Showing papers in "IFAC Proceedings Volumes in 1993"

TL;DR: In this paper, an analytical method is proposed to tune the PIIPID controller to pass through two design points on the Nyquist curve as specified by the gain and phase margins.

TL;DR: The versatile and robust qualities of genetic algorithms are reviewed and their relevance for control systems engineering is highlighted.

TL;DR: In this paper, a simple GA to solve this nonlinear optimization problem is designed based on the GA theory and the authors' experience and a numerical example is presented in which a pH neutralization process is regulated by a PID controller with its parameters optimized using the proposed GA.

TL;DR: In this article, a simple controller is proposed to hold global asymptotic stability of the overall closed-loop system without requiring the joint velocity measurements, which is shown to be effective for set-point robot control.

TL;DR: In this paper, a survey on application of non-conventional digital controllers is presented, which includes general hold circuits, general samplers or periodically time-varying discribe-time compensators.

TL;DR: In this paper, a new approach to swing up the pendulum has been derived by using feedback to control the energy of a pendulum, which can be used to reduce the influence of nonlinearities and model uncertainties.

TL;DR: The proposed fuzzy path-tracking strategy generates the appropriate vehicle steering angle command by combining fuzzy logic with the geometric pure-pursuit technique and the generalized predictive control method.

TL;DR: The role of model-based fault detection as one information source for fault diagnosis is discussed in this paper, where several methods of fault detection have to be integrated to support a powerful diagnosis.

TL;DR: ABS braking control algorithms may by enhanced, if the adhesion characteristic between tyres and road can be determined as discussed by the authors, based upon a one-wheel model the actual adhesion coefficients are estimated.

TL;DR: In this article, the authors consider the requirements for a flexible actuation system that can be applied to untethered robots, using organic muscle specifications as a base, mathematical models of the drive forces and operating principles in a braided pneumatic actuator are studied.

TL;DR: The Purdue Enterprise Reference Architecture (PRA) as mentioned in this paper is a reference architecture for defining the place of the human in the computer integrated plant or enterprise, which was originally developed for computer integrated manufacturing and can be extended to define the development and operation of any enterprise regardless of the industry or field of endeavor involved.

TL;DR: A complete control scheme which explicitly enables to pursue a moving object by visual servoing is presented, based on the estimation and prediction of the target motion in the image through Kalman filtering.

TL;DR: Two Petri net structures capable of enforcing generalized mutual exclusion constraints on place/transition nets with uncontrollable transitions are presented, a monitor-based solution and a supervisory based solution.

TL;DR: In this article, a new scheme for induction motor control is developed, combining integral action with a novel nonlinear design which interlaces the design of the observer with that of the controller in a step-by-step procedure.

TL;DR: In this paper, a collection of recently developed controller designs methods based on successive iterations of plant model identification and controller design based on that model is considered, and the unifying ingredient of these schemes is their reliance on the possibility of performing closed loop experiments on the actual plant with the sequence of controllers, and recognition of the power of jointly coupling the two stages of the design in a synergistic manner.

TL;DR: An internal model of the exogenous signals is augmented with the system, and a robust, observer-based, output feedback controller is designed to achieve asymptotic tracking.

TL;DR: Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation in ANDECS.

TL;DR: In this paper, an adaptive observer-based fault detection scheme is presented for detecting abrupt faults in a nonlinear dynamic system but also for estimating unknown parameters which may represent faults with slow time constants, some kinds of nonlinearities or time-varying system parameters.

TL;DR: In this paper, an approach for the improvement of the performances of failure detection and isolation (FDI) systems is proposed, where structural specifications of the expected results lead to optimize the robustness of the system with respect to the modelling uncertainties and unknown inputs.

TL;DR: In this article, the authors reviewed research on Advanced Vehicle Control Systems (AVCS) for highway automation in the California PATH (Partners for Advanced Transit and Highways) program.

TL;DR: In this paper, a subspace based technique for identifying general finite-dimensional linear systems is presented and analyzed, and explicit formulas for the asymptotic pole estimation error variances are given.

TL;DR: In this article, the authors proposed a simple approach to analyze stability robustness of discrete-time singular systems under structured perturbations, the developed robustness criteria are then applied to solve robust regional pole-assignment problems of singular systems.

TL;DR: An algorithm imitating the immune system to solve the optimization problem partly with genetic algorithm is proposed and is shown to be capable of searching for a global solution not but local solutions through an illustrative example of a resource allocation problem.

TL;DR: In this paper, the concept of a state is emphasized and a new dynamical system identification algorithm is presented, which is based on a new frame-work, where the state is represented as a set of states.

TL;DR: In this paper, it is shown how robust control methods, including μ-synthesis, quadratic stability, operator passivity (positivity), nonlinear optimization, and H-infinity control, can be combined within the power distribution framework, which yields a unified way of solving various stability/performance analysis and synthesis problems.

TL;DR: The second part of the theory which provides a frequency-domain paradigm for the design of sampled-data control systems is developed in this article, where sensitivity FR-operator S (jφ ) and complementary sensitivity FR operator T (jπ ) are defined for closed-loop control systems, and S ( jφ) gives the improvement of the sensitivity of the transfer characteristics from the reference to the controlled output and also represents the ability of rejecting disturbances.

TL;DR: In this article, a discrete time adaptive control system was applied to the steam temperature control of a boiler for electric power generation, where adaptive controllers were applied in parallel with the conventional PID controllers for supcrheated and reheated steam temperatures.

TL;DR: Hybrid systems are defined as systems that exhibit mixed properties of continuous-time systems that combine the properties of discrete and continuous time systems.

TL;DR: The present approach contributes to modeling of complex processes in cases with limited process knowledge and is a step towards a framework for integrating empirical and first principles knowledge in process modeling.

TL;DR: In this paper, the direct feedback of velocity and displacement (DVDFB) is considered for large space structures (LSS) with collocated sensors and actuators, and it is shown that if the gains are suitably chosen, then DVDFB is also optimal in the sense of the LQ regulator theory.