| 1. |
- Iwase, Masami, et al.
(författare)
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Analysis of safe manual control by using Furuta pendulum
- 2006
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Ingår i: 2006 IEEE Conference on Computer Aided Control System Design.
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Konferensbidrag (refereegranskat)abstract
- This paper focuses on the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum. The task is to control the position of the pendulum arm manually while maintaining the pendulum in the upright position. The analysis of regions for safe maneuvers is important to realize the desired control system.
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| 2. |
- Johansson, Karl Henrik, et al.
(författare)
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Limit cycles with chattering in relay feedback systems
- 2002
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Ingår i: IEEE Transactions on Automatic Control. - 0018-9286. ; 47:9, s. 1414-1423
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Tidskriftsartikel (refereegranskat)abstract
- Relay feedback has a large variety of applications in control engineering. Several interesting phenomena occur in simple relay systems. In the paper, scalar linear systems with relay feedback are analyzed. It is shown that a limit cycle where part of the limit cycle consists of fast relay switchings can occur. This chattering is analyzed in detail and conditions for approximating it by a sliding mode are derived. A result on existence of limit cycles with chattering is given, and it is shown that the limit cycles can have arbitrarily many relay switchings each period. Limit cycles with regular sliding modes are also discussed. Examples illustrate the results.
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| 3. |
- Wittenmark, Björn, et al.
(författare)
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Computer Control: An Overview
- 2002
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Computer control is entering all facets of life from home electronics to production of different products and material. Many of the computers are embedded and thus ``hidden'' for the user. In many situations it is not necessary to know anything about computer control or real-time systems to implement a simple controller. There are, however, many situations where the result will be much better when the sampled-data aspects of the system are taken into consideration when the controller is designed. Also, it is very important that the real-time aspects are regarded. The real-time system influences the timing in the computer and can thus minimize latency and delays in the feedback controller. The paper introduces different aspects of computer-controlled systems from simple approximation of continuous time controllers to design aspects of optimal sampled-data controllers. We also point out some of the pitfalls of computer control and discusses the practical aspects as well as the implementation issues of computer control. Published as a Professional Briefs by IFAC.
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| 4. |
- Åkesson, Johan, et al.
(författare)
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Manual Control and Stabilization of an Inverted Pendulum
- 2005
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Ingår i: Proceedings of the 16th IFAC World Congress. - 008045108X
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Konferensbidrag (refereegranskat)abstract
- The problem of stabilizing an inverted pendulum on a cart while enabling manual control of the cart velocity is treated. Introduction of an input saturation nonlinearity makes the problem challenging in the sense that the system may be driven to a state where recovery is not possible. A controller based on the controllability set of the inverted pendulum, which ensures stability and tracking of constant reference velocities for the cart is developed. The controller also offers a trade-off between performance and robustness.
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| 5. |
- Åkesson, Johan, et al.
(författare)
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Safe Manual Control of the Furuta Pendulum
- 2001
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Ingår i: Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. - 0780367332 ; , s. 890-895
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Konferensbidrag (refereegranskat)abstract
- This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed
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| 6. |
- Åström, Karl Johan, et al.
(författare)
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Design of decoupled PI controller for two-by-two systems
- 2002
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Ingår i: IEE Proceedings: Control Theory and Applications. - : Institution of Engineering and Technology (IET). - 1350-2379 .- 1359-7035. ; 149:1, s. 74-81
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Tidskriftsartikel (refereegranskat)abstract
- The design of PI controllers for systems with interacting loops is discussed. It is advantageous to deal with the interaction at the loop level, because supervisory control seldom has sufficient bandwidth. A new scheme based on modified scalar PI design and static decoupling is developed, in which the frequency characteristic of the coupling between the lower-level loops is taken into account. This leads to a design method emphasising the trade-off between the individual loop performances and the interaction indices introduced in the paper. The controller is easily implemented, due to its simple configuration based on standard components. A useful observation is that the interaction can be reduced substantially by using set-point weighting. The method is applied to three examples, including a model of a new laboratory system called the quadruple-tank process
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| 7. |
- Block, Daniel Jerome, et al.
(författare)
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The Reaction Wheel Pendulum
- 2007
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Bok (övrigt vetenskapligt/konstnärligt)abstract
- "This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of the motor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control."
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| 8. |
- Burgner, Chris, et al.
(författare)
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Digital Control of Tunneling Accelerometer
- 2009
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Ingår i: 2009 IEEE Sensors. ; , s. 1824-1827
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Konferensbidrag (refereegranskat)abstract
- A controller for a tunneling accelerometer has two tasks: to establish tunneling and to maintain tunneling during acceleration. This paper describes the design and implementation of a digital controller that accomplishes these tasks and provides the appropriate gain switching. The control law is based on a standard configuration of an observer and state feedback. A digital controller is implemented because the controller parameters can be easily adjusted, thereby allowing for rapid prototyping. The design methodology presented here can be used as a general plug-and-play controller platform for a range of MEMS sensors. The performance of the digital controller is illustrated experimentally using metrics such as tracking response, drift, noise floor and response linearity.
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| 9. |
- Cervin, Anton, et al.
(författare)
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On Limit Cycles in Event-Based Control Systems
- 2007
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Ingår i: 46th IEEE Conference on Decision and Control, 2007. ; , s. 1947-1952
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Konferensbidrag (refereegranskat)abstract
- Event-based control is a promising alternative to time-triggered control, especially for systems with limited computation and communication capacities. In the paper, the architecture of a general structure for event-based control is presented. The resulting system has many interesting properties. For instance, a constant load disturbance will typically make the process output oscillate according to a stable limit cycle. Necessary conditions for the limit cycle are given and its local stability is analyzed. Finally, a simple way to achieve integral action based on times between events is proposed.
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| 10. |
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Control of Complex Systems
- 2001
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Samlingsverk (redaktörskap) (övrigt vetenskapligt/konstnärligt)abstract
- The world of artificial systems is reaching hitherto undreamed-of levels of complexity. Surface traffic, electricity distribution, mobile communications, etc., demonstrate that problems are arising that are beyond classical scientific or engineering knowledge. In order that our ability to control such systems should not be hindered by lack of comprehension, there is an on-going effort to understand them. This book is an example of the types of approach that European researchers are using to tackle problems derived from systems' complexity. It has grown out of activities in the Control of Complex Systems (COSY) research program the goals of which are to promote multi-disciplinary activity leading to a deeper understanding and further development of control technologies for complex systems and if possible, to develop the theory underlying such systems. The material in this book represents a selection of the results of the COSY program and is organised as a collection of essays of varying nature: surveys of essential areas, discussion of specific problems, case studies, and benchmark problems. Topics covered include: Modelling complex physical systems; Passivity-based control of non-linear systems; Aspects of fault identification and fault tolerance; Control design; Learning control; Satellite attitude control. Complex systems appear in many different fields and for this reason this book should be of interest to scientists, researchers and industrial engineers with a broad spectrum of experience.
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