Showing papers on "Control theory published in 2003"

Biped walking pattern generation by using preview control of zero-moment point

Abstract: We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.

Robot Manipulator Control: Theory and Practice

Abstract: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

A survey of applications of second-order sliding mode control to mechanical systems

Abstract: The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some cha...

A BCI-based environmental controller for the motion-disabled

Abstract: With the development of brain-computer interface (BCI) technology, researchers are now attempting to put current BCI techniques into practical application. This paper presents an environmental controller using a BCI technique based on steady-state visual evoked potential. The system is composed of a stimulator, a digital signal processor, and a trainable infrared remote-controller. The attractive features of this system include noninvasive signal recording, little training requirement, and a high information transfer rate. Our test results have shown that this system can distinguish at least 48 targets and provide a transfer rate up to 68 b/min. The system has been applied to the control of an electric apparatus successfully.

RABBIT: a testbed for advanced control theory

Abstract: Describes the design, construction and control of an experimental bipedal robot platform for the study of walking.

Visually guided landing of an unmanned aerial vehicle

Abstract: We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.

Neural-network-based maximum-power-point tracking of coupled-inductor interleaved-boost-converter-supplied PV system using fuzzy controller

Abstract: The photovoltaic (PV) generator exhibits a nonlinear V-I characteristic and its maximum power (MP) point varies with solar insolation. In this paper, a feedforward MP-point tracking scheme is developed for the coupled-inductor interleaved-boost-converter-fed PV system using a fuzzy controller. The proposed converter has lower switch current stress and improved efficiency over the noncoupled converter system. For a given solar insolation, the tracking algorithm changes the duty ratio of the converter such that the solar cell array voltage equals the voltage corresponding to the MP point. This is done by the feedforward loop, which generates an error signal by comparing the instantaneous array voltage and reference voltage corresponding to the MP point. Depending on the error and change of error signals, the fuzzy controller generates a control signal for the pulsewidth-modulation generator which in turn adjusts the duty ratio of the converter. The reference voltage corresponding to the MP point for the feedforward loop is obtained by an offline trained neural network. Experimental data are used for offline training of the neural network, which employs a backpropagation algorithm. The proposed peak power tracking effectiveness is demonstrated through simulation and experimental results. Tracking performance of the proposed controller is also compared with the conventional proportional-plus-integral-controller-based system. These studies reveal that the fuzzy controller results in better tracking performance.

Wind Turbine Control for Load Reduction

Abstract: This article reviews techniques for the control of wind turbines during power production. Pitch control is used primarily to limit power in high winds, but it also has an important effect on structural loads. Particularly as turbines become larger, there is increasing interest in designing controllers to mitigate loads as far as possible. Torque control in variable-speed turbines is used primarily to maximize energy capture below rated wind speed, and to limit the torque above rated, but it can also be used to reduce certain loads. The design of the control algorithms is clearly of prime importance. Additional sensors such as accelerometers and load sensors can also help the controller to achieve its objectives more effectively. By controlling the pitch of each blade independently, it is also possible to achieve important further reductions in loading. It is important to be able to quantify the benefits of any new controller. Although computer simulations are useful, field trials are also vital. The variability of the real wind means that particular care is needed in the design of the trials. Copyright © 2003 John Wiley & Sons, Ltd.

Architecture and IC implementation of a digital VRM controller

Abstract: This paper develops the architecture of a digital PWM controller for application in multiphase voltage regulation modules (VRMs). In this context, passive current sharing and VRM transient response with nonzero controller delay are analyzed. A scheme for sensing a combination of the VRM output voltage and output current with a single low-resolution window analog-to-digital converter (ADC) is proposed. The architecture and IC implementation of a digital PWM (DPWM) generation module, using a ring-oscillator-multiplexer scheme, is discussed. Experimental results from a prototype VRM and a partial controller IC implementation are presented.

Computational techniques for the verification of hybrid systems

Abstract: Hybrid system theory lies at the intersection of the fields of engineering control theory and computer science verification. It is defined as the modeling, analysis, and control of systems that involve the interaction of both discrete state systems, represented by finite automata, and continuous state dynamics, represented by differential equations. The embedded autopilot of a modern commercial jet is a prime example of a hybrid system: the autopilot modes correspond to the application of different control laws, and the logic of mode switching is determined by the continuous state dynamics of the aircraft, as well as through interaction with the pilot. To understand the behavior of hybrid systems, to simulate, and to control these systems, theoretical advances, analyses, and numerical tools are needed. In this paper, we first present a general model for a hybrid system along with an overview of methods for verifying continuous and hybrid systems. We describe a particular verification technique for hybrid systems, based on two-person zero-sum game theory for automata and continuous dynamical systems. We then outline a numerical implementation of this technique using level set methods, and we demonstrate its use in the design and analysis of aircraft collision avoidance protocols and in verification of autopilot logic.

Direct repetitive control of SPWM inverter for UPS purpose

Abstract: A novel repetitive controller directly combined with an open loop SPWM inverter is presented in this paper. To cope with the high-resonant peak of the open loop inverter that may cause instability, a zero-phase-shift notch filter other than the inverse transfer function of the inverter or a conventional second-order filter is incorporated in the controller. The proposed method has good harmonic rejection and large tolerance to parameter variations. To further reduce the steady-state error, a low-pass-filter Q(z) algorithm is applied. The DC bias problem is also taken into consideration and solved with the repetitive controller itself. The method is implemented with a digital signal processor and achieves low THD% (1.4%-1.7%) with nonlinear loads and fast error convergence (3-5 fundamental periods). It proves to be a cost-effective solution for common UPS products where high-quality output voltage is more stressed than fast dynamic response.

Apparatus and method for controlling driving of linear motor

Abstract: An apparatus and method for controlling driving of a linear motor, which is configured to increase efficiency of a linear compressor and stably drive the linear motor when the linear motor is overloaded. The apparatus includes a detector that detects a current applied to a motor, a controller that outputs a control signal based on the detected current and a switch that varies the number of windings of the linear motor coil on the basis of the control signal.

Tracking control of an underactuated ship

Abstract: In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K- exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.

Control of a hybrid asymmetric multi-level inverter for competitive medium-voltage industrial drives

Abstract: In symmetric multilevel inverters, there is a tradeoff between the output quality and the reliability and efficiency of the converter. New asymmetric and hybrid solutions, using different voltages and devices in various parts of the inverter, promise significant improvements for medium-voltage industrial drives. This paper investigates such a hybrid asymmetric nine-level inverter. It consists of a three-phase three-level integrated gate-commutated thyristor inverter (main inverter), with a two-level insulated-gate bipolar transistor H-bridge (subinverter) in series with each phase. To keep the power part simple and the efficiency high, the subinverters have no feeding from the net and can only supply reactive power. This is a very interesting solution in terms of power quality, efficiency, reliability, and cost. But the nonsupplied intermediate-circuit capacitors form an unstable system. This paper proposes a control method to stabilize their voltages. Power balancing is guaranteed by varying the common-mode voltage, using an online nonlinear model-predictive controller. The controller predicts the system evolution as a function of the control inputs. A cost function of system and control quantities is iteratively minimized in real time, to find the optimal control to apply to the system. Simulations and measurements demonstrate stable behavior in steady state and during transients. Precharging of the nonsupplied capacitors is also an issue to consider. This paper proposes a startup method that charges them in parallel with the supplied ones, without any additional equipment. Measurements show its successful application in the proposed drive system.

Single-inductor multiple-output switching converters with time-multiplexing control in discontinuous conduction mode

Abstract: An integrated single-inductor dual-output boost converter is presented. This converter adopts time-multiplexing control in providing two independent supply voltages (3.0 and 3.6 V) using only one 1-/spl mu/H off-chip inductor and a single control loop. This converter is analyzed and compared with existing counterparts in the aspects of integration, architecture, control scheme, and system stability. Implementation of the power stage, the controller, and the peripheral functional blocks is discussed. The design was fabricated with a standard 0.5-/spl mu/m CMOS n-well process. At an oscillator frequency of 1 MHz, the power conversion efficiency reaches 88.4% at a total output power of 350 mW. This topology can be extended to have multiple outputs and can be applied to buck, flyback, and other kinds of converters.

Closed loop method for controlling insulin infusion

Abstract: A closed loop infusion system controls the rate that fluid is infused into the body of a user. The closed loop infusion system includes a sensor system, a controller, and a delivery system. The sensor system includes a sensor for monitoring a condition of the user. The sensor produces a sensor signal, which is representative of the condition of the user. The sensor signal is used to generate a controller input. The controller uses the controller input to generate commands to operate the delivery system. The delivery system infuses a liquid into the user at a rate dictated by the commands from the controller. Preferably, the sensor system monitors the glucose concentration in the body of the user, and the liquid infused by the delivery system into the body of the user includes insulin.

A new single-phase five-level PWM inverter employing a deadbeat control scheme

Abstract: A single-phase five-level PWM inverter is presented to alleviate harmonic components of the output voltage and the load current. Operational principles with switching functions are analyzed. To keep the output voltage sinusoidal and to have the high dynamic performances even in the cases of load variations and the partial magnetization in filter inductor, the deadbeat controller is designed and implemented on a prototype. The validity of the proposed inverter is verified through simulation and experiments. To assess the proposed inverter, it is compared with the conventional single-phase three-level PWM inverter under the conditions of identical supply DC voltage and switching frequency. In addition, it is compared with the five-level cascaded PWM inverter.

Design of a live and maximally permissive Petri net controller using the theory of regions

Abstract: This paper addresses the forbidden state problem of Petri nets (PN) with liveness requirement and uncontrollable transitions. The proposed approach computes a maximally permissive PN controller, whenever such a controller exists. The first step, based on a Ramadge-Wonham-like reasoning (1989), determines the legal and live maximal behavior the controlled PN should have. In the second step, the theory of regions is used to design control places to add to the original model to realize the desired behavior. Furthermore, necessary and sufficient conditions for the existence of control places realizing the maximum permissive control are given. A parameterized manufacturing application of significant state space is used to show the efficiency of the proposed approach.

H/sub /spl infin// fuzzy output feedback control design for nonlinear systems: an LMI approach

Abstract: Addresses the problem of stabilizing a class of nonlinear systems by using an H/sub /spl infin// fuzzy output feedback controller First, a class of nonlinear systems is approximated by a Takagi-Sugeno (TS) fuzzy model Then, based on a well-known Lyapunov functional approach, we develop a technique for designing an H/sub /spl infin// fuzzy output feedback control law which guarantees the L/sub 2/ gain from an exogenous input to a regulated output is less or equal to a prescribed value A design algorithm for constructing an H/sub /spl infin// fuzzy output feedback controller is given In contrast to the existing results, the premise variables of the H/sub /spl infin// fuzzy output feedback controller are not necessarily to be the same as the premise variables of the TS fuzzy model of the plant A numerical simulation example is presented to illustrate the theory development

Method and apparatus for controlling a temperature-controlled probe

Abstract: A thermal energy controller system useful in medical procedures includes a controller coupled to a probe, and a thermal element to vary probe temperature. The controller includes memory storing a non-continuous algorithm that permits user-selectable settings for various probe types such that controller operation is self-modifying in response to the selected probe setting. Probe output power Pout is constant in one mode to rapidly enable probe temperature to come within' a threshold of a target temperature. The controller can then vary Pout dynamically using a proportional-integralderivative (PID) algorithm Pout = Kp.P + Ki.l + Kd.D, where feedback loop coefficients Kp, Ki, Kd can vary dynamically depending upon magnitude of an error function e(t) representing the difference between a user-set desired target temperature and sensed probe temperature. Advantageously, target temperature can be rapidly attained without overshoot, allowing the probe system to be especially effective in arthroscopic tissue treatment.

System and method for initiating and maintaining continuous, long-term control of a concentration of a substance in a patient using a feedback or model-based controller coupled to a single-needle or multi-needle intradermal (ID) delivery device

Abstract: A closed loop therapy system for controlling a concentration of a substance, such as blood glucose concentration, in the body of a user. The system and method employ a sensor system that measures a glucose level in the body, a controller that uses the measured glucose levels to generate an output that can be used to automatically or manually control an intradermal insulin infusion system to set a constant or time-varying profile of target blood glucose concentrations in a user, and then infuse an appropriate amount of insulin into the body of the user so as to reach and maintain the target values of the blood glucose concentration.

Adaptive neural network control of nonlinear systems with unknown time delays

Abstract: In this note, adaptive neural control is presented for a class of strict-feedback nonlinear systems with unknown time delays. Using appropriate Lyapunov-Krasovskii functionals, the uncertainties of unknown time delays are compensated for such that iterative backstepping design can be carried out. In addition, controller singularity problems are solved by using the integral Lyapunov function and employing practical robust neural network control. The feasibility of neural network approximation of unknown system functions is guaranteed over practical compact sets. It is proved that the proposed systematic backstepping design method is able to guarantee semiglobally uniformly ultimate boundedness of all the signals in the closed-loop system and the tracking error is proven to converge to a small neighborhood of the origin.

Backstepping and control allocation with applications to flight control

Abstract: In this thesis we study a number of nonlinear control problems motivated by their appearance in flight control. The results are presented in a general framework and can also be applied to other areas. The two main topics are backstepping and control allocation.Backstepping is a nonlinear control design method that provides an alternative to feedback linearization. Here, backstepping is used to derive robust linear control laws for two nonlinear systems, related to angle of attack control and flight path angle control, respectively. The resulting control laws require less modeling information than corresponding designs based on feedback linearization, and achieve global stability in cases where feedback linearization can only be performed locally. Further, a method for backstepping control of a rigid body is developed, based on a vector description of the dynamics. We also discuss how to augment an existing nonlinear controller to suppress constant input disturbances. Two methods, based on adaptive backstepping and nonlinear observer design, are proposed.Control allocation deals with actuator utilization for overactuated systems. In this thesis we pose the control allocation problem as a constrained least squares problem to account for actuator position and rate constraints. Efficient solvers based on active set methods are developed with similar complexity to existing, approximate, pseudoinverse methods. A method for dynamic control allocation is also proposed which enables a frequency dependent control distribution among the actuators to be designed. Further, the relationship between control allocation and linear quadratic control is investigated. It is shown that under certain circumstances, the two techniques give the same freedom in distributing the control effort among the actuators. An advantage of control allocation, however, is that since the actuator constraints are considered, the control capabilities of the actuator suite can be fully exploited.

Asymptotic stabilization via output feedback for lower triangular systems with output dependent incremental rate

Abstract: We study the global asymptotic stabilization by output feedback for systems whose dynamics are in a feedback form and where the nonlinear terms admit an incremental rate depending only on the measured output. The output feedback we consider is of the observer-controller type where the design of the controller follows from standard robust backstepping. The novelty is in the observer which is high-gain such as with a gain coming from a Riccati equation.