Open-loop controller

About: Open-loop controller is a research topic. Over the lifetime, 16148 publications have been published within this topic receiving 224014 citations. The topic is also known as: non-feedback controller & open-loop control law.

Uni and bi-directional signal transfer modes in peripheral controller and method of operating same

Abstract: A peripheral controller is described which is suitable for connecting a selected one of a plurality of peripheral devices to a computer system. The peripheral controller comprises programmable bidirectional line driver/receiver devices which can be operated in an input only mode, an output only mode or a bidirectional mode and which can be set into an appropriate mode by configuration control data sent from the computer system to the peripheral controller. The peripheral controller also includes a re-configurable logic array which can be configured under the control of the configuration control data to implement a particular interface required for the selected peripheral device. This increases the efficiency of use of a peripheral interface.

Intelligent control for brake systems

Abstract: There exist several problems in the control of brake systems including the development of control logic for antilock braking systems (ABS) and "base-braking." Here, we study the base-braking control problem where we seek to develop a controller that can ensure that the braking torque commanded by the driver will be achieved. In particular, we develop a fuzzy model reference learning controller, a genetic model reference adaptive controller, and a general genetic adaptive controller, and investigate their ability to reduce the effects of variations in the process due to temperature. The results are compared to those found in previous research.

Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data

Abstract: This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance The controller comprises two main components: a balance controller and a tracking controller The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the robot The simplified model is chosen so that a regulator can be designed systematically using, for example, optimal control An example of such controller is a linear quadratic regulator designed for an inverted pendulum model The desired inputs are typically the center of pressure and/or torques of some representative joints The tracking controller then computes the joint torques that minimize the difference from desired inputs as well as the error from desired joint accelerations to track the motion capture data, considering exact full-body dynamics We demonstrate that the proposed controller effectively reproduces different styles of storytelling motion using dynamics simulation considering limitations in hardware

Analysis and controller design of static VAr compensator using three-level GTO inverter

Abstract: A static VAr compensator (SVC) using a three-level GTO voltage source inverter (VSI) is presented for high-voltage, high-power applications. The three-level VSI has lower harmonic components and higher DC-link voltage than the two-level VSI and thus can be operated at lower switching frequency (f/sub sw/<500 Hz) without excessive harmonic contents. From the DQ-transformed equivalent circuit of the presented SVC system, DC and AC analyses are carried out to find the steady-state and the dynamic characteristics of the system. Based on the open-loop transfer function of the system, a controller is designed to achieve fast dynamic response. The experimental results confirm the theoretical analyses and controller design.

Robust PID control using generalized KYP synthesis: direct open-loop shaping in multiple frequency ranges

Abstract: In this paper, a method for designing PID controllers to meet multiple frequency-domain inequalities (FDI) specifications on the open-loop transfer function in finite and semi-infinite frequency ranges is presented. The method, which is based on the generalized Kalman-Yakubovich-Popov (GKYP) lemma, enables direct loop shaping through LMI optimization without frequency gridding or weights. The resulting synthesis condition is nonconservative; its infeasibility implies that no PID controller exists to meet the specifications. The design method extends to systems with parametric uncertainties using Lyapunov function, which depends on the parameter in a linear fractional manner. The robust PID control design is also reduced to an LMI optimization problem, albeit with potential conservatism. The effectiveness of the GKYP synthesis has been demonstrated through several numerical examples. In addition to PID control design, robust GKYP synthesis applies to open-loop shaping and filtering problems, where the poles of the controller or filter are fixed.