Archive | ISA Transactions


Bilateral Control of Master-Slave Manipulators with Constant Time Delay

  Abstract: This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity […]

Continue Reading · 0

Modified Smith Predictor-Based Cascade Control of Unstable Time Delay Processes

  Abstract: An improved cascade control structure with a modified Smith predictor is proposed for controlling open-loop unstable time delay processes. The proposed structure has three controllers of which one is meant for servo response and the other two are for regulatory responses. An analytical design method is derived for the two disturbance rejection controllers by […]

Continue Reading · 1

Simulation and Stability Analysis of Neural Network Based Control Scheme for Switched Linear Systems

Abstract: This paper proposes a new adaptive neural network based control scheme for switched linear systems with parametric uncertainty and external disturbance. A key feature of this scheme is that the prior information of the possible upper bound of the uncertainty is not required. A feedforward neural network is employed to learn this upper bound. The […]

Continue Reading · 0

DC Servomechanism Parameter Identification: Closed-Loop Approach

  Abstract: This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop. A standard Proportional Derivative (PD) position controller stabilizes the loop without requiring knowledge on the servomechanism parameters. The analysis of the identification algorithm takes into account the control […]

Continue Reading · 1

Robust SDRE Filter Design for Nonlinear Uncertain Systems

Abstract: In order to remedy the effects of modeling uncertainty, measurement noise and input disturbance on the performance of the standard state-dependent Riccati equation (SDRE) filter, a new robust H∞ SDRE filter design is developed in this paper. Based on the infinity-norm minimization criterion, the proposed filter effectively estimates the states of nonlinear uncertain system exposed […]

Continue Reading · 1

Self-Tuning Control Strategies Within Two Adaptive Perspectives

Abstract: This paper presents a study on self-tuning control strategies with generalized minimum variance control in a fixed two degree of freedom structure – or simply GMV2DOF – within two adaptive perspectives. One, from the process model point of view, using a recursive least squares estimator algorithm for direct self-tuning design, and another, using a Mamdani […]

Continue Reading · 1

Dynamic Simulation and Control in Natural Gas Processing Plants

  Abstract: This manuscript highlights tangible benefits deriving from the dynamic simulation and control of operational transients of natural gas processing plants. Relevant improvements in safety, controllability, operability, and flexibility are obtained not only within the traditional applications, i.e. plant start-up and shutdown, but also in certain fields apparently time-independent such as the feasibility studies of […]

Continue Reading · 1

Simple Robust Auto-Tuning Rules for 2-DoF PID Controllers

  Abstract: This paper addresses the problem of providing simple tuning rules for a two-degree-of-freedom (2-DoF) PID controller (PI2) with robustness considerations. The introduction of robustness as a matter of primary concern is by now well established among the control community. Among the different ways of introducing a robustness constraint into the design stage, the purpose […]

Continue Reading · 1

New Missile Guidance Law for Moving Targets

Abstract: A novel nonlinear missile guidance law against maneuvering targets is designed based on the principles of partial stability. It is demonstrated that in a real approach which is adopted with actual situations, each state of the guidance system must have a special behavior and asymptotic stability or exponential stability of all states is not realistic. […]

Continue Reading · 0

Pin It on Pinterest