489
- Type: Article
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p.
329
–332
(4)
A recently developed integrated approach to eigenstructure assignment by state feedback is used to provide a simple design algorithm for determining a relatively low gain derivative state feedback controller that assigns any permissible dynamical order to a linear descriptor system.
Indirect model reference adaptive fuzzy control of dynamic fuzzy-state space model
Fault detection and accommodation in dynamic systems using adaptive neurofuzzy systems
Computing frequency response gains of linear continuous-time periodic systems
Conjecture about the absolute stability problems of SIMO and MISO systems and a proof of its deduction
Analysis and design of haptic telerobotic system
Robust root clustering of interval plants with first-order compensators
Application of parsimonious learning feedforward control to mechatronic systems
Robust stabilisation of uncertain time-delay systems containing saturating actuators
Integrated approach to dynamical order assignment in linear descriptor systems
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