摘要:

This paper illustrates a simple, hand-crafted approach which can be used to design tracking controllers for rigid-link electrically-driven (RLED) robot manipulators. The control methodology is intuitively simple since it is based on concepts readily identified by most control engineers. To illustrate the approach, we develop a corrective tracking controller for the RLED robot dynamics which yields global exponential stability for the link tracking error under the assumption of exact model knowledge. To compensate for the uncertainties in the rigid-link electrically-driven robot model, we then design a corrective robust tracking controller which yields global uniform ultimate bounded stability of the link tracking error. The proposed controller is robust with regard to parametric uncertainties and additive bounded disturbances while correcting for the typically ignored electrical actuator dynamics.

ISSN:0020-7179    

DOI:10.1080/00207179208934354

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

An observer-based controller is designed to stabilize a fully linearizable nonlinear system. The system is assumed to be left-invertible and minimum-phase. The controller is robust to uncertainties in modelling the nonlinearities of the system. The design of the controller and the stability analysis employs the techniques of singular perturbations. A new ‘Tikhonov-like’ theorem is presented and used to analyse the system when the control is globally bounded.

ISSN:0020-7179    

DOI:10.1080/00207179208934355

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

When designing a self–tuning controller for multivariable systems a proper representation of the model structure is important, particularly if the interactions between loops are significant. A popular transfer function structure used to describe multivariable processes is the P–canonical form structure where loop interactions are treated as feedforward couplings. However, polynomial–based controllers can also be applied to multivariable systems by designing several single-input single–output controllers, and compensation for cross–coupling between the different loops can be achieved by treating these interactions as feedforward measurable disturbances. This is the theme of this paper which considers the extension of the Generalized Predictive Control algorithm (GPC) to this technique. Following a derivation of the control strategy, called Generalized Predictive Control with Feedforward (GPCF), it is applied to a realistic nonlinear model for anaesthesia in a series of simulations. These results are compared with those obtained using the multivariable GPC version with a P–canonical form representation for the discrete multivariable model. The GPCF scheme is shown, in this case, to offer advantages over the multivariable GPC in terms of transient responses, interaction reduction, control quality, and computational burden.

ISSN:0020-7179    

DOI:10.1080/00207179208934356

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

This paper develops an approach to loop shaping in the framework of a mixed H2andHinfinoptimal control methodology. The approach is based upon loop shaping ideas of the well-known LQG / LTR technique. An algorithm and an example are given.

ISSN:0020-7179    

DOI:10.1080/00207179208934357

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

A new type of dominance measure based on triangular factorizations is developed and is named theL-dominancemeasure. This new measure is tighter than any existing dominance measures and in particular is tighter than those based on generalized dominance andM-matrix theory. TheL-dominance condition on matrices with non-positive off-diagonal elements is proved to be equivalent to theM-matrix condition. But in contrast to theM-matrix condition, the testing of theL-dominance condition is easier and can be carried out in sequential order. Furthermore, these special properties enable us to construct a synthesis based design procedure superior to those based on generalized dominance orM-matrix theory; the last two methods are generally regarded as post-mortem analytical tools only.

ISSN:0020-7179    

DOI:10.1080/00207179208934358

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

A direct adaptive control is presented in this paper for the control of a class of discrete-time nonlinear systems which include many useful models well known in the literature. The asymptotic stability and global convergence of the algorithm proposed in this paper have been established under mild regularity assumptions. A concept of the so-called stronger left coprime is first introduced in this paper. It is shown that the concept plays a crucial role in the problems of stabilizing a system and realizing the adaptive control algorithm.

ISSN:0020-7179    

DOI:10.1080/00207179208934359

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

We give a necessary and sufficient condition for local controlled invariance that applies to fully nonlinear control systems. This generalizes an earlier result of Nijmeijer and van der Schaft by eliminating some of the constant-rank assumptions for the distributions that occur in the statement of their result. Our work is related to the recent work of Cheng and Tarn, who showed that such constant-rank assumptions can be weakened when discussing the local controlled invariance of nonlinear systems that are affine in the control.

ISSN:0020-7179    

DOI:10.1080/00207179208934360

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

In a previous paper (Benchoubane and Stoten 1992) we noted that the minimal control synthesis (MCS) algorithm, when applied to the control of plant with rapidly varying disturbances, could lead to stable, but only bounded, error dynamics. The purpose of this paper is to show that, with some modification, MCS can elicit global asymptotically stable error dynamics, even in the presence of rapidly varying disturbances. We label the modified algorithm as the extended minimal control synthesis (EMCS) algorithm. Disturbances include plant parameter variations, external inputs and plant nonlinearities. In common with the general philosophy behind MCS, we assume that all nominal plant parameters and disturbance parameters are unknown. Two examples of EMCS implementations—one for a SISO plant and the other for a MIMO plant —are included in the paper to demonstrate the effectiveness, and practical aspects, of this new algorithm.

ISSN:0020-7179    

DOI:10.1080/00207179208934361

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

This paper presents an investigation of various control laws to study the characteristics of sliding mode speed control (SLMSC), and to overcome some disadvantages of SLMSC such as steady state speed chattering and error. It is demonstrated that, by the appropriate choice of a suitable control law, a robust, fast and accurate SLMSC performance, with reduced steady state chattering and error, can be achieved in a practical variable speed drive system. Digital simulation and experimental results based on a self-controlled synchronous motor (SCSM) are presented to substantiate the analysis.

ISSN:0020-7179    

DOI:10.1080/00207179208934362

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor

摘要:

In this paper, we present two novel algorithms to realize a finite dimensional, linear time-invariant state-space model from input-output data. The algorithms have a number of common features. They are classified as one of the subspace model identification schemes, in that a major part of the identification problem consists of calculating specially structured subspaces of spaces defined by the input-output data. This structure is then exploited in the calculation of a realization. Another common feature is their algorithmic organization: an RQ factorization followed by a singular value decomposition and the solution of an overdetermined set (or sets) of equations. The schemes assume that the underlying system has an output-error structure and that a measurable input sequence is available. The latter characteristic indicates that both schemes are versions of the MIMO Output-Error State Space model identification (MOESP) approach. The first algorithm is denoted in particular as the (elementary MOESP scheme). The subspace approximation step requires, in addition to input-output data, knowledge of a restricted set of Markov parameters. The second algorithm, referred to as the (ordinary MOESP scheme), solely relies on input-output data. A compact implementation is presented of both schemes. Although we restrict our presentation here to error-free input-output data, a framework is set up in an identification context. The identification aspects of the presented realization schemes are treated in the forthcoming Parts 2 and 3.

ISSN:0020-7179    

DOI:10.1080/00207179208934363

出版商:Taylor & Francis Group    

年代:1992

数据来源: Taylor