ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL

Transcription

1 ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL Preprints ofthe IFAC Workshop, Seoul, Korea, 31 August - 2 September 1992 Edited by PJ. FLEMING Department of Automatic Control and Systems Engineering, University of Sheffield, UK and W.H. KWON Engineering Research Center for Advanced Control and Instrumentation, Seoul National University, Korea Lf "-7 "\ CJ 5 < «Published for the INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL by PERGAMON PRESS OXFORD NEW YORK SEOUL TOKYO

2 CONTENTS ' Issues in Real-Time Control Contemporary Computers Considered Inappropriate for Real-Time Control (Invited Paper) W.A. HALANG Hard Deadlines in Real-Time Control Systems (Invited Paper) K.G. SHIN, H. KIM Parallel Algorithms Parallel Algorithms for Control (Invited Paper) 15 G.W. IRWIN Parallel Algorithms for the Quasi-Triangulär Generalized Sylvester Matrix Equation on a 23 Shared Memory Multiprocessor M. MARQUES, V. HERNANDEZ A Systolic Algorithm for the Triangulär Sylvester Equation in a Linear Array 29 J.L. HUESO, G. MARTINEZ, V. HERNANDEZ Real Time Control of a Multiple Arm System by Large Scale Multiprocessing 37 T. HOSHINO, K. FURUTA Multiprocessor Systems A Modular, Massively Parallel Computer Architecture for Trainable Real-Time Control Systems 43 K. NILSSON, B. SVENSSON, P.A. WIBERG Parallelized Inverse Dynamics Algorithm for Dynamic Control of a Robot Manipulator 49 S. KIM, H.K. YI, C.L. ROH, M.J. CHUNG Robot Position Control Based On a Transputer Network with a Contactless Sensor 55 K.H. KIM, P. LAUER, U. KUNZ A Transputer-Based Controller for the RTX Robot 61 P. BAUTERS, R. DE KEYSER, Y. SONG, P.V. RENTERGHEM Implementation of Parallel Logic SoMng Algorithm for the PLC Based On Dataflow Architecture 67 J. PARK, N. CHANG, G.S. RHO, W.H. KWON Fault-Tolerant Systems An Architecture Enabling the Safety Licensing of Real Time Controllers 73 W.A. HALANG, S.K. JUNG v

3 Safe, Fault-Tolerant and Deterministic Algorithms for Real Time Control 81 RR. CROLL Voting Software for Fault-Tolerant Aircraft Flight Control Systems 87 J.M. BASS, P.J. FLEMING A Fault-Tolerant Control System for a High Performance Induction Motor Drive 93 S.H. KIM, S.K. SUL, M.H. PARK Neural Networks A Parallel Algorithm for Training Neural Network Based Nonlinear Models 99 G. LIGHTBODY, G.W. IRWIN Review of Identification Techniques for Nonlinear Systems Using Neural Networks 105 P.C. OJHA, R.M.C. DE KEYSER Optimal Edge Selection by the Modified Genetic Algorithm 111 C.H. CHUNG, K.S. LEE Real-Time Faults Diagnosis in a Large-Scale System Using Neural Networks Based on 117 Signed Gain Digraph with Application H.Y. JUNG, Z. BIEN Neural Network Implementation for Real-Time Closed-Loop Motion Control of Redundant 123 Robots Q. CHEN, J.Y.S. LUH System Identification using Neural Networks 129 K. ENDO, Y. ISHIDA Artificial Neural Network Approach to Inferential Control of Volatility in Refinery Plants 135 H. CHANG, X. SHEN, M. RAO Identification On-Line Identification of State-Space Models via Exploitation of Displacement Structure 141 Y. M. CHO, G. XU, T. KAILATH, R. ROY Index Rule Scheduling Policies Applied to Identification 147 C. OLIVIER, O. DESSOUDE A Curve-Broken-Line Method for System Identification 153 F. KONG, R. M. C. DE KEYSER Robust Failure Detection and Isolation In Non-Linear Control Systems 159 A.Y. SHUMSKY vi

4 Real-Time Robot Control A New Dynamic Neurocontrol Architecture for Robot Manipulators 165 Y.J. MOON, S.Y. OH A Signal Processor Based Real Time Control for a Position and Orientation Measurement 171 System for Industrial Robots H. GANDER, J.P. PRENNINGER, M. VINCZE Accuracy Increasing of Robot Real-Time Control 177 E.P. KUKAREKO, A.P. PASHKEVICH, D.E. KHMEL, A.N. KORZUN, Y.L. YURKEWICH Design of a Simple and Robust Control System for a Single-Link Flexible Robot Arm 181 K.B. PARK, J.J. LEE Suppression Method of Disturbance Torque due to System Drift Via an Observer in the Robot 187 Control System D.I. KIM, B.H. JEON, S. KIM An Extended Workspace Mapping Algorithm and Its Implementation in a Nuclear 193 Tele-Robotic Control System Y.S. PARK, W.T. JEONG, J.S. YOON, J.S. LEE, H.S. PARK, H.S. CHO Real-Time Algorithm of the Inverse Dynamics of Flexible Arms 199 G. WANG, G. LU Real-Time Navigation and Obstacle Avoidance Based on Grids Method for Fast Mobile Robot 205 Z.Q. MA, Z.R. YUAN Real-Time Filtering Algorithms Structured Matrices and Fast RLS Adaptive Filtering 211 A.H. SAYED, T. KAILATH Development of a Track-While-Scan Filter with Pseudomeasurements 217 T.L. SONG, J.Y. AHN, T.Y. UM A Reduced Order Extended Kaiman Filter Algorithm for Parameter and State Estimation 225 of An Induction Motor P. MURACA, C. PICARDI On Stochastic Lyapunov Function Method in Optimal Linear Filtering Problem 231 H.S. HOANG, O. TAL AGRAND Fuzzy Control Specification of Intelligent Controllers for Discrete Event Systems in a Temporal Logic Framework 237 D. IONESCU, J.Y. LIN, H.S. HWANG vn

5 A New Decomposition Method of Relation Matrices of Multivariable Fuzzy Systems 243 G.J. JEON, K.K. LEE, P.G. LEE Identification of Fuzzy Control Rules Utilizing Genetic Algorithms and Its Application to 249 Mobile Robot H.S. HWANG, Y.H. JOO, H.K. KIM, K.B WOO Control of Fed-Batch Fermentation Process Using a Self-Organizing Fuzzy Controller 255 M.S. PARK, Y.K. CHANG Adaptive and Self-Tuning Control Parallel Adaptive Control for Turbogenerator Systems 261 M.D. BROWN, G.W. IRWIN, E. SWIDENBANK, B.W. HOGG Expert Auto-Tuner for Multivariable Control Applications 267 K.A. TOH, R. DE VAN ÄTHAN An Intelligent Self-Tuning Controller and Its Application to Load / Pressure Control System 273 J.Z. LIU, Y.Q. LIU, D.Z. LI Synthesis of Adaptive Control Systems for Robots 279 V. F. FILARETOV A Simplified Robust Predictive Controller in the Presence of Exogenous Bounded Disturbances 285 GH. WU, X.Y. GU Control Algorithms A Hybrid Method for Real-time Simulation of Continuous-time Bilinear Systems 289 X. YIN, H. SCHWARZ A Study on the Minimal Time Control Problem of a Quantized Linear Discrete System with 295 Rational Coefficients T. MUNAKATA Predictive Control of Systems with Multiplexed Measurements 301 G.I. JEE, R. ROY Real-Time Expert Intelligent Control System, REICS 307 Y.N. WANG, T.S. TONG, Z.X. CAI, J. ZHANG, X.M. ZHANG Real-Time Control Applications Control Environment Implementation Issues - with Case Studies 313 R.E. BETZ, P.J. MOYLAN, L.J. SCIACCA vin

6 Real-time Cell Control for Flexible Manufacturing 319 A. FAHIM, K.H. CHOI The Digital Control System Realization of a Short Range Surface to Air Missile 327 Y. BAEK, J. KIM, B. KW AK, K. CHO Continuation Method for Dynamic Economic Load Dispatch with Emission Constraints 333 T. SATOH, H. FUJII, T. OKITA Real-Time Architecture of an Active Noise Attenuation System Using Microprocessor DSP W.K. YUNG, K.F. MAN A Study on Nonlinear Robust Adaptive Control System Design of Industrial Robotic 345 Manipulator S.H. HAN, M.H. LEE An Object-Oriented Conception of a Real-Time Control of FMS 351 J. FOGEL, J. SEBESTYENOVA Author Index 359 Keyword Index 361 ix