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Volume 152
Issue 5
IEE Proceedings - Control Theory and Applications
Volume 152, Issue 5, September 2005
Volumes & issues:
Volume 152, Issue 5
September 2005
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- Author(s): C.A. Rabbath ; N. Lechevin ; N. Hori
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 489 –498
- DOI: 10.1049/ip-cta:20045141
- Type: Article
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p.
489
–498
(10)
An optimal dual-rate digital redesign method is proposed that can be applied to continuous-time and fast-rate discrete-time control systems. The paper presents a technique, which relies on the solution of a dual-rate H2 discrete-time control problem, to convert such systems to either a slow-rate or a dual-rate sampled-data control system while guaranteeing closed-loop stability and performance in the discrete-time H2 sense. The proposed technique results in sampled-data control systems providing satisfactory closed-loop performances over an extended range of sampling rates, as compared with other widely used methods of digital redesign. Furthermore, the proposed digital redesign technique is useful in practice since it allows the designer to constrain the complexity of the digital controllers, thus resulting in low-order digital controllers easily implementable in software code and free of causality and real-time problems. Numerical examples provide a comparison of the proposed digital redesign technique with well-known approaches. - Author(s): H.-Q. Wang ; H.-S. Zhang ; G.-R. Duan
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 499 –506
- DOI: 10.1049/ip-cta:20045107
- Type: Article
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p.
499
–506
(8)
The problem of state estimation for discrete-time stochastic descriptor systems with delayed measurements is addressed. Using the method of measurements reorganisation, the recursive state estimation and corresponding filtering error covariance are derived. The calculation of the estimator includes two steps. One is for the steady estimator and the other is the ‘non-steady-state’ estimator. The former is obtained by the autoregressive moving average (ARMA) innovation model and projection formula. The latter is derived by utilising the singular value decomposition and standard Kalman filtering. The authors' concept is the measurements reorganisation which converts the time-delay system into a delay-free but with-different-measurement system, and leads to the computation saving of the estimator. A numerical example is presented to illustrate the given algorithm. - Author(s): Y.-J. Kim ; B.-S. Kim ; M.-T. Lim
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 507 –512
- DOI: 10.1049/ip-cta:20045146
- Type: Article
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p.
507
–512
(6)
This paper presents a new algorithm of the finite-time closed-loop composite control for a class of singularly perturbed nonlinear systems with respect to performance criteria, using the successive Galerkin approximation (SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale via singular perturbation theory, and then two optimal control laws are obtained to each subsystem using the SGA method. Composite control theory guarantees near-optimal closed-loop performance but the resulting problem is difficult to solve for nonlinear systems. To overcome the difficulties inherent in the optimal control problem, the suitable optimal feedback control law can be constructed in term of the approximated solution to a Hamilton-Jacobi-Bellman equation using SGA. The finite-time composite control law for singularly perturbed nonlinear systems is designed by a linear combination of the slow and fast variables. - Author(s): Y. Zhu ; D.Q. Li ; G. Feng
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 513 –519
- DOI: 10.1049/ip-cta:20055130
- Type: Article
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p.
513
–519
(7)
An H∞ controller synthesis method is presented for uncertain piecewise linear systems based on a piecewise smooth Lyapunov function. The basic idea of the proposed approach is to search for a piecewise controller and a piecewise continuous Lyapunov function simultaneously and constructively so that the global stability with H∞ performance of the resulting closed-loop control systems can be established. It is shown that the control law and Lyapunov function can be obtained by solving a set of bilinear matrix inequalities (BMI). Two examples are given to illustrate the application of the proposed method. - Author(s): J. Hao and G. Li
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 521 –530
- DOI: 10.1049/ip-cta:20045081
- Type: Article
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p.
521
–530
(10)
Two new efficient controller structures are derived based on a polynomial operator approach. The first one can be considered as an improved version of the recently proposed direct-form II transposed (DFIIt) structure in the ρ-operator, in which the first-order ρ-operators are replaced with a set of second-order operators, while the second one is the equivalent state-space realisation. A pole modulus sensitivity based stability measure is obtained and the corresponding expression of the stability robustness for each structure is derived. The optimal structure problem is solved by maximising the stability robustness under the parameter dynamical range constraints for fixed-point implementations. A design example is given, which shows that the newly developed structures can achieve much better stability performance than those structures in first-order ρ-operators and furthermore, outperform the fully parametrised optimal realisation in terms of both stability robustness and implementation efficiency. - Author(s): H. Gao ; J. Lam ; P. Shi ; C. Wang
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 531 –537
- DOI: 10.1049/ip-cta:20045050
- Type: Article
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p.
531
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(7)
In the paper, the problem of ℋ∞ filtering for a class of linear uncertain systems is studied. The parameter uncertainties are assumed to reside in a polytope. The paper is focused on the design of a parameter-dependent filter which guarantees the filtering error system to be asymptotically stable and has a prescribed ℋ∞ performance. By employing a parameter-dependent Lyapunov function approach, sufficient conditions are established for the existence of the desired filters in terms of linear matrix inequalities, which can be handled easily by using the available toolbox. Both continuous- and discrete-time cases are investigated. It is shown, via a numerical example, that the proposed filter design methods are more effective and less conservative than some existing results. - Author(s): D. Valério and J. Sá da Costa
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 539 –552
- DOI: 10.1049/ip-cta:20045063
- Type: Article
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p.
539
–552
(14)
Fractional order derivatives may be implemented in the time domain for control purposes in many ways. An exhaustive study of the performance of 28 different alternatives is presented and compared with discretised Crone controllers. Placement of zeros and poles, impulse and step responses and frequency responses are addressed. No formula is clearly better than all others in all situations, but it is expected that this survey will allow the choosing of the best possibility for each particular case. - Author(s): B.-S. Kim ; Y.-J. Kim ; M.-T. Lim
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 553 –559
- DOI: 10.1049/ip-cta:20050114
- Type: Article
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p.
553
–559
(7)
Robust H∞ state feedback control methods for continuous-time bilinear systems with an additive disturbance input are presented. The robust H∞ control for bilinear systems requires a solution of the state dependent algebraic Riccati equation (SDARE). However, the proposed robust H∞ control techniques based on the successive approximation method solve the SDARE by converting the bilinear system into the time varying linear system and solving a sequence of algebraic Riccati and Lyapunov equations, respectively. Numerical examples are considered to verify the efficiency of the proposed algorithms. - Author(s): J. Wang ; J. Wang ; H. Li
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 560 –566
- DOI: 10.1049/ip-cta:20045161
- Type: Article
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p.
560
–566
(7)
The robust asymptotic stabilisation of a class of nonlinear uncertain singularly perturbed systems by using nonlinear PI control techniques is presented. The original system is decomposed into two reduced-order systems, to which the nonlinear uncertain term belongs. In order to alleviate the deterioration of these nonlinear uncertainties, the nonlinear PI controllers are applied to each subsystem and the results are combined to construct the composite controller of the full-order system. An example is given to illustrate the design procedures and good performance of the proposed control scheme. - Author(s): M. de la Sen
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 567 –574
- DOI: 10.1049/ip-cta:20041245
- Type: Article
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p.
567
–574
(8)
The absolute stability, independent of the delays, of time-delay systems with non-commensurate internal point delays for any non-linearity satisfying a standard time positivity inequality is discussed. That property holds if an associate delay-free system is absolutely stable and the size of the delayed dynamics is sufficiently small. The results are obtained for non-linearities belonging to sectors [0, k] and [h, k+h], k≥0 and are based on a parabola test type. - Author(s): C.M. Anupoju ; C.-Y. Su ; M. Oya
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 575 –580
- DOI: 10.1049/ip-cta:20041303
- Type: Article
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p.
575
–580
(6)
The design of position tracking control of mechanical systems with classical nonholonomic constraints incorporating actuator dynamics is discussed. An adaptive controller is designed at the actuator level and the controller guarantees that the configuration state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method. - Author(s): P. Herman
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 581 –586
- DOI: 10.1049/ip-cta:20045040
- Type: Article
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p.
581
–586
(6)
A controller based on first-order decoupled equations of motion for application to rigid serial manipulators is presented. The equations result from a modification of equations expressed in generalised velocity components form. It is shown that using the proposed quasi-velocities i.e. normalised generalised velocity components (NGVCs) leads to differential equations that contain the identity mass matrix (instead of a diagonal matrix). Using the proposed controller and equations written in terms of NGVCs it is possible to obtain information on the system dynamics. The considered controller is stable in the Lyapunov sense. Experimental results obtained on a two-degree-of-freedom manipulator illustrate the effectiveness of the proposed technique. - Author(s): S.K. Sharma ; S.F. McLoone ; G.W. Irwin
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 587 –597
- DOI: 10.1049/ip-cta:20045110
- Type: Article
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p.
587
–597
(11)
Local Controller Networks (LCNs) provide nonlinear control by interpolating between a set of locally valid, subcontrollers covering the operating range of the plant. Constructing such networks typically requires knowledge of valid local models. This paper describes a new genetic learning approach to the construction of LCNs directly from the dynamic equations of the plant, or from modelling data. The advantage is that a priori knowledge about valid local models is not needed. In addition to allowing simultaneous optimisation of both the controller and validation function parameters, the approach aids transparency by ensuring that each local controller acts independently of the rest at its operating point. It thus is valuable for simultaneous design of the LCNs and identification of the operating regimes of an unknown plant. Application results from a highly nonlinear pH neutralisation process and its associated neural network representation are utilised to illustrate these issues. - Author(s): W.-S. Lin ; C.-L. Huang ; M.-K. Chuang
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 5, p. 598 –606
- DOI: 10.1049/ip-cta:20059062
- Type: Article
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p.
598
–606
(9)
The autonomous navigation wheeled robots (WR) requires integrated kinematic and dynamic control to perform trajectory tracking, path following and stabilisation. Considering a WR is a nonholonomic dynamic system with intrinsic nonlinearity, unmodelled disturbance and unstructured unmodelled dynamics, fuzzy logic system based control is appropriate and practical. However, the multivariable control structure of the WR results in the curse of dimensionality of the fuzzy design and prevents a domain expert from building the linguistic rules for autonomous navigation. Hierarchical fuzzy design decomposes the controller into three low-dimensionality fuzzy systems: fuzzy steering, fuzzy linear velocity control and fuzzy angular velocity control, so that manual construction of each rule base becomes feasible and easy. The proposed design enables a WR to perform position control in trajectory tracking and velocity profile tracking in continuous drive. The coupling effect between linear and angular motion dynamics is considered in the fuzzy steering by building appropriate linguistic rules. To facilitate the autonomous navigation design and verification, a prototype and the model of a kind of WR have been developed, and equipped with the hierarchical fuzzy control system. The simulation and experimental results are shown and compared.
Optimal dual-rate digital redesign with closed-loop order reduction
A fast estimation algorithm for stochastic descriptor systems with delayed measurements
Finite-time composite control for a class of singularly perturbed nonlinear systems via successive Galerkin approximation
H∞ controller synthesis of uncertain piecewise continuous-time linear systems
Polynomial operator based sparse controller structures with stability consideration
Parameter-dependent filter design with guaranteed ℋ∞ performance
Time-domain implementation of fractional order controllers
Robust H∞ state feedback control methods for bilinear systems
Nonlinear PI control of a class of nonlinear singularly perturbed systems
Absolute stability of feedback systems independent of internal point delays
Adaptive motion tracking control of uncertain nonholonomic mechanical systems including actuator dynamics
Normalised-generalised-velocity-component-based controller for a rigid serial manipulator
Genetic algorithms for local controller network construction
Hierarchical fuzzy control for autonomous navigation of wheeled robots
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