An Integrated Approach to Controls and Diagnostics: The 4-Parameter Controller

Abstract. The stability of the PUMA-560 robot manipulator is investigated under model mismatch using PD and PID controllers. Craig's quadratic half-plane constraint analysis is applied, and conditions are found in terms of calculated position and velocity error upper bounds to guarantee the stability of the robot arm under PD control. The theory is extended to guarantee stability under PID control using the modified positive quadratic space constraint analysis. Dynamic model mismatch is assumed to result from incomplete knowledge of the link masses, centers of mass and radii of gyration. The results indicate stability regions under different percentages of individual and combined parameter mismatch in the model.

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“…where U is the same as in (8). An additional operator and error transfer function matrix is defined as…”

Section: Pid Control Based Stability Analysismentioning

confidence: 99%

PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch

Valavanis

Larsson

Gardner

1993

J Intell Robot Syst

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“…Initiated by Nett et al (1988), study on the integrated design of control and diagnosis has received much attention, both in the research and application domains. The original idea of the integrated design scheme proposed by Nett et al (1988) is to manage the interactions between the control and diagnosis in an integrated manner (Jacobson and Nett 1991;Ding 2009).…”

Section: Introductionmentioning

confidence: 99%

Robust Fault Diagnosis and Control

Ding

2013

Encyclopedia of Systems and Control

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Aiming at increasing system reliability and availability, integration of fault diagnosis into feedback control systems and integrated design of control and diagnosis receive considerable attention in research and industrial applications. In the framework of robust control, integrated diagnosis and control systems are designed to meet the demand for system robustness. The core of such systems is an observer that delivers needed information for a robust fault detection and feedback control.

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“…In this section, we consider the problem of designing an [3][4][5][6][7][8][9][10][11][12] optimal controller which provides a nominally small output and also tracks faults. The following assumptions simplify the analysis, and relaxing these assumptions do not change the nature of the results:…”

Section: -I2 Optimal Control and Diagnosticsmentioning

confidence: 99%

“…By parameterizing all stabilizing controllers of this form, he was able to elucidate tradeoffs involving both controller performance and diagnostic performance. In addition to diagnostic tradeoffs such as between the detection of sensor and actuator faults, Nett et al [12] have shown that when uncertain models are used, control performance must be traded off against diagnostic performance. This work suggests that both control and diagnostic modules must be designed together.…”

Section: Introductionmentioning

confidence: 99%

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Optimal and robust design of integrated control and diagnostic modules

Tyler

Morari

Proceedings of 1994 American Control Conference - ACC '94

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The problem of designing an integrated control and diagnostic module is considered. The four degree of freedom controller is recast into a general framework wherein results from optimal and robust control theory can be easily implemented. For the case of an 'If2 objective, it is shown that the optimal control-diagnostic module involves constructing an optimal controller, closing the loop with this controller, and then designing an optimal diagnostic module for the closed loop. When uncertain plants are involved, this two-step method does not lead to reasonable diagnostics, and the control and diagnostic modules must be synthesized simultaneously. An example shows how this design can be accomplished with available methods.

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An Integrated Approach to Controls and Diagnostics: The 4-Parameter Controller

Cited by 75 publications

References 7 publications

PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch

PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch

Robust Fault Diagnosis and Control

Optimal and robust design of integrated control and diagnostic modules

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