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A study on nonlinear robust adaptive control system design of industrial robotic manipulators
218
Abstracts
argued that for all but trivial systems it is desirable to implement the control system within a software environment which formally supports real-time multi-tasking. 207
The Digital Control System Realization of a Shortrange Surface-to-Air Mimile YangMk Baek, Jeoagwhan Kim, Byungchul Kwak, Kyupil Cheb pp 327.332
This paper presents the digital control system realDation of a Sho~-Range Surface-to-Air Missile (SRSAM). The system consists o f on-board computer, control sensors and input/output data interface, whose functions are processing of autopilot algorithm, control gain scheduling, fin command mixing, and data interfacing. Design requinnnents of the on-board computer am to execute the autopilot algorithm within 5 msec, to meet the interface protocol with other subsystems, and to minimize the weight and size. In order to verify the performance of the realized digital control system, foal-time Hardware-In-the-Loop Simulation 0 / I I ~ ) using an ADI100/10 computer and Carco Flight Motion Simulator (FMS) is performed. 208
Continuation Method for Dynamic Economic Load Dispatch with Emission Constraints T. Satoh, H., FuJli, T. OkRa, pp 333-337
This paper presents a method for solving a dynamic economic load dispatch problem of electric power systems. Since the expecte~ system load varies over a given time horizon, the sum of generator outputs follows the system load subject to powerrate limits on generators. In order to solve the dynamic ELD problem, the continuation method is employed. It is shown that each generator output is expressed as a piecewise-linear function of a continuation parameter, and this enables the optimal solution to be obtained efficiently. Numerical tests for a model system indicate the validity and effectiveness of the proposed method. 209
Real.Time Architecture of an Active Noise Attenuation System Using Microprocessor DSP96002 W.K. Yung, K.F. Man, pp 339-344
The key element of an active noise attenuation (ANA) scheme is its capability of identifying the noise dynamics in real time, and the use of adaptive optimal control laws to generate the
corresponding anti-phase acoustic signal for the ultimate noise cancellation. In the context of robustness, convergence and tracking capability of the parameter-estimating process, a new robust recursive least squares (RLS) algorithm is derived. To enhance its real-time performance. Motorola's DSP6002 f l o a t i n g - ~ t aritlnn.~c digital processor chip has been uaecL l ne accuracy ot arithmeuc computation and the speed of rocessing of the algorithm have been greatly improved and it as been found to be well-suited for applieauon in ANA systems.
~
210
A Study on Nonlinear Robust Adaptive Control System Dmllgn ol' Industrial Robotic Manipulators Sung Hyun Hun, Man Hyoung Lee, pp 345-350
This paper presents a new and simple robust adaptive control system for the implementation of real-time control of multi-joint robot manipulators. Based on the linearized dynamic equation, the adaptive control scheme uses a least square identification (LSAC) to perform the on-line parameter estimation of the feedback controller gains. Next, the nonlinear robust adaptive control system (NRAC) performs robust and real-time control of the desired trajectosy-tmcking. The performance of the proposed algorithm is oompamd with a similar adaptive control scheme. To demonstrate the effectiveness of the proposed system, simulation is performed trader the existence of errors of inea'tia parameters, and with unknown payloads.
211
An Object-Oriented Conceptionof" Real-time Control of FMS J. Fogdd, J. Sebesty(mov~h pp 351-357
The concept of the object-oriented database and the knowledge system represented by production rules is described. The design of the database is problem-oriented to FMS and contains the predefined objects' classes. The production rules are divided into three groups: process knowledge roles (which create a dynamic state model of the resources), production plan rules (which define preconditions of the operations), and expert knowledge roles (which create a reasoning model for solvinl~ a faulty situation). The real-time temporal logic as a assemon language for the specification of the behaviour of the manufacturing processes is described, and the verification of these behaviours in the stage of simulation is described.
Customers wishing to purchase copies of the publications abslracted in this section should contact their nearest Pergamon Press office (as below), quoting the ISBN and rifle:
Pergamon Press Ltd, Headington Hill Hall, Oxford, OX30BW, UK
Pergamon Press Inc., 660 White Plains Road, Tarrytown, NY 10591-5153, USA
Abstracts
argued that for all but trivial systems it is desirable to implement the control system within a software environment which formally supports real-time multi-tasking. 207
The Digital Control System Realization of a Shortrange Surface-to-Air Mimile YangMk Baek, Jeoagwhan Kim, Byungchul Kwak, Kyupil Cheb pp 327.332
This paper presents the digital control system realDation of a Sho~-Range Surface-to-Air Missile (SRSAM). The system consists o f on-board computer, control sensors and input/output data interface, whose functions are processing of autopilot algorithm, control gain scheduling, fin command mixing, and data interfacing. Design requinnnents of the on-board computer am to execute the autopilot algorithm within 5 msec, to meet the interface protocol with other subsystems, and to minimize the weight and size. In order to verify the performance of the realized digital control system, foal-time Hardware-In-the-Loop Simulation 0 / I I ~ ) using an ADI100/10 computer and Carco Flight Motion Simulator (FMS) is performed. 208
Continuation Method for Dynamic Economic Load Dispatch with Emission Constraints T. Satoh, H., FuJli, T. OkRa, pp 333-337
This paper presents a method for solving a dynamic economic load dispatch problem of electric power systems. Since the expecte~ system load varies over a given time horizon, the sum of generator outputs follows the system load subject to powerrate limits on generators. In order to solve the dynamic ELD problem, the continuation method is employed. It is shown that each generator output is expressed as a piecewise-linear function of a continuation parameter, and this enables the optimal solution to be obtained efficiently. Numerical tests for a model system indicate the validity and effectiveness of the proposed method. 209
Real.Time Architecture of an Active Noise Attenuation System Using Microprocessor DSP96002 W.K. Yung, K.F. Man, pp 339-344
The key element of an active noise attenuation (ANA) scheme is its capability of identifying the noise dynamics in real time, and the use of adaptive optimal control laws to generate the
corresponding anti-phase acoustic signal for the ultimate noise cancellation. In the context of robustness, convergence and tracking capability of the parameter-estimating process, a new robust recursive least squares (RLS) algorithm is derived. To enhance its real-time performance. Motorola's DSP6002 f l o a t i n g - ~ t aritlnn.~c digital processor chip has been uaecL l ne accuracy ot arithmeuc computation and the speed of rocessing of the algorithm have been greatly improved and it as been found to be well-suited for applieauon in ANA systems.
~
210
A Study on Nonlinear Robust Adaptive Control System Dmllgn ol' Industrial Robotic Manipulators Sung Hyun Hun, Man Hyoung Lee, pp 345-350
This paper presents a new and simple robust adaptive control system for the implementation of real-time control of multi-joint robot manipulators. Based on the linearized dynamic equation, the adaptive control scheme uses a least square identification (LSAC) to perform the on-line parameter estimation of the feedback controller gains. Next, the nonlinear robust adaptive control system (NRAC) performs robust and real-time control of the desired trajectosy-tmcking. The performance of the proposed algorithm is oompamd with a similar adaptive control scheme. To demonstrate the effectiveness of the proposed system, simulation is performed trader the existence of errors of inea'tia parameters, and with unknown payloads.
211
An Object-Oriented Conceptionof" Real-time Control of FMS J. Fogdd, J. Sebesty(mov~h pp 351-357
The concept of the object-oriented database and the knowledge system represented by production rules is described. The design of the database is problem-oriented to FMS and contains the predefined objects' classes. The production rules are divided into three groups: process knowledge roles (which create a dynamic state model of the resources), production plan rules (which define preconditions of the operations), and expert knowledge roles (which create a reasoning model for solvinl~ a faulty situation). The real-time temporal logic as a assemon language for the specification of the behaviour of the manufacturing processes is described, and the verification of these behaviours in the stage of simulation is described.
Customers wishing to purchase copies of the publications abslracted in this section should contact their nearest Pergamon Press office (as below), quoting the ISBN and rifle:
Pergamon Press Ltd, Headington Hill Hall, Oxford, OX30BW, UK
Pergamon Press Inc., 660 White Plains Road, Tarrytown, NY 10591-5153, USA