IEEE Transactions on Industrial Electronics 

Volume 48,  Number 1, Feb 2001           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                Special Section on Computational Intelligent Methodologies and Sliding Mode Control

48.1.1    O. Kaynak, "Guest editorial special section on computationally intelligent methodologies and sliding-mode control," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 2-3, Feb 2001.   Abstract Link    Full Text

Abstract: Not Available

48.1.2    O. Kaynak, K. Erbatur, M. Ertugnrl, "The fusion of computationally intelligent methodologies and sliding-mode control-a survey," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 4-17, Feb 2001.   Abstract Link    Full Text

Abstract: This paper surveys how some “intelligence” can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the well-known problems met in practical implementations of SMCs. The use of variable-structure system theory in design and stability analysis of fuzzy controllers is also discussed by drawing parallels between fuzzy control and SMCs. An overview of the research and applications reported in the literature in this respect is presented

48.1.3    R.G. Berstecher, R. Palm, H.D. Unbehauen, "An adaptive fuzzy sliding-mode controller," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 18-31, Feb 2001.   Abstract Link    Full Text

Abstract: This paper deals with a new adaptive fuzzy sliding-mode controller and its application to a robot manipulator arm. The theory for this approach and for the heuristics-based linguistic adaptation is presented, and a mathematical description is derived. Furthermore, an application of this adaptive controller for a two-link robot arm is shown. The obtained results show the high efficiency of the new controller type

48.1.4    L.K. Wong, F.H.F. Leung, P.K.S. Tam, "A fuzzy sliding controller for nonlinear systems," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 32-37, Feb 2001.   Abstract Link    Full Text

Abstract: It is well known that sliding-mode control can give good transient performance and system robustness. However, the presence of chattering may introduce problems to the actuators. Many chattering elimination methods use a finite DC gain controller which leads to a finite steady-state error. One method to ensure zero steady-state error is using a proportional plus integral (PI) controller. This paper proposes a fuzzy logic controller which combines a sliding-mode controller (SMC) and a PI controller. The advantages of the SMC and the PI controller can be combined and their disadvantages can be removed. The system stability is proved, although there is one more state variable to be considered in the PI subsystem. An illustrative example shows that good transient and steady-state responses can be obtained by applying the proposed controller

48.1.5    Q.P. Ha, Q.H. Nguyen, D.C. Rye, H.F. Durrant-Whyte, "Fuzzy sliding-mode controllers with applications," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 38-46, Feb 2001.   Abstract Link    Full Text

Abstract: This paper concerns the design of robust control systems using sliding-mode control that incorporates a fuzzy tuning technique. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is first designed using pole placement. Switching control is then added to guarantee that the state reaches the sliding mode in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to improve control performance and to reduce chattering in the sliding mode. The practical application of fuzzy logic is proposed here as a computational-intelligence approach to engineering problems associated with sliding-mode controllers. The proposed method can have a number of industrial applications including the joint control of a hydraulically actuated mini-excavator as presented in this paper. The control hardware is described together with simulated and experimental results. High performance and attenuated chatter are achieved. The results obtained verify the validity of the proposed control approach to dynamic systems characterized by severe uncertainties

48.1.6    Chih-Lyang Hwang, Chau Feb, Ye-Hwa Chen, "Piezomechanics using intelligent variable-structure control," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 47-59, Jan 2001.   Abstract Link    Full Text

Abstract: The so-called piezomechanics contain three parts: piezoelectric translator, carriage mechanism, and control system. It is well known that piezomechanics have three drawbacks: (1) it should only be loaded axially; (2) it contains a hysteresis feature; and (3) its expansion is dependent on temperature. The first drawback is tackled by the design of the carriage mechanism. This paper focuses on dealing with the second and third drawbacks by using an intelligent variable-structure control. First, a neural network is employed to learn the dynamics of the piezomechanism. Second, a novel forward control based on the learned model is employed to achieve an acceptable tracking result. Because the tracking performance by a forward control cannot be guaranteed as the system is subject to uncertainties, a discrete-time variable-structure control is synthesized to improve the performance. No state estimator is required for the proposed control. The stability of the overall system is verified via the Lyapunov analysis. Experiments are also presented to confirm the effectiveness of the proposed control

48.1.7    Faa-Jeng Lin, Rong-Jong Wai, "Sliding-mode-controlled slider-crank mechanism with fuzzy neural network," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 60-70, Feb 2001.   Abstract Link    Full Text

Abstract: The dynamic response of a sliding-mode-controlled slider-crank mechanism, which is driven by a permanent-magnet (PM) synchronous servo motor, is studied in this paper. First, a position controller is developed based on the principles of sliding-mode control. Moreover, to relax the requirement of the bound of uncertainties in the design of a sliding-mode controller, a fuzzy neural network (FNN) sliding-mode controller is investigated, in which a FNN is adopted to adjust the control gain in a switching control law on line to satisfy the sliding mode condition. In addition, to guarantee the convergence of tracking error, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the FNN. Numerical and experimental results show that the dynamic behaviors of the proposed controller-motor-mechanism system are robust with regard to parametric variations and external disturbances. Furthermore, compared with the sliding-mode controller, smaller control effort results and the chattering phenomenon is much reduced by the proposed FNN sliding-mode controller

48.1.8    J.R. Espinoza, G. Joos, J.I. Guzman, L.A. Moran, R.P. Burgos, "Selective harmonic elimination and current/voltage control in current/voltage-source topologies: a unified approach," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 71-81, Feb 2001.   Abstract Link    Full Text

Abstract: This paper presents a unified approach for generating pulsewidth-modulated patterns for three-phase current-source rectifiers and inverters (CSR/Is) that provides unconstrained selective harmonic elimination and fundamental current control. The approach uses the chopping angles or gating patterns developed for voltage-source rectifiers and inverters in combination with a logic circuit to generate the gating patterns for CSR/Is. The circuit also includes naturally and symmetrically distributed shorting pulses. Thus, the approach avoids the hassle of positioning the shorting pulses and defining and solving a set of nonlinear equations dedicated to CSR/Is. Moreover, the approach can eliminate an even or odd arbitrary number of harmonics (e.g., fundamental current control and elimination of the 5th, 7th, and 11th harmonics). This is an improvement over existing techniques and a new approach to pattern generation. Simulated and experimental results for both static and dynamic operating conditions are presented in order to validate the effectiveness of the approach


Power Electronics
48.1.9    M. Ehsani, K.M. Rahman, M.D. Bellar, A.J. Severinsky, "Evaluation of soft switching for EV and HEV motor drives," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 82-90, Feb 2001.   Abstract Link    Full Text

Abstract: Soft switching has the potential of reducing switch stresses and of lowering the switching losses as compared to hard switching. To understand the effectiveness of the soft-switching technique, when applied to electric vehicle (EV) and hybrid electric vehicle (HEV) systems, it may be necessary to first evaluate their system requirements and performance. This evaluation process would require knowledge of the vehicle dynamics. The vehicle load requires a special torque-speed profile from the drivetrain for minimum power ratings to meet the vehicle's operational constraints, such as initial acceleration and gradability. The selection of motor and its control for EV and HEV applications are dictated mainly by this special torque-speed requirement. As a consequence, this requirement will have a strong influence on the converter operation. This paper makes an attempt to evaluate EV and HEV running in both standard Federal Test Procedure 1975 city driving and highway driving cycles. A simplified analysis is carried out for several of the most commonly used electric motors operating on the optimal torque-speed profile. Special attention is given to the converter conduction and switching losses, by analyzing the switching losses, and by assuming that an ideal soft-switching scheme will have zero switching losses, one can evaluate the improvement in the system efficiency if a soft-switching control is used. The relative significance of soft switching for EV and HEV systems is then established

48.1.10    W. le Roux, J.D. van Wyk, "Modeling of distortion compensation ineffectivity in filters for nonactive power," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 91-100, Feb 2001.   Abstract Link    Full Text

Abstract: This paper evaluates the error in compensation due to two main limitations. The first limitation is the lagging of the compensation reference caused by the sampling and processing due to digital signal processing equipment. The second limitation is the di/dt capability of the switching converter. Models are derived to evaluate the error due to these two limitations, as well as the percentage contribution to the total ineffectivity of compensation. Experimental results confirm that the mentioned limitation that has the most detrimental effect on compensation can easily be determined with the use of the models derived in this paper

48.1.11    F.-S. Hamdad, A.K.S. Bhat, "A novel pulsewidth control scheme for fixed-frequency zero-voltage-switching DC-to-DC PWM bridge converter," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 101-110, Feb 2001.   Abstract Link    Full Text

Abstract: A new gating pulse scheme is proposed for the control of DC-to-DC pulsewidth-modulated (PWM) bridge converter that provides zero-voltage switching (ZVS) for all the switches for a wide variation in load and input voltage. This new complementary fixed-edge gating control scheme is compared to the traditional phase shift control scheme. Modes of operation are presented and analyzed. Based on the analysis, design procedure and design curves are obtained. An optimum design is given and a design example is presented. Results obtained from PSPICE simulation for the converter designed are given to verify the performance of the proposed converter for varying load as well as line voltage. Detailed results obtained from a 500 W experimental converter are given to verify the advantages of the proposed gating scheme

48.1.12    J. Paramesh, A. von Jouanne, "Use of sigma-delta modulation to control EMI from switch-mode power supplies," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 111-117, Feb 2001.   Abstract Link    Full Text

Abstract: Conducted electromagnetic interference (EMI) is a major cause of concern in switch-mode power supplies (SMPSs) which commonly use standard pulsewidth modulation (PWM). In this paper, sigma-delta (ΣΔ) modulation is proposed as an alternative switching technique to reduce conducted EMI from an SMPS. The result of using ΣΔ modulation is a spread in the spectrum of the conducted emissions so that large concentrations of power at discrete frequencies are avoided. Experimental time-domain waveforms and spectra of the switching function of first-order and second-order ΣΔ modulators are presented to prove the viability of the scheme for EMI mitigation. These modulators are then applied to a DC-DC converter in an off-the-shelf computer power supply and experimental results show a reduction of roughly 5-10 dB·μV in EMI emissions over standard PWM modulators

48.1.13    Xiangning He, Kuang Sheng, B.W. Williams, Zhaoming Qian, S.J. Finney, "A composite soft-switching inverter configuration with unipolar pulsewidth modulation control," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 118-126, Feb 2001.   Abstract Link    Full Text

Abstract: This paper presents a new composite soft-switching configuration for single-phase inverters where power bridge leg modules are used. The presented configuration consists of only one inductor and one capacitor as well as two low-power-rated switches/diodes for full-bridge circuits. It can realize snubber functions and/or resonant zero-current switching at any load current for switches in power inverters with unipolar sinusoid pulse width modulation control. The idea presented here is that soft-switching processes at turn-on and turn-off for each active switch in inverters can be different. The detailed circuit operational processes, simulation waveforms, and experimental results are included

48.1.14    T. Suntio, "Analysis and modeling of peak-current-mode-controlled buck converter in DICM," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 127-135, Feb 2001.   Abstract Link    Full Text

Abstract: This paper presents a unified method to obtain both small- and large-signal models for a peak-current-mode-controlled buck converter which accurately predict its behavior. The models show that the peak-current-mode transfer functions are effectively of first order, as can be expected due to the heavy bounding of inductor current. The large-signal behavior can be accurately predicted by using a simple algebraic equation including the mode limit of basic-switching-frequency operation as well as the input-output relations. It is also pointed out that a buck converter can have stable open-loop as well as closed-loop operation modes at basic switching frequency and at its even and odd harmonics. The subharmonic modes are, however, not controllable in a conventional way

48.1.15    Byungcho Choi, Sung-Soo Hong, Hyokil Park, "Modeling and small-signal analysis of controlled on-time boost power-factor-correction circuit," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 136-142, Feb 2001.   Abstract Link    Full Text

Abstract: A large-signal average model for the controlled on-time boost power-factor-correction (PFC) circuit is developed and subsequently linearized, resulting in a small-signal model for the PFC circuit. AC analyses are performed using the small-signal model, revealing new results on the small-signal dynamics of the PFC circuit. The analysis results and model predictions are confirmed with experimental measurements on a 200-W prototype PFC circuit

48.1.16    P.I. Po, Byoung-Gook Loh, "Feasibility of using ultrasonic flexural waves as a cooling mechanism," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 143-150, Feb 2001.   Abstract Link    Full Text

Abstract: The potential convective heat transfer capability of an ultrasonic flexural wave (UFW) is experimentally investigated. The UFW includes an ultrasonic flexural standing wave (USW) and an ultrasonic flexural traveling wave (UTW). The factors that might affect the cooling performance of the UFW are investigated. Those include the vibration amplitude of the UFW, the gap between the cooling source and the object above it, and the temperature of the object being cooled. It was observed that the temperature drop increased with the vibration amplitude. At gaps below 100 μm, a temperature drop was not observed. As the gap was increased to more than 100 μm, the temperature drop increased until it reached an optimum gap producing maximum temperature drop. Beyond the optimum gap, the temperature drop began to decrease. Also, it was observed that the temperature drop increased as the temperature difference between the object and ambient air increased. The cooling performance of the USW and UTW was investigated and compared. The differences in cooling performance were found to be insignificant. This indicates that acoustic streaming is the dominant factor in the convective heat transfer using the UFW. However, using resonance, the UTW creates a temperature drop six times greater than the UTW for a given power supply. With the USW having a vibration amplitude of 25 μm, an object at 98°C was cooled down to 58°C in 5 min. The temperature drop obtained by using the USW was approximately 80% of a conventional fan oriented with respect to the heated object such that the maximum heat transfer occurs. The UFW-based fan offers advantages over the conventional fan, such as silent operation, minimal heat dissipation, lack of wearing parts, and slim profile. These benefits make the fan an ideal candidate for cooling miniature parts in an enclosed workspace. Finally, a possible design option for minimizing the fan using thin-film PZT is presented

48.1.17    L.R. Nerone, "Analysis and design of a self-oscillating class E ballast for compact fluorescent lamps," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 151-160, Feb 2001.   Abstract Link    Full Text

Abstract: The Class E inverter is the basis for a low-cost high-frequency ballast, but the control system is more complex than the self-oscillating Class D inverter. The added complexity neutralizes any cost savings gained by the single switch inverter. This paper explores a novel self-oscillating Class E ballast from a design perspective. A qualitative analysis shows how this self-oscillating system operates, from startup, through ignition to the steady state. Optimum component values are found from a quantitative analysis of the inverter. This mathematical model is the basis for the design methodology. Analytical results are compared with the physical model

48.1.18    L. Harnefors, K. Pietilainen, L. Gertmar, "Torque-maximizing field-weakening control: design, analysis, and parameter selection," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 161-168, Feb 2001.   Abstract Link    Full Text

Abstract: The torque-maximizing field-weakening control scheme proposed by Kim and Sul is developed further. The performance under imperfect field orientation conditions is investigated, and it is shown that an overestimated-rather than an underestimated-model leakage inductance should be used. A slightly modified algorithm, which offers better robustness and reduced computational complexity, is presented. The importance, for good performance, of combining the scheme with current and speed controllers featuring antiwindup and improved disturbance rejection is emphasized. The dynamics of the resulting closed-loop system are analyzed. Obtained in the process, are rules for selection of all controller parameters, allowing tuning without trial-and error steps. Good performance of the resulting system is verified experimentally


Drive Control
48.1.19    Kok Kiong Tan, T.H. Lee, S.N. Huang, Xi Jiang, "Friction modeling and adaptive compensation using a relay feedback approach," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 169-176, Feb 2001.   Abstract Link    Full Text

Abstract: In this paper, the application of a dual-relay feedback approach toward modeling of frictional effects in servomechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servomechanical system can be obtained from the experiments. Thus, a proportional-integral-derivative feedback motion controller and a feedforward friction compensator can be automatically tuned in this manner. The friction model obtained is also directly applicable to initialization of an adaptive control scheme proposed. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method

48.1.20    K.M. Tsang, Guomin Li, "Robust nonlinear nominal-model following control to overcome deadzone nonlinearities," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 177-184, Feb 2001.   Abstract Link    Full Text

Abstract: A robust nonlinear nominal-model following control is proposed to overcome deadzone nonlinearities which are unavoidable in many physical systems due to the imperfections of system components. First, an ideal linear nominal model of the plant and a model controller are employed to generate an ideal reference output. Then, a nonlinear robust loop controller is added to force the actual output to follow the ideal reference output. The robust loop controller contains an ordinary proportional-integral-derivative controller combined with a deadband relay. The added deadband relay has the capability of reducing nonlinear effects of the plant. A systematic design methodology is established and it is linked to the conventional control system design. The proposed scheme is practically applied to the control of a DC motor position servo system containing a severe deadzone nonlinearity. Both simulation and experimental results have illustrated the effectiveness and robustness of the proposed technique

48.1.21    M. Tsuji, Shuo Chen, K. Izumi, E. Yamada, "A sensorless vector control system for induction motors using q-axis flux with stator resistance identification," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 185-194, Feb 2001.   Abstract Link    Full Text

Abstract: This paper presents a sensorless vector control system for general-purpose induction motors, which is based on the observer theory and the adaptive control theories. The proposed system includes a rotor speed estimator using a q-axis flux and stator resistance identifier using the d-axis flux. The advantages of the proposed system are simplicity and avoidance of problems caused by using only a voltage model. Since the mathematical model of this system is constructed in a synchronously rotating reference frame, a linear model is easily derived for analyzing the system stability, including the influence of the observer gain, motor operating state, and parameter variations. In order to obtain stable low-speed operation and speed control accuracy, an algorithm for compensating for the deadtime of the inverter and correcting the nonideal features of an insulated gate bipolar transistor was developed. The effectiveness of the proposed system has been verified by digital simulation and experimentation

48.1.22    S.N. Vukosavic, A.M. Stankovic, "Sensorless induction motor drive with a single DC-link current sensor and instantaneous active and reactive power feedback," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 195-204, Feb 2001.   Abstract Link    Full Text

Abstract: This paper proposes a novel torque and speed control structure for low-cost induction motor variable-speed drives with a single DC-link current sensor. The controller is based on reconstruction of the active and instantaneous reactive power from the DC-link current without the use of a shaft sensor. An effective way of achieving tracking of set values of motor torque and flux is to base the estimation on the instantaneous active (P) and reactive power (Q). The paper proposes a way for extracting instantaneous P and Q information from the DC-link current and the pulsewidth modulation pattern. Torque and flux controllers suitable for general purpose and traction applications are proposed. The paper presents analytical considerations, straightforward design guidelines, and experimental results obtained from a traction system with a battery-fed three-phase inverter and a 7.5 kW traction motor

48.1.23    Ching-Heng Ku, Wen-Hsiang Tsai, "Obstacle avoidance in person following for vision-based autonomous land vehicle guidance using vehicle location estimation and quadratic pattern classifier," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 205-215, Feb 2001.   Abstract Link    Full Text

Abstract: An obstacle avoidance method for use in person following for vision-based autonomous land vehicle (ALV) guidance is proposed. This method is based on the use of vehicle location estimation and a quadratic pattern classifier, and aims to guide the ALV to follow a walking person in front by navigating along a derived collision-free path. Before generating the collision-free path, the person's location is obtained from extracted objects in the image by a person detection method. The object closest to a predicted person location is regarded as the followed person and the remaining objects are regarded as obstacles. The collision-free navigation path is designed for ALV guidance in such a way that the ALV not only can keep following the person but also can avoid collision with nearby obstacles. The navigation path results from a quadratic classifier that uses the vehicle and all of the objects in the image as input patterns. A turn angle is then computed to drive the ALV to follow the navigation path. Successful navigation sessions confirm the feasibility of the approach


Robotics and Vision
48.1.24    Xinkai Chen, T. Fukuda, K.D. Young, "Adaptive quasi-sliding-mode tracking control for discrete uncertain input-output systems," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 216-224, Feb 2001.   Abstract Link    Full Text

Abstract: In this paper, a discrete robust adaptive quasi-sliding-mode tracking controller is presented for input-output systems with unknown parameters, unmodeled dynamics, and bounded disturbances. The robust tracking controller is comprised of adaptive control and a sliding-mode-based control design. The bounded motion of the system around the sliding surface and the stability of the global system in the sense that all signals remain bounded are guaranteed. The adaptive algorithm, in which the deadzone method is employed even though the upper and lower bounds of the disturbances are unknown, is the extension of the authors' previous work for the state-space systems. An example and its simulation results are presented to illustrate the proposed approach


Signal Processing and Control
48.1.25    S.A. Amman, M. Das, "An efficient technique for modeling and synthesis of automotive engine sounds," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 225-234, Feb 2001.   Abstract Link    Full Text

Abstract: This paper presents a new method for modeling and synthesis of automotive engine sounds using a deterministic-stochastic signal decomposition approach. First, the deterministic component is extracted using a synchronous discrete Fourier transform method and this is subtracted out from the original signal. Next, the (residual) stochastic component is modeled (and synthesized) using a new multipulse excited time-series modeling technique. The effectiveness of the proposed methodology is demonstrated using recorded data sets of actual engine sounds. The results of both numerical and subjective assessment tests are presented

48.1.26    M.H. Pong, X. Wu, C.M. Lee, Z. Qian, "Reduction of crosstalk on printed circuit board using genetic algorithm in switching power supply," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 235-238, Feb 2001.   Abstract Link    Full Text

Abstract: Crosstalk between printed circuit board (PCB) traces in switching power supplies may cause high electromagnetic interference emission. PCB layout plays an important part and a genetic algorithm (GA) is used to produce a layout with reduced crosstalk. A coupling index and a new way of representing a trace for the GA process is presented


Letters to the Editor
48.1.27    K. Sundareswaran, "An improved energy-saving scheme for capacitor-run induction motor ," IEEE Trans. on Industrial Electronics, vol. 48, no. 1, pp. 238-240, Feb 2001.   Abstract Link    Full Text

Abstract: Conventionally, the speed of a capacitor run single-phase induction motor is controlled by using an AC voltage controller (generally a triac) between the supply voltage and the motor. This letter proposes a new scheme, in which the triac is inserted in series with the main winding, while the motor auxiliary winding remains directly connected across the supply voltage. The experimental results indicate the superiority of the new method suggested in this letter