Multiobjective control of a four-link flexible manipulator: A robust H∞ approach

Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper presents an approach to robust H∞ control of a real multilink flexible manipulator via regional pole assignment. We first show that the manipulator system can be approximated by a linear continuous uncertain model with exogenous disturbance input. The uncertainty occurring in an operating space is assumed to be norm-bounded and enter into both the system and control matrices. Then, a multiobjective simultaneous realization problem is studied. The purpose of this problem is to design a state feedback controller such that, for all admissible parameter uncertainties, the closed-loop system simultaneously satisfies both the prespecified H∞ norm constraint on the transfer function from the disturbance input to the system output and the prespecified circular pole constraint on the closed-loop system matrix. An algebraic parameterized approach is developed to characterize the existence conditions as well as the analytical expression of the desired controllers. Third, by comparing with the traditional linear quadratic regulator control method in the sense of robustness and tracking precision, we provide both the simulation and experimental results to demonstrate the effectiveness and advantages of the proposed approach

Uncertainty Updating in the Description of Coupled Heat and Moisture Transport in Heterogeneous Materials

To assess the durability of structures, heat and moisture transport need to be analyzed. To provide a reliable estimation of heat and moisture distribution in a certain structure, one needs to include all available information about the loading conditions and material parameters. Moreover, the information should be accompanied by a corresponding evaluation of its credibility. Here, the Bayesian inference is applied to combine different sources of information, so as to provide a more accurate estimation of heat and moisture fields [1]. The procedure is demonstrated on the probabilistic description of heterogeneous material where the uncertainties consist of a particular value of individual material characteristic and spatial fluctuations. As for the heat and moisture transfer, it is modelled in coupled setting [2]

Diseño para operabilidad: Una revisión de enfoques y estrategias de solución

In the last decades the chemical engineering scientific research community has largely addressed the design-foroperability problem. Such an interest responds to the fact that the operability quality of a process is determined by design, becoming evident the convenience of considering operability issues in early design stages rather than later when the impact of modifications is less effective and more expensive. The necessity of integrating design and operability is dictated by the increasing complexity of the processes as result of progressively stringent economic, quality, safety and environmental constraints. Although the design-for-operability problem concerns to practically every technical discipline, it has achieved a particular identity within the chemical engineering field due to the economic magnitude of the involved processes. The work on design and analysis for operability in chemical engineering is really vast and a complete review in terms of papers is beyond the scope of this contribution. Instead, two major approaches will be addressed and those papers that in our belief had the most significance to the development of the field will be described in some detail.En las últimas décadas, la comunidad científica de ingeniería química ha abordado intensamente el problema de diseño-para-operabilidad. Tal interés responde al hecho de que la calidad operativa de un proceso esta determinada por diseño, resultando evidente la conveniencia de considerar aspectos operativos en las etapas tempranas del diseño y no luego, cuando el impacto de las modificaciones es menos efectivo y más costoso. La necesidad de integrar diseño y operabilidad esta dictada por la creciente complejidad de los procesos como resultado de las cada vez mayores restricciones económicas, de calidad de seguridad y medioambientales. Aunque el problema de diseño para operabilidad concierne a prácticamente toda disciplina, ha adquirido una identidad particular dentro de la ingeniería química debido a la magnitud económica de los procesos involucrados. El trabajo sobre diseño y análisis para operabilidad es realmente vasto y una revisión completa en términos de artículos supera los alcances de este trabajo. En su lugar, se discutirán los dos enfoques principales y aquellos artículos que en nuestra opinión han tenido mayor impacto para el desarrollo de la disciplina serán descriptos con cierto detalle.Fil: Blanco, Anibal Manuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; ArgentinaFil: Bandoni, Jose Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; Argentin

COTS simulation package (CSP) interoperability - A solution to synchronous entity passing

In this paper we examine Commercial-Off-The- Shelf (COTS) Simulation Package (CSP) interoperability for one type of distributed simulation problem, namely synchronous entity passing. Synchronous entity passing is also referred to as the bounded buffer interoperability reference model. It deals with the case where for entities passed between models the receiving queue is bounded or the receiving workstation has limited capacity. This means the sending model must check the status of the receiving model before it can send entities. Correspondingly, the receiving model should update the status information dynamically when it changes. Similar to the work done on asynchronous entity passing, the High Level Architecture is chosen as the underlying standard to support reuse and interoperability. To simplify the integration of the CSP and the HLA, a middleware layer called DSManager is provided. Some new problems generated for synchronous entity passing are discussed and solutions are proposed together with a description of their implementation. Two sets of experiments are conducted to evaluate the solutions using a CSP Emulator (CSPE) which supports both standalone and distributed simulation

Robustness and performance trade-offs in control design for flexible structures

Linear control design models for flexible structures are only an approximation to the “real” structural system. There are always modeling errors or uncertainty present. Descriptions of these uncertainties determine the trade-off between achievable performance and robustness of the control design. In this paper it is shown that a controller synthesized for a plant model which is not described accurately by the nominal and uncertainty models may be unstable or exhibit poor performance when implemented on the actual system. In contrast, accurate structured uncertainty descriptions lead to controllers which achieve high performance when implemented on the experimental facility. It is also shown that similar performance, theoretically and experimentally, is obtained for a surprisingly wide range of uncertain levels in the design model. This suggests that while it is important to have reasonable structured uncertainty models, it may not always be necessary to pin down precise levels (i.e., weights) of uncertainty. Experimental results are presented which substantiate these conclusions

The HIRM+ Flight Dynamics Model

The major objective of the GARTEUR Action Group on Analysis Techniques for Clearance of Flight Control Laws FM(AG-11) is the improvement of the flight clearance process by increased automation of the tools used for modelbased analysis of the aircraft’s dynamical behaviour. What is finally needed are techniques for faster detection of the worst case combination of parameter values and manoeuvre cases, from which the flight clearance restrictions are be derived. The basis for such an analysis are accurate mathematical models of the controlled aircraft. In this chapter the HIRM+ flight dynamics model is described as one of the benchmark military aircraft models used within FM(AG-11). HIRM+ originates from the HIRM (High Incidence Research Model) developed within the GARTEUR Action Group on Robust Flight Control M(AG-08). In building the HIRM+, additional emphasis has been put on realistic modelling of parametric uncertainties