bluuebunny/crossref_metadata_2025_split huggingface dataset:
BACKLASH COMPENSATION WITH FILTERED PREDICTION IN DISCRETE TIME NONLINEAR SYSTEMS BY DYNAMIC INVERSION USING NEURAL NETWORKS
Authors: Campos J. , Lewis F. L. , Selmic R. 
Published: September 2010

ABSTRACTA dynamics inversion compensation scheme is designed for control of nonlinear discrete‐time systems with input backlash. This paper extends the dynamic inversion technique to discrete‐time systems by using a filtered prediction, and shows how to use a neural network (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamics preinverse of an invertible discrete time dynamical system. A discrete‐time tuning algorithm is given for the NN weights so that the backlash compensation scheme guarantees bounded tracking and backlash errors, and also bounded parameter estimates. A rigorous proof of stability and performance is given and a simulation example verifies performance. Unlike standard discrete‐time adaptive control techniques, no certainty equivalence (CE) or linear‐in‐the‐parameters (LIP) assumptions are needed.
SLIDING‐MODE LINEARIZATION TORQUE CONTROL OF AN INDUCTION MOTOR
Authors: Lin Shir‐Kuan , Fang Chih‐Hsing 
Published: September 2010

ABSTRACTThis paper proposes a sliding‐mode linearization torque control (SMLTC) for an induction motor (IM). An ideal feedback linearization torque control method is firstly adopted in order to decouple the torque and flux amplitude of the IM. However, the system parameters are uncertainties, which will influence the control performance of the IM in practical applications. Hence, to increase the robustness of the IM drive for high‐ performance applications, this SMLTC aims to improve the immunity of those uncertainties. We modify the flux observer of Benchaib and Edwards [15] by means of the adaptive sliding‐mode method. This not only eliminates the estimation of the uncertainty bounds, but also improves the performance of sliding control. In addition, a practical application of the proposed SMLTC, with a model reference adaptive control (MRAC) scheme incorporated as the inner and outer loop controller used for position control, is also presented. Some experiments are presented to verify the control theory and demonstrate the robustness and effectiveness of the proposed SMLTC.
ON THE STABILITY OF OUTPUT FEEDBACK PREDICTIVE CONTROL FOR SYSTEMS WITH INPUT NONLINEARITY
Authors: Ding Bao‐Cang , Xi Yu‐Geng , Li Shao‐Yuan 
Published: September 2010

ABSTRACTFor input saturated Hammerstein systems, a two‐step output feedback predictive control (TSOFPC) scheme is adopted. A receding horizon state observer is chosen, the gain matrix of which has a form similar to the linear control law. Through application of Lyapunov's stability theory, the closed‐loop stability for this kind of system is analyzed. The intermediate variable may or may not be available in real applications, and these two cases are considered separately in this paper. Furthermore, the domain of attraction for this kind of system is discussed, and we prove that it can be tuned to be arbitrarily large if the system matrix is semi‐stable. The stability results are validated by means of an example simulation.
RECURSIVE IDENTIFICATION OF PHYSICAL PARAMETERS IN A FLEXIBLE ROBOT ARM
Authors: Östring Måns , Gunnarsson Svante 
Published: September 2010

ABSTRACTRecursive identification of a physically parameterized model of a single link flexible robot arm is considered. The parameters are estimated using a recursive prediction error method applied to a linear continuous time model structure and discrete time data. The algorithm is applied to real data from an industrial robot, and three important parameters are identified using only measurements of the motor angle. The experiments show that the particular parameter that is estimated will have big influence on the algorithm behavior.
DECOUPLING WITH STABILITY: APPLICATION TO THE REAL TIME CONTROL OF A WATER STORING PLANT
Authors: Ruiz‐Leon J. , Sapiens A.J. , Čelikovsky S. , Torres J.A. 
Published: September 2010

ABSTRACTIn this paper, results on decoupling with stability are applied to the real‐time control of a water storing plant. The conditions of decoupling with stability are verified on the approximate linear model of the system, and a decoupling state feedback providing pole assignment is designed. The state feedback controller achieves input‐output decoupling with stability, allowing controlling the levels of the water in the tanks independently. Simulation and experimental results are also presented showing a good performance of the designed controller.
DISTURBANCE REJECTION USING AN ILC ALGORITHM WITH ITERATION VARYING FILTERS
Authors: Norrlöf M. 
Published: September 2010

ABSTRACTAn Iterative Learning Control disturbance rejection approach is considered and it is shown that iteration variant learning filters can asymptotically give the controlled variable zero error and zero variance. Convergence is achieved with the assumption that the relative model error is less than one. The transient response of the suggested ILC algorithm is also discussed using a simulation example.
ESTIMATION OF AMPLITUDE OF OSCILLATIONS IN SLIDING MODE SYSTEMS CAUSED BY TIME DELAY
Authors: Acosta P. , Polyakov A. , Fridman L. , Strygin V. 
Published: September 2010

ABSTRACTTime delay does not allow realizing ideal sliding mode but implies oscillations in the state variable space. An estimation technique is developed for an upper bound of oscillation amplitude induced by bounded uncertain time delay presence.
DESIGN OF REDUCED‐ORDER FUNCTIONAL OBSERVERS FOR LINEAR SYSTEMS WITH UNKNOWN INPUTS
Authors: Trinh H. , Fernando T. , Nahavandi S. 
Published: September 2010

ABSTRACTThis brief paper presents new conditions for the existence and design of reduced‐order linear functional state observers for linear systems with unknown inputs. Systematic procedures for the synthesis of reduced‐order functional observers are given. Numerical examples are given to illustrate the attractiveness and simplicity of the new design procedures.
MINIMIZING SERVICE DELAY OF APERIODIC TASKS IN DYNAMIC‐PRIORITY NON‐PREEMPTIVE HARD REAL‐TIME SYSTEMS
Authors: Oh Hoon , Park Hong Seong 
Published: September 2010

ABSTRACTA scheduling technique is presented to minimize service delay of aperiodic tasks in hard real‐time systems that employ dynamic‐priority scheduling and do not allow task preemption. In a real‐time scheduling process, the execution of periodic tasks can be deferred as long as this does not cause other tasks to violate their time constraints. However, aperiodic tasks that usually have urgent missions should complete execution as early as possible. In this paper, it is assumed that aperiodic tasks also have time constraints. Thus, the problem of deciding whether an aperiodic task with an unpredictable arrival time can be scheduled successfully or not is difficult to solve because delaying periodic tasks may cause them to fail to meet their time constraints. We present a dynamic scheduling technique to solve this problem which makes use of the symmetric property of a schedule. The maximum possible idle slot is always reserved at every scheduling point so that aperiodic tasks can be serviced immediately if the reserved idle slot is big enough to service them. The proposed technique also maximizes utilization of idle slots by reserving them for the longest possible time span.
OPTIMAL REJECTION WITH ZERO STEADY‐STATE ERROR OF SINUSOIDAL DISTURBANCES FOR TIME‐DELAY SYSTEMS
Authors: Tang Gong‐You , Zhang Shu‐Mei 
Published: September 2010

ABSTRACTThis paper studies the problem of optimal rejection with zero steady‐state error of sinusoidal disturbances for linear systems with time‐delay. Based on the internal model principle, a disturbance compensator is constructed to counterbalance the external sinusoidal disturbances, so that the original system can be transformed into an augmented system without disturbances. Then, with the introduction of a sensitivity parameter and expanding power series around it, the optimal disturbance rejection problem can be simplified to the problem of solving an infinite sum of a linear optimal control series without time‐delay or disturbance. The optimal control law for disturbance rejection with zero steady‐state error consists of accurate linear state feedback terms and a time‐delay compensating term, which is an infinite sum of an adjoint vector series. In the presented approach, iteration is required only for the time‐delay compensation series. By intercepting a finite sum of the compensation series, we obtain an approximate physically realizable optimal control law that avoids complex calculation. A numerical simulation shows that the algorithm is effective and easy to implement.
2‐D ALGEBRAIC TEST FOR ROBUST STABILITY OF QUASIPOLYNOMIALS WITH INTERVAL PARAMETERS
Authors: Xiao Yang 
Published: September 2010

ABSTRACTDetermining the robust stability of interval quasipolynomials leads to a NP problem: an enormous number of testing edge polynomials. This paper develops an efficient approach to reducing the number of testing edge polynomials. This paper solves the stability test problem of interval quasipolynomials by transforming interval quasipolynomials into two‐dimensional (2‐D) interval polynomials. It is shown that the robust stability of an interval 2‐D polynomial can ensure the stability of the quasipolynomial, and the algebraic test algorithm for 2‐D s‐z interval polynomials is provided. The stability of 2‐D s‐z vertex polynomials and 2‐D s‐z edge polynomials were tested by using a Schur Table of complex polynomials.
STABILIZATION AND H∞ CONTROL FOR UNCERTAIN STOCHASTIC TIME‐DELAY SYSTEMS VIA NON‐FRAGILE CONTROLLERS
Authors: Xu Shengyuan , Lam James , Yang Guang‐Hong , Wang Jianliang 
Published: September 2010

ABSTRACTThis paper considers the problems of robust non‐fragile stochastic stabilization and H∞ control for uncertain time‐delay stochastic systems with time‐varying norm‐bounded parameter uncertainties in both the state and input matrices. Attention is focused on the design of memoryless state feedback controllers which are subject to norm‐bounded uncertainties. For both the cases of additive and multiplicative controller uncertainties, delay‐independent sufficient conditions for the solvability of the above problems are obtained. The desired state feedback controller can be constructed by solving a certain linear matrix inequality.
CONSTRAINING HEAT INPUT BY TRAJECTORY OPTIMIZATION FOR MINIMUM‐FUEL HYPERSONIC CRUISE
Authors: Wächter M. , Sachs G. 
Published: September 2010

ABSTRACTUnsteady heat input effects are considered for the range cruise of a future hypersonic vehicle equipped with a turbo/ram jet engines combination. A realistic mathematical model for describing the unsteady heat effects has been developed. It is coupled to the model for the dynamics of the vehicle. To compute the heat load in hypersonic flight, several points on the vehicle surface are treated simultaneously. A two‐step technique consisting of an efficient optimization algorithm and an ordinary differential equations (ODE) solver is applied to generate a solution. The results show that the heat load can be significantly reduced, with only a small increase in fuel consumption.
A GRADIENT BASED ADAPTIVE CONTROL ALGORITHM FOR DUAL‐RATE SYSTEMS
Authors: Ding Feng , Chen Tongwen 
Published: September 2010

ABSTRACTIn this paper, using a polynomial transformation technique, we derive a mathematical model for dual‐rate systems. Based on this model, we use a stochastic gradient algorithm to estimate unknown parameters directly from the dual‐rate input‐output data, and then establish an adaptive control algorithm for dual‐rate systems. We prove that the parameter estimation error converges to zero under persistent excitation, and the parameter estimation based control algorithm can achieve virtually asymptotically optimal control and ensure the closed‐loop systems to be stable and globally convergent. The simulation results are included.
CONTROL LAW FOR QUADRATIC STABILIZATION OF PERTURBED FUZZY TIME‐DELAY LARGE‐SCALE SYSTEMS VIA LMI
Authors: Wang Rong‐Jyue 
Published: September 2010

ABSTRACTIn this paper, the perturbed continuous‐time large‐scale system with time delays is represented by an equivalent Takagi‐Sugeno type fuzzy model. First, two types of decentralized state feedback controllers are considered in this paper. Based on the Riccati‐type inequality, the Razumikhin theorem, and the delay‐dependent Lyapunov functional approach, some controller design approaches are proposed to stabilize the whole fuzzy time‐delay system asymptotically. In these design methods, both the delay‐independent and delay‐dependent stabilization criteria are derived. By Schur complement, these sufficient conditions can be easily transformed into the problem of LMI's. Moreover, the systems with all the time‐delays τlij(t) are the same for all rules (i.e., τlij(t) = τmij(t) = τijfor alll =m); the authors also propose a simpler and less conservative stabilizing criteria. A numerical example is given to illustrate the control design and its effectiveness.
NEURAL NETWORK‐BASED OPTIMAL ADAPTIVE TRACKING USING GENETIC ALGORITHMS
Authors: Kumarawadu Sisil , Watanabe Keigo , Izumi Kiyotaka , Kiguchi Kazuo 
Published: September 2010

ABSTRACTThis paper presents the use of neural networks (NNs) and genetic algorithms (GAs) to enhance the output tracking performance of partly known robotic systems. Two of the most potential approaches of adaptive control, i.e., the concept of variable structure control (VSC) and NN‐based adaptive control, are ingeniously combined using GAs to achieve high‐performance output tracking. GA is used to make the maximum use of different performance characteristics of two self‐adaptive NN modules by finding the switching function which best combines them. The method will be valid for any rigid revolute robot system. Computer simulations on our active binocular head are included for illustration and verification.
STATE FEEDBACK CONTROLLER DESIGN OF NETWORKED CONTROL SYSTEMS WITH PARAMETER UNCERTAINTY AND STATE‐DELAY
Authors: Peng Chen , Yue Dong 
Published: September 2010

ABSTRACTThis paper is concerned with the controller design of networked control systems. The continuous time plant with parameter uncertainty and state delay is studies. A new model of the networked control system is provided under consideration of the nonideal network conditions. In terms of the given model, a controller design method is proposed based on a delay dependent approach. The maximum allowable synthetical bounds related with the discarded data packet and network‐included delay and the feedback gain of a memoryless controller can be derived by solving a set of linear matrix inequalities for the stabilizablity of the networked control system based on Lyapunov functional method. An example is given to show the effectiveness of our method.
RECONSTRUCTING AND IDENTIFYING THE ROSSLER'S SYSTEM BY USING A HIGH GAIN OBSERVER
Authors: Ibáñez Carlos Aguilar , Jorge Sánchez H. , Miguel S. Suárez C. , G. R. Martínez , Garrido R. 
Published: September 2010

ABSTRACTA simple way to determine the parameters of Rössler's system based on a suitable output is presented in this paper. The fact that the nonlinear system is observable and algebraically identifiable with respect to the selected output, allows us to propose, in a first stage, a high‐gain observer to estimate the output time derivatives. And then, based on these facts two suitable schemes to recover the parameters are presented.
A LINEAR PROGRAMMING APPROACH FOR CALCULATION OF ALL STABILIZING PARAMETERS OF LEAD/LAG CONTROLLERS
Authors: Jalili Mahdi , Araabi Babak N. 
Published: September 2010

ABSTRACTLead/Lag controllers are used extensively in industry and there is no straight forward and general solution to the problem of calculating all stabilizing parameters of Lead/Lag controllers. In this paper, a linear programming approach is proposed to calculate all stabilizing parameters of Lead/Lag type controllers for a given continuous‐time plant from an arbitrary order. The proposed method is based on the extension of Hermite‐Biehler Theorem, which has been proposed for calculating all stabilizing PID gains for a given continues‐time system in [6]. The linear programming nature of the proposed approach is its main advantage, which leads to the computer‐aided computation of the above problem. The applicability of the method is verified through a numerical example.
A MAS IMPLEMENTATION FOR SYSTEM IDENTIFICATION AND PROCESS CONTROL
Authors: González E. J. , Hamilton A. , Moreno L. , Marichal R. L. , Marichal G. N. , Toledo J. 
Published: September 2010

ABSTRACTIn this paper, a MAS for system identification and process control is presented. In particular, this MAS implements a self‐tuning regulator (STR) scheme. It has adopted FIPA specifications because they have become a stronger standard in MAS development and they involve not only agent language specifications but also agent management and conversations. In this work, an Ontology Agent (OA) is included, using DAML + OIL as ontology language. The obtained results validate this approach in the implementation of well‐known algorithms for control process.
CONTROLLABILITY OF A CLASS OF SINGULAR SYSTEMS
Authors: Xie Guangming , Wang Long 
Published: September 2010

ABSTRACTIn this paper, several different concepts of controllability are investigated for a class of linear singular systems which system parameters are piecewise constant. Necessary and sufficient geometric criteria for C‐controllability and R‐controllability of such systems are established, respectively. These conditions can be easily transformed into algebraic form. By applying the principle of duality, C‐observability is discussed as well. Furthermore, the intrinsic relationship between these results and existing results are also discussed. Then, a novel necessary, and sufficient criterion for C‐controllability of linear time‐invariant singular systems is derived as a byproduct.
PARAMETER‐DEPENDENT LYAPUNOV FUNCTION APPROACH TO STABILITY ANALYSIS AND DESIGN FOR POLYTOPIC SYSTEMS WITH INPUT SATURATION
Authors: Cao Yong‐Yan , Fang Kangling 
Published: September 2010

ABSTRACTThis paper is devoted to stability analysis and synthesis of uncertain systems subject to input saturation. A new parameter‐dependent Lyapunov function analyzing approach is proposed to reduce the conservatism in stability analysis for the polytopic systems subject to input saturation. Some new stability conditions and a gain‐scheduling controller design method are then developed by the LMI optimization based approach. Numerical examples are used to demonstrate the effectiveness of the proposed design approach.
DIRECT ADAPTIVE CONTROL FOR NONLINEAR MATRIX SECOND‐ORDER SYSTEMS WITH TIME‐VARYING AND SIGN‐INDEFINITE DAMPING AND STIFFNESS OPERATORS
Authors: Haddad Wassim M. , Hayakawa Tomohisa , Stasko Michael C. 
Published: September 2010

ABSTRACTA direct adaptive control framework for a class of nonlinear matrix second‐order systems with time‐varying and sign‐indefinite damping and stiffness operators is developed. The proposed framework guarantees global asymptotic stability of the closed‐loop system states associated with the plant dynamics without requiring any knowledge of the system nonlinearities other than the assumption that they are continuous and bounded. The proposed adaptive control approach is used to design adaptive controllers for suppressing thermoacoustic oscillations in combustion chambers.
PASSIVITY ANALYSIS OF A MOTION CONTROL FOR ROBOT MANIPULATORS WITH DYNAMIC FRICTION
Authors: Canudas‐de‐Wit Carlos , Kelly Rafael 
Published: September 2010

ABSTRACTThis paper addresses the motion control in joint space of robot manipulators with friction described by the generalized LuGre friction model. The paper extends the nonadaptive version of the Slotine and Li's control system originally designed for friction‐free manipulators to the case where a friction observer is incorporated to deal with friction. This observer corresponds to an adaptation of the friction compensation scheme proposed in Canudas de Wit et al., in 1975, 1995. Passivity concepts are the fundamental tools invoked in this paper to analyze the closed‐loop system behavior which lead to the conclusion of global asymptotic joint position tracking. A major advantage of this framework is that it allows to develop in a separate way the control law from the observer design provided that each part satisfies some passivity properties.
FREQUENCY WEIGHTED MODEL REDUCTION TECHNIQUE RETAINING HANKEL SINGULAR VALUES
Authors: Ghafoor Abdul , Sreera Victor , Treasure Richard 
Published: September 2010

ABSTRACTIn this paper, a modification to Lin and Chiu's technique [1,2] of frequency weighted balanced truncation is presented. As in [1,2] the method is based on simulataneously diagonalizing the frequency weighted controllability and observability Gramians. Instead of obtaining the reduced order models from the truncated frequency weighted balanced realization as in conventional techniques [1,2], the models are obtained from the truncated augmented system realizations which ensures matching of the dominant frequency weighted Hankel singular values. The method is compared with the method of [2] using numerical examples.
IDENTIFICATION OF CONTINUOUS‐TIME POWER SPECTRA BY GENERALIZED FOURIER SERIES
Authors: Akçay Hüseyin , Türkay Semiha 
Published: September 2010

ABSTRACTIn this paper, we present a generalized Fourier series based algorithm for the identification of continuous‐time, linear‐time invariant systems from power spectrum measurements. The algorithm is strongly consistent and it is used in the design of a linear shaping filter for a single‐track road power spectrum.
FUZZY SUPERVISORY CONTROL OF A DSP‐BASED MAGNETIC LEVITATION SYSTEM
Authors: Li Jen‐Hsing 
Published: September 2010

ABSTRACTThis paper proposes a fuzzy supervisory control of a magnetic levitation system which the eZdsp F2812 is utilized as a controller. The discrete‐time model of the magnetic levitation system is derived and the stability is guaranteed by the root locus methodology. A fuzzy supervisory control is used to compensate for system nonlinearities.
A ROBUST ADAPTIVE CONTROL DESIGN FOR A CLASS OF UNCERTAIN NONLINEAR MARKOVIAN JUMP SYSTEMS
Authors: Yu Kang , Hongsheng Xi , Dali Zhang , Haibo Ji 
Published: September 2010

ABSTRACTA direct robust adaptive nonlinear control scheme for a class of uncertain nonlinear Markovian jump systems with nonlinear state‐dependent uncertainty is presented. The proposed scheme is Lyapunov‐based and guarantees the global uniform ultimate boundedness of the closed‐loop system in the mean sense. A numerical example is given to demonstrate the validity of the results.
STABILIZATION OF A COLLECTION OF LINEAR SYSTEMS WITH LIMITED INFORMATION
Authors: Yu Mei , Wang Long , Chu Tianguang , Xie Guangming 
Published: September 2010

ABSTRACTAn iterative approach is proposed in this paper to stabilize a collection of linear systems with limited communication. Each linear system is viewed as a user on an idealized shared network which grants access only to a few users at a time. Sufficient conditions on the existence of network allocation sequences that preserve the stability of the collection are developed. The main idea of the iterative approach is that the controllers are designed to make full use of the old information to stabilize the entire collection when the network channel is not available for some of the system members. Simulated examples are presented to illustrate the proposed approach.