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Proceedings of the 27th IEEE Conference on Decision and Control最新文献

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Fields of extremals in linear-quadratic problems of optimal control 最优控制线性二次问题的极值域
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194506
J. Kogan
{"title":"Fields of extremals in linear-quadratic problems of optimal control","authors":"J. Kogan","doi":"10.1109/CDC.1988.194506","DOIUrl":"https://doi.org/10.1109/CDC.1988.194506","url":null,"abstract":"The author presents necessary and sufficient conditions for optimality of extremals in linear-quadratic problems of optimal control. He shows by an example that when the second variation is only semipositive definite and extremals are still minimizers, the classical Riccati equation technique fails. The conditions obtained allow one to solve linear-quadratic problems with subsidiary conditions. An example of a solution to a constrained problem is presented.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128031936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Dynamical logic observers for finite automata 有限自动机的动态逻辑观测器
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194300
P. Caines, R. Greiner, S. Wang
{"title":"Dynamical logic observers for finite automata","authors":"P. Caines, R. Greiner, S. Wang","doi":"10.1109/CDC.1988.194300","DOIUrl":"https://doi.org/10.1109/CDC.1988.194300","url":null,"abstract":"A state estimation problem is formulated for a partially observed input-state-output (I-S-O) automaton, and the concept of a dynamical (default) logic observer is introduced. The state estimation problem is posed in terms of (i) the problem of constructing a classical dynamical system (CDS) which generates a sequence of state estimates, and (ii) the problem of the construction of a dynamical logic system (DLS) which generates a sequence of propositions that correctly describe properties of the state of the automaton. A simple illustrative example is presented in which a classical dynamical observer and a dynamical logic observer are constructed to solve the observation problem for a partially observed automaton.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125597813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 73
Control of service rate for an M/G/1 queue using a short-term cost criterion 基于短期成本准则的M/G/1队列服务率控制
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194489
Chih-Ping Lee, N.M. McClamroch
{"title":"Control of service rate for an M/G/1 queue using a short-term cost criterion","authors":"Chih-Ping Lee, N.M. McClamroch","doi":"10.1109/CDC.1988.194489","DOIUrl":"https://doi.org/10.1109/CDC.1988.194489","url":null,"abstract":"A short-term cost criterion is introduced to model the productivity of an M/G/1 queuing/production system; the cost is a weighted sum of penalties associated with the work rate control, penalties associated with part waiting time, and penalties on the increase of parts in the queue, assessed during the time required to serve a single part. The distribution of the service time is of general form, parameterized by the work rate (the control variable). The decision epochs for the optimal control policy are restricted to the times when service is initiated for a part. The major advantages of this formulation are generality and mathematical tractability of the optimal solution. A simple nonlinear search routine is needed to determine the optimal work rate. For the special case of an exponential service time distribution and the special case where service is modeled by a diffusion-threshold process, analytical expressions for the optimal control policy in terms of the queue length are obtained.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127987892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A gain scheduling approach in decentralized manipulator control using discretized equivalent joint models 离散等效关节模型在分散机械臂控制中的增益调度方法
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194383
Z. S. Tumeh
{"title":"A gain scheduling approach in decentralized manipulator control using discretized equivalent joint models","authors":"Z. S. Tumeh","doi":"10.1109/CDC.1988.194383","DOIUrl":"https://doi.org/10.1109/CDC.1988.194383","url":null,"abstract":"A decentralized digital trajectory controller for manipulator arms based on a computer torque approach has been developed and tested. A discretized equivalent model of the continuous manipulator system has been derived and used to design digital feedback and compensation filters for this purpose. Time schedules of parameters of these filters were generated offline when the desired trajectory was planned. A stability analysis has been carried out to determine the effect of deviations of the actual trajectory and model parameters from their normal values on the system stability, and the bounds on these deviations within which the control scheme is stable. The control approach has been tested using a hierarchical multiprocessor architecture and a six-joint PUMA 560 robot arm. The performance of the controller is encouraging and compares favorably with the experimental performance of other tested controllers.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132457939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
An H/sub infinity / design procedure using robust stabilization of normalized coprime factors 一种利用归一化素数因子鲁棒镇定的H/次无穷/设计程序
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194542
D. McFarlane, K. Glover
{"title":"An H/sub infinity / design procedure using robust stabilization of normalized coprime factors","authors":"D. McFarlane, K. Glover","doi":"10.1109/CDC.1988.194542","DOIUrl":"https://doi.org/10.1109/CDC.1988.194542","url":null,"abstract":"A two-stage H/sub infinity /-based design procedure is described which uses a normalized coprime factor approach to robust stabilization of linear systems. A loop-shaping procedure is incorporated to allow the specification of performance characteristics. Theoretical justification of this technique and an outline of the design methodology are given.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130292494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 27
Simplification of manipulator dynamic model for nonlinear decoupled control 非线性解耦控制中机械臂动力学模型的简化
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194379
J. Jeon, C.s.g. Lee
{"title":"Simplification of manipulator dynamic model for nonlinear decoupled control","authors":"J. Jeon, C.s.g. Lee","doi":"10.1109/CDC.1988.194379","DOIUrl":"https://doi.org/10.1109/CDC.1988.194379","url":null,"abstract":"The authors develop simplified manipulator dynamic models which satisfy the desired steady-state error specification in the joint-variable space or the Cartesian space under a nonlinear decoupled controller. The formulas which relate the tracking errors of joint variables in the joint-variable space or the manipulator hand in the Cartesian space to the dynamic modeling errors are derived and used to obtain the maximum error tolerance for each dynamic coefficient of the equations of motion. Then each simplified dynamic coefficient of the equations of motion can be expressed as a linear combination of the product terms of sinusoidal and polynomial basis functions. To illustrate the approach, a computer simulation was carried out to obtain two simplified dynamic models of a Stanford robot arm which satisfy the above condition.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134130386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A new approach to robust adaptive control in the presence of unknown and bounded disturbances 一种未知和有界干扰下鲁棒自适应控制的新方法
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194629
M. Dahleh, M. Dahleh
{"title":"A new approach to robust adaptive control in the presence of unknown and bounded disturbances","authors":"M. Dahleh, M. Dahleh","doi":"10.1109/CDC.1988.194629","DOIUrl":"https://doi.org/10.1109/CDC.1988.194629","url":null,"abstract":"Summary form only given. An adaptive l/sup 1/ controller has been based on the certainty-equivalence approach where at each step the system parameters are estimated and used to implement the controller. At each estimation stage a modeling error is committed which affects the output of the estimated plant. The l/sup 1/ optimal controller has been constructed to minimize the effect of this error on the output. It has been shown that under reasonable assumptions an adaptive controller can be based on the l/sup 1/ design strategy, and the result is a globally convergent adaptive scheme.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134223581","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An application of H/sup infinity / theory in decentralized control H/sup∞理论在分散控制中的应用
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194540
Ou Wu, M. Mansour
{"title":"An application of H/sup infinity / theory in decentralized control","authors":"Ou Wu, M. Mansour","doi":"10.1109/CDC.1988.194540","DOIUrl":"https://doi.org/10.1109/CDC.1988.194540","url":null,"abstract":"A method previously developed to stabilize q interconnected unstable subsystems is improved so that a larger class of systems is characterized. For this class, a set of decentralized controllers can be parameterized, so that the design procedure is systematic. The characterization is again independent of the controller. The previous method can be then viewed as a special case, where the weighting function is a constant.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131738270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Minimum cycle time location of a task in the workspace of a robot arm 机器人手臂工作空间中任务的最小周期时间位置
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194742
B. Fardanesh, J. Rastegar
{"title":"Minimum cycle time location of a task in the workspace of a robot arm","authors":"B. Fardanesh, J. Rastegar","doi":"10.1109/CDC.1988.194742","DOIUrl":"https://doi.org/10.1109/CDC.1988.194742","url":null,"abstract":"A novel approach to optimal placement of a prescribed task in the workspace of a robotic manipulator is presented. The cycle time for a specified set of minimum-time straight-line movements is used as the optimality criterion. These movements are point-to-point, and the arm starts from standstill at the initial point and stops at the final point. Local velocity patterns for minimum-time straight-line movements in the regions of interest are obtained. This information is used to choose a good initial location for the task. A step-and-test method is then used to find the minimum-cycle-time location for the considered task. Results of application of this method to a manipulator with two revolute joints are presented. The results indicate that proper positioning of the task in the workspace can considerably reduce the cycle time and therefore increase productivity.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131161913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 16
Remarks on H/sup infinity / optimization multivariate distributed systems H/sup∞/优化多元分布式系统的若干问题
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194460
C. Foias, H. Ozbay, A. Tannenbaum
{"title":"Remarks on H/sup infinity / optimization multivariate distributed systems","authors":"C. Foias, H. Ozbay, A. Tannenbaum","doi":"10.1109/CDC.1988.194460","DOIUrl":"https://doi.org/10.1109/CDC.1988.194460","url":null,"abstract":"The results of a study of H/sup infinity /-optimization for multivariable distributed systems are summarized. A skew Toeplitz framework has been used. The problem has been reduced to finding the singular values of a certain operator (the so-called four-block operator). Depending on the specific problem considered, the corresponding four-block operator can be simplified to a two-block or one-block operator. This is specialized to the multivariate two-block case. A procedure for the computation of the eigenvalues of this operator is described.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130693394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
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