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Volume 138
Issue 5
IEE Proceedings D (Control Theory and Applications)
Volume 138, Issue 5, September 1991
Volumes & issues:
Volume 138, Issue 5
September 1991
Fully decentralised algorithm for multisensor Kalman filtering
- Author(s): B.S. Rao and H.F. Durrant-Whyte
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 413 –420
- DOI: 10.1049/ip-d.1991.0057
- Type: Article
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p.
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An algorithm that achieves complete decentralisation of the Kalman filter algorithm amongst the sensing nodes of a multisensor system is preserved. This algorithm does not require any form of central processing facility or centralised communications medium. Each sensing node implements its own local Kalman filter to arrive at a partial decision which it then broadcasts to every other node. Each node then assimilates this received information to arrive at its own local estimate of the system state. The algorithm guarantees that each local estimate thus obtained is identical to the estimate that would be obtained if a conventional, completely centralised, Kalman filter were used. Because there is no single central processing node the algorithm is highly resilient to loss of one or more sensing nodes. The fully decentralised nature ensures that it is ideal for implementation on a parallel processing array, such as a transputer network. The algorithm has been tested using a simulated multiperson pursuitevasion game to check the viability. The algorithm has also been implemented on a transputer based array of cameras to perform tracking of an object moving around a room.
Design and implementation of self-tuning active noise control systems
- Author(s): M.O. Tokhi and R.R. Leitch
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 421 –430
- DOI: 10.1049/ip-d.1991.0058
- Type: Article
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421
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A design method is presented for active noise control (ANC) systems, in a three-dimensional nondispersive (linear) propagation medium with compact broadband noise sources. The design and implementation of the controller as a digital filter with a fixed transfer function is presented and verified through a set of practical experiments. The concept of self-tuning control as a combination of system identification and control is developed within the ANC system framework. Moreover, as required by the application, a supervisory level of control based on a performance criterion is added that automatically activates self-tuning control. The algorithm is implemented on a high-speed digital signal processor and tested on the exhaust noise of a 100 cc motorcycle. The experimental results are presented and compared with those of a system employing a fixed digital filter controller.
Neural networks for nonlinear internal model control
- Author(s): K.J. Hunt and D. Sbarbaro
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 431 –438
- DOI: 10.1049/ip-d.1991.0059
- Type: Article
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431
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A novel technique, directly using artificial neural networks, is proposed for the adaptive control of nonlinear systems. The ability of neural networks to model arbitrary nonlinear functions and their inverses is exploited. The use of nonlinear function inverses raises questions of the existence of the inverse operators. These are investigated and results are given characterising the invertibility of a class of nonlinear dynamical systems. The control structure used is internal model control. It is used to directly incorporate networks modelling the plant and its inverse within the control strategy. The potential of the proposed method is demonstrated by an example.
Design of integral variable structure controller and application to electrohydraulic velocity servosystems
- Author(s): T.-L. Chern and Y.-C. Wu
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 439 –444
- DOI: 10.1049/ip-d.1991.0060
- Type: Article
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An integral variable structure controller (IVSC) for robust servotracking is proposed. It comprises an integral controller, which is designed for achieving zero steady-state error under step input, and a variable structure controller (VSC) which is designed for enhancing robustness. A procedure is developed for determining the coefficients of the switching plane and the integral control gain such that the overall closed-loop system has the desired eigenvalues. Furthermore, a modifed proper continuous function is introduced to overcome the chattering problem. An electrohydraulic velocity servocontrol system using the proposed IVSC approach is illustrated. Simulation results show that the proposed IVSC approach can achieve accurate servotracking and is fairly robust to plant parameter variations and external load disturbances.
Adaptive control of plants using all-zero model for dead-time identification
- Author(s): S. Roy ; O.P. Malik ; G.S. Hope
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 445 –452
- DOI: 10.1049/ip-d.1991.0061
- Type: Article
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445
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In the design of identification algorithms, the dead-time is usually modelled by some form of a polynomial function that adequately approximates the dead-time behaviour over relevant frequency bands.The application of all-zero models for approximation of plant dead-times is discussed. Gain-error criterion is established for a general model, whereas phase-error criterion is presented for first-order approximations. It is shown that if a plant transfer function has lowpass features, it is possible to determine a satisfactory all-zero model for the delay.The modelling technique is applied in a recursive least-squares based identification algorithm. This is used to obtain a delay-model predictor. Adaptive controllers, of the k-incremental predictive type, are set up using the identification results.
Decoupling of descriptor systems
- Author(s): N. Minamide ; P.N. Nikiforuk ; M.M. Gupta
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 453 –459
- DOI: 10.1049/ip-d.1991.0062
- Type: Article
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p.
453
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Using the descriptor standard form, the decoupling problem of the descriptor system by state feedback is studied. The descriptor system is first transformed in controller form and the necessary and sufficient conditions for the descriptor system to be integrator decoupled are obtained. Then, these conditions are shown to be necessary and sufficient for the closed-loop system poles to be assigned while decoupling. The characteristic polynomial of the closed-loop system is explicitly calculated and the conditions for the decoupled system to be internally stable are obtained.
Robust low order dynamic controller for flexible spacecraft
- Author(s): M. Seetharama Bhat ; A.G. Sreenatha ; S.K. Shrivastava
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 460 –468
- DOI: 10.1049/ip-d.1991.0063
- Type: Article
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460
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The design of an optimal low-order dynamic controller with α-shift (alpha-shift) for attitude control is attempted for a flexible satellite which is a solar electric propulsion spacecraft (SEPS). The satellite consists of a central rigid body to which two flexible solar panels are attached. The design of a third-order dynamic controller is accomplished using modified linear quadratic Gaussian theory. The improvement in the satellite attitude response with a small uniform α-shift is demonstrated by numerical simulation. A novel concept of block-shift is introduced to move different sets of closed-loop eigenvalues by different amounts. The advantages of this type of block-shift in the design of the controller are shown by simulation. The robustness of the controller with respect to parameter variations is shown to be ample.
Sliding mode control of remotely operated vehicles for horizontal plane motions
- Author(s): N. Olgac ; B.E. Platin ; J.-M. Chang
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 469 –473
- DOI: 10.1049/ip-d.1991.0064
- Type: Article
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p.
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The dynamic equations of remotely operated vehicle (ROV) motions in deep water exhibit a highly nonlinear nature. Some of these nonlinearities are simplified for the ease of modelling and only motion in the horizontal plane is considered. A variable structure system (VSS)/sliding mode control (SMC) application is pursued as the control strategy. A variety of parametric selections are made to form this VSS/SMC strategy. An insight is provided into making these choices using a sliding stability argument. A set of digital simulation results are also presented to demonstrate the system behaviour in terms of the parameters of the SMC selected.
Petri nets based approach to software development for real-time control
- Author(s): P. Cofrancesco ; A. Cristoforetti ; R. Scattolini
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 474 –478
- DOI: 10.1049/ip-d.1991.0065
- Type: Article
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474
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An approach to software development for real-time control is presented. The Petri nets formalism is used in the specification phase to describe the concurrency and synchronisation aspects of the software environment. Then the resulting Petri net model is implemented by means of a data driven architecture and can be based on any standard high-level language. The software development procedure described has been followed by a number of users for the rapid production, debugging, testing and prototyping of software modules.
Robust H∞ control for class of uncertain linear time-invariant systems
- Author(s): L. Xie and C.E. de Souza
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 479 –483
- DOI: 10.1049/ip-d.1991.0066
- Type: Article
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p.
479
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The problem of robust state feedback H∞ control design for a class of linear time-invariant systems with parameter uncertainty in the state space model is investigated. Uncertain systems with time-invariant norm-bounded parameter uncertainty in the state matrix are considered. A state feedback control design which robustly stabilises the plant and guarantees a robust H∞ performance for the closed-loop system in the face of parameter uncertainty is presented. It is shown that a suitable stabilising feedback law can be constructed in terms of a positive definite solution to a certain parameter-dependent algebraic Riccati equation.
Robust identification of stochastic linear systems with correlated noise
- Author(s): C.-B. Feng and W.-X. Zheng
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 484 –492
- DOI: 10.1049/ip-d.1991.0067
- Type: Article
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p.
484
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The normal least-squares (LS) approach is one of the most simple and powerful identification methods widely used. Unfortunately, direct implementation of the LS method can give rise to biased or nonconsistent estimates of system parameters in the presence of correlated disturbances. In this paper, an up-to-date LS based identification approach is introduced to obtain consistent parameter estimates for stochastic systems subject to correlated noise. A designed filter is inserted into the identified system so that the resulting system has some known zeros which can, based on asymptotic analysis, be used for eliminating the coloured-noise-induced bias in the LS estimators. It is shown that the proposed identification method can not only produce consistent estimates, but be a very feasible, robust identification technique in practical applications as well. The theoretical analysis is verified through the Monte-Carlo stochastic simulation studies.
Controller design of multivariable variable structure systems with nonlinear switching surfaces
- Author(s): D.S. Lee ; M.G. Kim ; H.K. Kim ; M.J. Youn
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 493 –499
- DOI: 10.1049/ip-d.1991.0068
- Type: Article
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p.
493
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A sliding mode control for linear multivariable systems in the presence of disturbances and parameter variations is considered. In the previous sliding mode control, the switching surfaces are linear functions and therefore the speed of response is relatively slow. To solve this problem, a new method, using nonlinear switching surfaces, is introduced so that the speed of response is improved, and the good transient response can be obtained. Simulation results are presented and they show the advantage of the proposed nonlinear switching surfaces.
Rule based identifier for unknown systems
- Author(s): H. Wang and A.H. Jones
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 500 –506
- DOI: 10.1049/ip-d.1991.0069
- Type: Article
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The paper deals with the problem of rule based identification for unknown systems. Several rules have been established which give a desirable estimate for the time delay, minimum structure order and unknown parameters, by using only one open-loop step response test. These rules actually adjust the poles and zeros of the proposed linear model to make its response as close as possible to that of the original open-loop system. It has also been shown that this method can be directly used to identify the unknown parameters of MIMO systems. Finally, this rule based identifier is applied to three real experimental systems: a jet engine speed control system (SISO), a temperature process control system (SISO) and a coupled electric drive control system, (MIMO). For all the systems, desirable identification results have been obtained.
Linear feedback approach to the stabilisation of uncertain discrete systems
- Author(s): E. Gyurkovics
- Source: IEE Proceedings D (Control Theory and Applications), Volume 138, Issue 5, p. 507 –508
- DOI: 10.1049/ip-d.1991.0070
- Type: Article
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