Electrical Engineering

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We report a new nondestructive technique for the determination of depth of proton exchanged (PE) layers in LiNbO3. Relying on the difference in the magnitudes of measured pyroelectric voltages, induced by an intensity modulated laser beam, on the exchanged and unexchanged regions, the depth of the PE layer has been measured and corroborated by a conventional optical characterization method.

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Applied Physics Letters

Proton exchanged depth determination in LiNbO3 from laser induced pyroelectric voltage measurements

To make an appropriate choice of linear model for the development of real‐time control of robot manipulators, four direct linearization schemes have been studied here on the basis of computation and accuracy. Accuracy is assured in the state linearization method, whereas the rate linearization method leads to a satisfactory trade‐off between computational effort and accuracy. In the case of high‐velocity motions, a combination of state and rate linearization is proposed. Copyright © 1992 Wiley Periodicals, Inc., A Wiley Company

Journal of Robotic Systems

Linearized dynamic models for trajectory control of robot manipulators

The tracking problem for a robotic manipulator with uncertain dynamics is considered. The proposed control scheme utilizes manipulator ‚inverse’ as an adaptive feedforward controller, the controller gains are updated to cow with variations in the manipulator inverse due to changes the operating point A feedback conlroller that provides arbitrary assignment of all eigenvalues and certain parts o f 3 closed-loop eigenvector structure: Is also used. Eigenstructure assignment is used to enhance closed-loop stability and to achieve robust tracking. Simulation results are presented in support of the proposed control scheme. The results demonstrate satisfactory performance of the controller despite variations in payload. © 1991 Taylor & Francis Group, LLC.

International Journal of Systems Science

Robust trajectory control of a robot manipulator

The DC motors used in robotics and other industrial applications are submitted to frequent environment changes. As a consequence the motor model has time-varying parameters resulting in a poor performance when nonadaptive linear controllers are used. In this paper, two adaptive schemes for the position control of DC servomotors have been studied. The first scheme is based on self-tuning technique which uses pole-assignment by linear state feedback as the control strategy The second scheme uses adaptive feedforward in addition to pole-assigning linear state feedback. Experimental results show that a simple self-tuning control scheme for DC servomotors is a better solution to low cost automation problems in robotics and other industrial applications. The results obtained show that the adaptive scheme proposed by Kelly seems to offer no great benefit, rather it seems to increase the amount of overshoot. Standard schemes such as self-tuning control provide cost-effective solution to the control problem. The paper is organized as follows: a DC motor model and linear state feedback controller are discussed in Section II. Section III deals with self-tuning regulator, whereas adaptive feed-forward with linear state feedback is dealt with in Section IV. Experimental results on the DC motor control are given in Section V and some conclusions are drawn in Section VI.

IFAC Proceedings Series

Adaptive control schemes for DC servomotors

Two closed-loop hierarchical control strategies are examined for the control of a two-area hydro-thermal power system model. The control is obtained using the interaction prediction approach and structural perturbation method. The first approach has been developed to provide optimal feedback control using an off-line decentralized calculation procedure. The second method is based on obtaining local feedback controllers for each subsystem on the first level by ignoring the interactions, then a global controller at the second level provides corrective signals to neutralize the interaction effects. In addition, the dynamic behaviour of the power system under the effect of non-linearities is also investigated. Finally, a two-area hydro-thermal power system is used to illustrate the approaches. © 1989 Taylor & Francis Group, LLC.

Multilevel optimization of a hydro-thermal interconnected power system

Industrial robots are multilink, highly nonlinear and coupled dynamic systems, where control is a difficult and challenging task. This paper presents a review of the basic problems involved and their existing control solutions. This review also attempts to give a broadbased classification of control strategies.

IETE Journal of Research

Control strategies for robot manipulators. A review

An algorithm for the trajectory control of robot manipulators by decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple, computationally easy, and robust to parametric uncertainties and payload variations.

DECENTRALISED VARIABLE STRUCTURE MODEL FOLLOWING CONTROLLER FOR ROBOT MANIPULATORS.

A simple approach for designing decentralized regulators for interconnected systems via an aggregation technique based on scalar Lyapunov functions is presented in this paper. The proposed method is illustrated through an example of two-area power system.

Journal of the Institution of Engineers (India): Electrical Engineering Division

DECENTRALIZED STABILIZATION OF INTERCONNECTED SYSTEMS.

The design problem of an optimal deadbeat state observer for discrete-time systems has been discussed in this paper. The non-measurable states of the plant are reconstructed with a reduced-order dynamic observer. The problem of estimation is treated as a regulator problem wherein the quadratic performance index, which penalizes the error in estimation, is minimized in an average sense over a set of observer gain matrices which force observer poles to the origin. An efficient computational procedure based on direct cost optimization using gradient type algorithm is also reported. A case study of a boiling water reactor power plant has been presented to illustrate the usefulness of the proposed optimal deadbeat observer.

Journal of the Institution of Engineers. India. Electronics and telecommunication engineering division

DESIGN OF AN OPTIMAL DEADBEAT REDUCED-ORDER OBSERVER FOR A NUCLEAR BOILING WATER REACTOR.

Application of optimal control theory to a pressurised water reactor is the theme of this paper. The multi-input mathematical model of the H.B. Robinson pressurised water reactor plant, reported by Kerlin et al is simplified to a single-input one. The optimal control problem of the linear model is treated as a regulator problem wherein the given quadratic index of performance including a sensitivity term is minimised in an average sense. An efficient computational procedure based on direct cost optimization using a gradient type algorithm is also reported. Copyright © 1987 by The Institute of Electrical and Electronics Engineers, Inc.