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Volume 149
Issue 3
IEE Proceedings - Control Theory and Applications
Volume 149, Issue 3, May 2002
Volumes & issues:
Volume 149, Issue 3
May 2002
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- Author(s): J. Lin and F.L. Lewis
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 177 –187
- DOI: 10.1049/ip-cta:20020338
- Type: Article
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p.
177
–187
(11)
The design and analysis of a large-scale control system should be based on the best available knowledge instead of the simplest available model when treating uncertainties in the system. Therefore, a large-scale system is better treated by knowledge-based methods such as fuzzy logic, neural networks, expert systems, etc. This paper concentrates on fuzzy logic using the singular perturbation approach for flexible-link robot arm control. To reduce the spillover effect, we will introduce a singular perturbation approach to derive the slow and fast subsystems. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied to the system. The fast-subsystem controller will damp out the vibration of the flexible structure by an optimal control method. Hence, the slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations. Various case studies are given to verify the control algorithm. It appears that the fuzzy control method is quite useful in terms of reliability and robustness. - Author(s): Y. Boers
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 188 –192
- DOI: 10.1049/ip-cta:20020234
- Type: Article
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p.
188
–192
(5)
In this paper robust control design on the basis of average performance design is considered. Necessary conditions for the optimality of an ℋ2 based average performance criterion are derived in terms of an integral equation and coupled Lyapunov equations. It is furthermore shown that the results obtained are generalisations/extensions of classical results. In an illustrative example we will compute and compare worst case types of controllers to average performance design-based controllers. - Author(s): W.-S. Lin and C.-S. Chen
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 193 –202
- DOI: 10.1049/ip-cta:20020236
- Type: Article
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p.
193
–202
(10)
A practical design that combines a fuzzy adaptation technique with sliding mode control to enhance robustness and sliding performance in a class of uncertain MIMO nonlinear systems is proposed. Using an online adaptation scheme, a fuzzy sliding mode controller is used to approximate the equivalent control in the neighbourhood of the sliding manifold. The hitting control is appended to ensure that the fuzzy sliding mode control can achieve a stable closed-loop system for the trajectory-tracking control of a plant with unknown nonlinear dynamics. The proposed design simultaneously guarantees the stability of the adaptation of the fuzzy rules and obtains suitable equivalent control when the nominal mathematical model is unknown in advance. It also provides the designers with flexibility to design and implement the fuzzy rule base without domain experts and without a mathematical model. The robust adaptive scheme is applied to a two-link robotic manipulator and shown to be able to guarantee that the output tracking error will ultimately converge to a residual set. - Author(s): W. Feng ; J. O'Reilly ; D.J. Ballance
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 203 –208
- DOI: 10.1049/ip-cta:20020339
- Type: Article
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p.
203
–208
(6)
A class of nonlinear generalised predictive controllers (NGPC) is derived for multi-input multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall nonlinear closed-loop system stability. Moreover, the transient error response of the disturbance observer can be arbitrarily specified by simple design parameters. Very satisfactory performance of the proposed MIMO nonlinear predictive controller is demonstrated for a three-link nonlinear robotic manipulator example. - Author(s): M.A. Karkoub and M. Zribi
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 209 –216
- DOI: 10.1049/ip-cta:20020402
- Type: Article
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p.
209
–216
(8)
A nonlinear dynamic model for a crane lifter system is derived using the Lagrangian method. The developed dynamic model has two inputs and four outputs. Several properties of the model such as passivity are presented. An energy based nonlinear control scheme is then proposed for the system. The developed scheme guarantees the asymptotic convergence of the trolley position and the hoist position to their desired values. However, the hoist and the load sway angles will either converge to zero or towards a stable trajectory. To ensure that the hoist and the load sway angles always converge to zero, a linear state feedback controller is used in conjunction with the nonlinear control scheme. The derived model and the control scheme are simulated using a digital computer; the simulation results illustrate the theoretical developments very well. - Author(s): G.G. Yen and S.-B. Lee
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 217 –225
- DOI: 10.1049/ip-cta:20020295
- Type: Article
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p.
217
–225
(9)
Constant-affine state space models arise naturally from the linearisation of nonlinear state space models at either on or off equilibriums. Therefore this model structure has a clear interpretation from the dynamical systems point of view and is closely related to model-based technologies such as model-based control. In this paper, the authors investigate some properties of this model structure and propose two system identification algorithms for the deterministic constant-affine state space model with known initial conditions. The first algorithm is based on a subspace identification algorithm, while the second is built on nonlinear least squares. - Author(s): L. Guo
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 226 –236
- DOI: 10.1049/ip-cta:20020336
- Type: Article
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p.
226
–236
(11)
Robust H∞ output feedback control is considered for linear systems with time-varying multi-delays and with nonlinear and parametric uncertainties in the state, input and measurement output, appearing in all system matrices. Firstly, some new sufficient conditions in the form of the GBRL (generalised bounded real lemma) are derived, which are more convenient to deal with controller design problems for uncertain delay systems in the LMI framework. A new solvability condition is presented to design an H∞ output feedback controller for systems without uncertainties, but with multiple time-delays in the state, the input and the output, which also generalises some previous results for control problems of delay systems. Then the results are extended to time-delay systems with nonlinear uncertainties and are finally generalised to delay systems with both nonlinear and parametric uncertainties in linear fractional form involving all system matrices. The robust H∞ output feedback controllers can be constructed based on the LMI approach and correspondingly the solvability of these robust control problems for uncertain delay systems can be reduced to that for an auxiliary system without any uncertainty. Numerical examples are provided to demonstrate the methods. - Author(s): G. Guo ; R. Chen ; T.S. Low ; Y. Wang
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 237 –242
- DOI: 10.1049/ip-cta:20020233
- Type: Article
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p.
237
–242
(6)
The authors present an optimal robust controller design for hard disk drive (HDD) actuator servosystems using direct parameter optimisation taking into account stability restrictions. First, the HDD actuator model is augmented with a state observer. A bound of the stable feedback gain is then calculated by solving a Riccati equation considering the plant parameter uncertainties. To improve the system transient and steady-state performance, the control parameters are selected inside the feedback gain bound using the random neighbourhood search method. Both simulation and implementation results show that an improved digital controller can be obtained for the uncertain HDD plant. - Author(s): W.H. Chen
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 243 –246
- DOI: 10.1049/ip-cta:20020237
- Type: Article
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p.
243
–246
(4)
Stability of model predictive control can be achieved by adding a terminal weighting term in a performance index and the feasibility/stability region largely depends on the choice of the terminal weighting term and associated terminal control laws. For constrained linear systems, a new method to estimate feasibility/stability regions directly, which is different from existing methods where the stability region is estimated by its terminal region, is proposed using a new representation of the behaviour of the MPC (model predictive control). A design procedure is then developed to determine the terminal term such that the feasibility/stability region of MPC algorithms is as large as possible. Examples show that the stability region is greatly enlarged. - Author(s): G. Li ; J. Wu ; S. Chen ; K.Y. Zhao
- Source: IEE Proceedings - Control Theory and Applications, Volume 149, Issue 3, p. 247 –255
- DOI: 10.1049/ip-cta:20020397
- Type: Article
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p.
247
–255
(9)
The effect of roundoff noise in a digital controller is analysed for a sampled-data system in which the digital controller is implemented in a state-space realisation. A new measure, called averaged roundoff noise gain, is derived. Unlike the traditionally used measure, where the analysis is performed based on an equivalent digital control system, this newly defined averaged roundoff noise gain allows one to take consideration of the inter-sample behaviour. It is shown that this measure is a function of the state-space realisation. Noting the fact that the state-space realisations of a digital controller are not unique, the problem of optimum controller structure is to identify those realisations that minimise the averaged roundoff noise gain subject to the l2-scaling constraint which is for preventing the signals in the controller from overflow. An analytical solution to the problem is presented and a design example is given. Both theoretical analysis and simulation results show that the optimum controller realisations obtained with the proposed approach are superior to those obtained with the traditional analysis based on a digital control system.
Fuzzy controller for flexible-link robot arm by reduced-order techniques
Average performance control by static output feedback
Robust adaptive sliding mode control using fuzzy modelling for a class of uncertain MIMO nonlinear systems
MIMO nonlinear PID predictive controller
Modelling and energy based nonlinear control of crane lifters
Identification of a deterministic constant-affine state space model with known initial conditions
H∞ output feedback control for delay systems with nonlinear and parametric uncertainties
Optimal control design for hard disk drive servosystems
Maximisation of feasibility/stability regions of model predictive control for constrained linear systems
Optimum structures of digital controllers in sampled-data systems: a roundoff noise analysis
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