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Proceedings ArticleDOI

D-CDM Based Robust Control System for AUV with VBS

TL;DR: A preliminary investigation on application of the Digitalized Coefficient Diagram method (D-CDM) to develop a computer model for the 'closed-loop' control of attitude and depth of the AUV/AUG with VBS.
Abstract: The Coefficient Diagram Method (CDM) is the one of the most efficient control design methods that is stable and robust, system responses without overshoot and has very small settling time. The CDM is algebraic in nature and resolve the classical control problem after selecting a few meaningful design parameters and by automatically determining a target characteristic polynomial for the closed loop system. This paper reports a preliminary investigation on application of the Digitalized Coefficient Diagram method (D-CDM) to develop a computer model for the 'closed-loop' control of attitude and depth (with execution of pre-programmed mission in submergence) of the AUV/AUG with VBS. The initial results are very satisfactory and promise the development of the new design methods for robust control system of AUVs/AUGs.
Citations
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Journal ArticleDOI
TL;DR: In this article , the authors present a decision support system (DSS) that handles the efforts to integrate appropriate safety stock and safety time judgments at the system level in multi-item single-stage multi-supplier industrial supply chains.
Abstract: Safety stock and safety time are two well-known stock buffering solutions of material requirements planning (MRP) processes to mitigate against supply and demand uncertainty. While the significance of proper inventory in managing change has been extensively researched, supply chain management research on safety period has gotten less attention. Earlier operations quantitative studies, in particular, have often evaluated the utilization of such stock buffers separately, rather than combined. Considering dynamic demands and stochastic timescales, the authors present the decision support system (DSS) that handle the efforts to integrate appropriate safety stock and safety time judgments at the system level in multi-item single-stage multi -supplier industrial supply chains. The DSS concept is formulated as a mixed bi-objective approach that optimizes upstream storage costs and -service levels at the same time, presenting decision-makers with alternative not dominated feasible solutions.
References
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Journal ArticleDOI
Shunji Manabe1
TL;DR: In this article, a controller design method, called Coefficient Diagram Method (CDM), is introduced, which can design the controller and the characteristic polynomial of the closed-loop system simultaneously taking a good balance of stability, response, and robustness.

244 citations


"D-CDM Based Robust Control System f..." refers methods in this paper

  • ...Stability and Robustness The stability indices and stability in addition to Routh-Hurwitz criterion, CDM inserts the Lipatov – Sokolov criterion [2-3]....

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  • ...The robustness of the control system controlled by the CDM is shown in [1-3]....

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  • ...Thus, the CDM design method can be used very effectively in self tuning control applications [1-3]....

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Proceedings Article
01 Jan 2002
TL;DR: The Coefficient Diagram Method (CDM) has been used in many applications, such as PID control, mechanical system, and feed-forward control to sophisticated MIMO control in aerospace.
Abstract: A tutorial of the Coefficient Diagram Method (CDM) will be given first and then the survey of CDM in recent years will be made. By CDM, the simplest controller to satisfy the specification can be designed efficiently. Its application ranges from ordinary PID control, mechanical system, and feed-forward control to sophisticated MIMO control in aerospace.

33 citations


"D-CDM Based Robust Control System f..." refers methods in this paper

  • ...The CDM is algebraic in nature and the coefficients of the controller polynomials are obtained by comparing the coefficients of the characteristic polynomial of the closed loop transfer function with the coefficients of the target characteristic polynomial obtained by using the convenient chosen…...

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  • ...The standard SISO block diagram of the CDM is shown in Fig....

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Book ChapterDOI
01 May 1999
TL;DR: In this article, the pole assignment for uncertain systems is described using a common notation and a clear yet efficient language, and a summary of post-Kharitonov results together with how to apply these results to this end is given.
Abstract: From the Publisher: Pole assignment for uncertain systems is a book where many existing as well as new pole assignment methods are described using a common notation and a clear yet efficient language. The problem considered has two strands. First, classical pole assignment problem, and especially, obtaining parametric general solutions to this problem in a computer algebra framework is treated. Secondly, given a general parametric solution to the pole assignment problem, finding robust compensators that D-Stabilise the closed-loop system is considered. A summary of post-Kharitonov results together with how to apply these results to the pole assignment problem for uncertain systems are given to this end.

30 citations

Proceedings ArticleDOI
06 Dec 2004
TL;DR: In this paper, a design of the augmented state feedback controller by using the concept of coefficient diagram method (CDM) for a servo type of the rotational inverted pendulum system is presented.
Abstract: In this paper, a design of the augmented state feedback controller by using the concept of coefficient diagram method (CDM) for a servo type of the rotational inverted pendulum system is presented. An integrator is augmented to the system due to the responses exhibiting steady-state error. In order to apply the CDM method, the augmented system must be firstly linearized and converted into controllable canonical form by a transform matrix. Then a feedback gain matrix in sense of CDM can be obtained. One can observe that the design procedure of the proposed controller is easy compared to other methods. The experimental results are shown in order to verify the effectiveness of the controller.

20 citations


"D-CDM Based Robust Control System f..." refers methods in this paper

  • ...In addition, by applying the CDM design one can obtain consistently good results for all types of control systems....

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Proceedings ArticleDOI
10 Jun 2009
TL;DR: The Digitalized Coefficient Diagram method is introduced (D-CDM) and this new digital controller design method applied to different control systems and very satisfactory results obtained are discussed in details.
Abstract: Coefficient Diagram Method (CDM) is the one of the most effective control design methods in literature. It gives control systems that are very stable and robust, system responses without overshoot and very small settling time. The CDM, resolve the classical control problem after selecting a few meaningful design parameters and by automatically determining a target characteristic polynomial for the closedloop system. The classical CDM design was originally only performed in s-domain. But since, all industrial controllers are digital controllers, it is necessary to improve a digital controller based on CDM. In this paper, the Digitalized Coefficient Diagram method is introduced (D-CDM) and this new digital controller design method applied to different control systems. The very satisfactory results obtained by the new design method are discussed in details.

13 citations


"D-CDM Based Robust Control System f..." refers methods in this paper

  • ...Following [12], this section, reports only the structure, performance parameters, Target Characteristic Polynomial (TCP) of CDM and the design procedure are shortly given and discussed....

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  • ...Thus, the CDM design method can be used very effectively in self tuning control applications [1-3]....

    [...]

  • ...This paper reports a preliminary investigation on application of the Digitalized Coefficient Diagram method (DCDM) to develop a computer model for the ‘closed-loop’ control of attitude and depth (with execution of preprogrammed mission in submergence) of the AUV/AUG with VBS....

    [...]