- Email: [email protected]
210 Small marine vessel application of a fuzzy PID autopilot
1082
Abstracts
203 Determination of Grasp Forces for Robot Hands Based on Human Capabilities
I. Kim, H. Inooka, pp 979-984 This paper discusses a physiological approach motivated by the study of human hands, for robot hand force control. Humans control grasp force by sensing friction force. When slip is detected by sensing skin acceleration, the grasp force increases by a force proportional to the acceleration. Two methods that can predict when and how fingers will slip on a grasped object are considered. To emulate hmnan capabilities, a method is proposed for detenniulng grasp force, by using the change in the friction force. Experimental results show that the proposed method can he applied to control robot hands to grasp objects of arbitrary weight stably, without skin-like slip sensors.
204 Robot Motion Planningfor Moving Objects T. Sakaguchl, S. Sato, F. Miyazaki, pp 985-990 This paper describes robot-motion planning in a dynamic environment, that is, trajectory generation to attain a working Se with redundancy free for use under the restrictions of time ace. Juggling is used as the typical example of such a working purpose. In order to juggle several balls repeatedly using a real robot, a parametric representation of the robot motion, a hierarchical leamin!g control strategy, and a real-time modification of the end-tip trajectory using visual feedback are proposed. Experimental results obtained using a 2 DOF direct-drive manipulator are also shown.
205 Hybrid Control of Robot Manipulator without Force Sensor K. Ohishi, M. Miyazaki, M. Fujlta, Y. Ogino, pp 991-996 This paper proposes a new hybrid control of force and position without force sensor. The proposed hybrid control system is designed with both an / / ~ acceleration controller and a forceestimation system. The H ~ acceleration controller realizes fine and robust motion control. The reaction force-estimation system consists of the torque observer and the inverse dynamics calculation, and its estimated value is fed to the force-control system. The experimental results in this paper illustrate the fine hybrid control of the tested three-degrees-of-freedom DD robot manipulator without force sensors. 206 BioX++.Extended Learning Control of Biotechnological Processes K.D. Bettenhausen, H. Tolle, pp 997.1000
The technical use of biological or biochemical processes requires, in addition to the biological preparation and process engineering. inteUigent automatic control engineering whose performance characteristics excel those of the classical approaches. Most fermentations are operated in a phase-building batch mode, which does not allow a linearization of the unknown or only inexactly known process model, and the operation near one or several different working points. With BioX ++ an intelligent control system was successfully designed, whose fundamentals and extensions are described in this paper.
Optimal trajectories are calculated using three different throster models. The re.suits show that in order to achieve valid t r a j ~ e s the linear dependence of the thrust ooefficient on the vehicle's velocity has to he modelled. An optimal performance index as a function of time consumption is shown.
209 A Method to Determine the Applicability of Rudder Roll Stabllisation for Ships G.N. Roberts, pp 1009-1012 The problem addressed is that of assessing the suitability of Rudder Roll Stebilisation (RRS) for ships. The paper proposes a method whereby ship operators can assess the suitability of an RRS System for their ships, and allows an operator to establish the benefits of incorporating such a roll stabilisation system prior to embarking on a costly design exercise.
210 Small Marine Vessel Application of a Fuzzy PID Autopllot M.N. Polkinghorne, G.N. Roberts, R.S. Bums, pp 1013-1016 A fuzzy logic PID controller has been developed for a small maritime vessel. Responses in the course-keeping mode are investigated and compared to a classical PID autopflot over a typical range of weather conditions, with RMS yaw error and rudder action being utilised to quantify the quality of results obtained.
211 Adaptive Optimal Control of Ship Steering Autopilots F.R. Rubio, M.J. L6pez, pp 1017-1020 This paper describes the application of an adaptive LQG/LTR controller to the automatic steering of ships. The controller is based on Nomoto's model and on the innovation model to identify the discrete-time system. The benefits of this controller are demonstrated by simulation.
212 Ship Motion Control Using Multiple Algorithms X. Jla, C. Yang, X. Ma, pp 1021-1025 The design and implementation of an autopilot for ships using multiple control strategies for both course-keeping and trackkeeping are discussed in this paper. A self-tuning regulator of the generalized minimum variance type is taken as the principal controller, to which an integral controller and a linear quadratic Gaussian controller are superposed to provide improved ship's motion control and enhanced energy saving. When the heading error exceeds a certain threshold, either PID control or a knowledge-based multi-mode controller will take over the heading control to overcome severe environmental disturbances or to speed up the tracking-following. The results of laboratory simulations and full-scale sea trials are reported.
213 State Observers for Hydraulic Drives Via Bilinenr 207 Stochastic Modeling and Adaptive LQG Control of a Ship M. Rostgaard, N.K. Ponlsen, B.G. Thygesen, O. Ravn,
Approximated Models H. Schwarz, R. Ingenbleek, pp 1027-1031
pp 1001-1004 The purpose of the paper is to discuss problems associated with variations of process dynamics and disturbances. The paper is based on a wen-known ship model which is expanded to take account of extemal disturbances, i.e. second-order approximations to wind and waves. It serves as a complement to computer studies using more-elaborate models. A selective forgetting method is used for identification, showing tracking ability and limitations on the covariance matrix. Using an explicit LQG design, an adaptive autopflot is formed, showing superior performance relative to a conventional PID controller.
208 Thruster Modelling and Energy-Optimization for an Autonomous Underwater Vehicle I. Spangelo, O. Egeland, pp 1005.1008 Energy-optimal trajectories for an autonomous underwater vehicle are investigated using control vector parameterization and single shooting. The vehicle has 6 propellers driven by DC motors.
The method of bilinearization for modeling nonlinear control systems is used to synthesize state observers with linear error dynamics for technical systems. This approach was successfully proved for electro-hydraulic drives in real applications.
214 Identification of Fast Time.Varying Systems Applied to a Turbo-Generator Set
V. Rachev, H. Unbehauen, pp 1033-1038 An identification method for systems with fast time-varying parameters is applied to a turbo-generator set. The utilized method approximates the time-varying parameters of a discrete linear model by their Taylor polynomials with respect to an auxiliary variable, which is correlated with the parameter changes. The approximation scheme is applied in such way that the parameter identification problem is turned to a problem of observing the states of a known state-space model. The resuhs of the identification of a turbo-generator set are given.
Abstracts
203 Determination of Grasp Forces for Robot Hands Based on Human Capabilities
I. Kim, H. Inooka, pp 979-984 This paper discusses a physiological approach motivated by the study of human hands, for robot hand force control. Humans control grasp force by sensing friction force. When slip is detected by sensing skin acceleration, the grasp force increases by a force proportional to the acceleration. Two methods that can predict when and how fingers will slip on a grasped object are considered. To emulate hmnan capabilities, a method is proposed for detenniulng grasp force, by using the change in the friction force. Experimental results show that the proposed method can he applied to control robot hands to grasp objects of arbitrary weight stably, without skin-like slip sensors.
204 Robot Motion Planningfor Moving Objects T. Sakaguchl, S. Sato, F. Miyazaki, pp 985-990 This paper describes robot-motion planning in a dynamic environment, that is, trajectory generation to attain a working Se with redundancy free for use under the restrictions of time ace. Juggling is used as the typical example of such a working purpose. In order to juggle several balls repeatedly using a real robot, a parametric representation of the robot motion, a hierarchical leamin!g control strategy, and a real-time modification of the end-tip trajectory using visual feedback are proposed. Experimental results obtained using a 2 DOF direct-drive manipulator are also shown.
205 Hybrid Control of Robot Manipulator without Force Sensor K. Ohishi, M. Miyazaki, M. Fujlta, Y. Ogino, pp 991-996 This paper proposes a new hybrid control of force and position without force sensor. The proposed hybrid control system is designed with both an / / ~ acceleration controller and a forceestimation system. The H ~ acceleration controller realizes fine and robust motion control. The reaction force-estimation system consists of the torque observer and the inverse dynamics calculation, and its estimated value is fed to the force-control system. The experimental results in this paper illustrate the fine hybrid control of the tested three-degrees-of-freedom DD robot manipulator without force sensors. 206 BioX++.Extended Learning Control of Biotechnological Processes K.D. Bettenhausen, H. Tolle, pp 997.1000
The technical use of biological or biochemical processes requires, in addition to the biological preparation and process engineering. inteUigent automatic control engineering whose performance characteristics excel those of the classical approaches. Most fermentations are operated in a phase-building batch mode, which does not allow a linearization of the unknown or only inexactly known process model, and the operation near one or several different working points. With BioX ++ an intelligent control system was successfully designed, whose fundamentals and extensions are described in this paper.
Optimal trajectories are calculated using three different throster models. The re.suits show that in order to achieve valid t r a j ~ e s the linear dependence of the thrust ooefficient on the vehicle's velocity has to he modelled. An optimal performance index as a function of time consumption is shown.
209 A Method to Determine the Applicability of Rudder Roll Stabllisation for Ships G.N. Roberts, pp 1009-1012 The problem addressed is that of assessing the suitability of Rudder Roll Stebilisation (RRS) for ships. The paper proposes a method whereby ship operators can assess the suitability of an RRS System for their ships, and allows an operator to establish the benefits of incorporating such a roll stabilisation system prior to embarking on a costly design exercise.
210 Small Marine Vessel Application of a Fuzzy PID Autopllot M.N. Polkinghorne, G.N. Roberts, R.S. Bums, pp 1013-1016 A fuzzy logic PID controller has been developed for a small maritime vessel. Responses in the course-keeping mode are investigated and compared to a classical PID autopflot over a typical range of weather conditions, with RMS yaw error and rudder action being utilised to quantify the quality of results obtained.
211 Adaptive Optimal Control of Ship Steering Autopilots F.R. Rubio, M.J. L6pez, pp 1017-1020 This paper describes the application of an adaptive LQG/LTR controller to the automatic steering of ships. The controller is based on Nomoto's model and on the innovation model to identify the discrete-time system. The benefits of this controller are demonstrated by simulation.
212 Ship Motion Control Using Multiple Algorithms X. Jla, C. Yang, X. Ma, pp 1021-1025 The design and implementation of an autopilot for ships using multiple control strategies for both course-keeping and trackkeeping are discussed in this paper. A self-tuning regulator of the generalized minimum variance type is taken as the principal controller, to which an integral controller and a linear quadratic Gaussian controller are superposed to provide improved ship's motion control and enhanced energy saving. When the heading error exceeds a certain threshold, either PID control or a knowledge-based multi-mode controller will take over the heading control to overcome severe environmental disturbances or to speed up the tracking-following. The results of laboratory simulations and full-scale sea trials are reported.
213 State Observers for Hydraulic Drives Via Bilinenr 207 Stochastic Modeling and Adaptive LQG Control of a Ship M. Rostgaard, N.K. Ponlsen, B.G. Thygesen, O. Ravn,
Approximated Models H. Schwarz, R. Ingenbleek, pp 1027-1031
pp 1001-1004 The purpose of the paper is to discuss problems associated with variations of process dynamics and disturbances. The paper is based on a wen-known ship model which is expanded to take account of extemal disturbances, i.e. second-order approximations to wind and waves. It serves as a complement to computer studies using more-elaborate models. A selective forgetting method is used for identification, showing tracking ability and limitations on the covariance matrix. Using an explicit LQG design, an adaptive autopflot is formed, showing superior performance relative to a conventional PID controller.
208 Thruster Modelling and Energy-Optimization for an Autonomous Underwater Vehicle I. Spangelo, O. Egeland, pp 1005.1008 Energy-optimal trajectories for an autonomous underwater vehicle are investigated using control vector parameterization and single shooting. The vehicle has 6 propellers driven by DC motors.
The method of bilinearization for modeling nonlinear control systems is used to synthesize state observers with linear error dynamics for technical systems. This approach was successfully proved for electro-hydraulic drives in real applications.
214 Identification of Fast Time.Varying Systems Applied to a Turbo-Generator Set
V. Rachev, H. Unbehauen, pp 1033-1038 An identification method for systems with fast time-varying parameters is applied to a turbo-generator set. The utilized method approximates the time-varying parameters of a discrete linear model by their Taylor polynomials with respect to an auxiliary variable, which is correlated with the parameter changes. The approximation scheme is applied in such way that the parameter identification problem is turned to a problem of observing the states of a known state-space model. The resuhs of the identification of a turbo-generator set are given.