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

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Parameter convergence in the stochastic gradient adaptive control law 随机梯度自适应控制律的参数收敛性
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194513
Sheng-Fuu Lin, P. kumar
{"title":"Parameter convergence in the stochastic gradient adaptive control law","authors":"Sheng-Fuu Lin, P. kumar","doi":"10.1109/CDC.1988.194513","DOIUrl":"https://doi.org/10.1109/CDC.1988.194513","url":null,"abstract":"The authors exhibit self-tuning results for the adaptive control law proposed by G.C. Godwin, P.J. Ramadge and P.E. Caines (SIAM J. Control Optim., vol.19, no.6, p.829-53, 1981). They also show how the dimension of the adaptive control law can be reduced in situations where the reference trajectory has a low order of excitation. The results are compared with an adaptive control law proposed by P.R. Kumar and L. Praly (SIAM J. Control Optim., vol.25, no.4, p.1053-71, 1987).<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"39 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":"114395406","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
Decoupling of systems with nearly singular I-O maps and control of aircraft 具有近奇异I-O映射和飞机控制的系统解耦
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194401
S.N. Singh
{"title":"Decoupling of systems with nearly singular I-O maps and control of aircraft","authors":"S.N. Singh","doi":"10.1109/CDC.1988.194401","DOIUrl":"https://doi.org/10.1109/CDC.1988.194401","url":null,"abstract":"The author treats the control of a class of nonlinear systems using state variable feedback whose input-output map is nearly singular. A decoupling scheme is presented which gives rise to a singularly perturbed system describing the fast dynamics of the control vector. The quasi-steady-state solution of the system gives a control law which decouples the system in an approximate way. The controller includes a servocompensator and a reference trajectory generator. From this result a control law for approximate decoupling of roll angle, angle of attack, and sideslip in rapid, nonlinear airplane maneuvers is derived. Simulated responses of the closed-loop system show that large, simultaneous lateral and longitudinal maneuvers can be accurately performed in spite of uncertainty in stability derivatives.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"13 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":"114473640","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
Parametrization of compensators for linear systems with transfer functions of bounded type 有界传递函数线性系统补偿器的参数化
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194700
Yujiro Inouye
{"title":"Parametrization of compensators for linear systems with transfer functions of bounded type","authors":"Yujiro Inouye","doi":"10.1109/CDC.1988.194700","DOIUrl":"https://doi.org/10.1109/CDC.1988.194700","url":null,"abstract":"A study is made of the feedback stabilization of a plant using a compensator, when the plant and the compensator belong to the class of linear discrete-time systems with matrix-valued transfer functions each entry of which is represented as a quotient of two analytic functions in the Hardy space H/sub infinity /. Such transfer functions are called functions of bounded type. A strong notion of right or left coprimeness is provided for the representations of these systems. It is shown that a linear system with a transfer function of bounded type always has a right-coprime representation and a left-coprime representation. Necessary and sufficient conditions are presented for such a plant to be stabilizable by a compensator. It is shown that under the stabilizability condition, it is possible to parameterize the set of all compensators that stabilize the plant.<<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":"114883058","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: 23
Optimal control of uncertain nonlinear systems: an application to a two-link robotic arm 不确定非线性系统的最优控制:在双连杆机械臂上的应用
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194282
C. March-Leuba, R. B. Perez
{"title":"Optimal control of uncertain nonlinear systems: an application to a two-link robotic arm","authors":"C. March-Leuba, R. B. Perez","doi":"10.1109/CDC.1988.194282","DOIUrl":"https://doi.org/10.1109/CDC.1988.194282","url":null,"abstract":"The authors present an adaptive optimal control algorithm for uncertain nonlinear systems. A variational technique based on Pontryagin's maximum principle is used to track the system's unknown terms and to calculate the optimal control. The reformulation of the variational technique as an initial value problem allows this microprocessor-based algorithm to perform as a closed-loop controller by updating the model and controlling the system online. To validate the algorithm a system representing a two-link mechanical manipulator is simulated. In the control model, the coupling and friction terms are unknown. The robot's task is to follow a prescribed trajectory and to pick up an unknown mass.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"2 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":"115021369","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
Report-to-target assignment in multisensor multitarget tracking 多传感器多目标跟踪中的报告-目标分配
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194790
T. Kurien, M. Liggins
{"title":"Report-to-target assignment in multisensor multitarget tracking","authors":"T. Kurien, M. Liggins","doi":"10.1109/CDC.1988.194790","DOIUrl":"https://doi.org/10.1109/CDC.1988.194790","url":null,"abstract":"The authors discuss two issues that need to be addressed for extending a practical single-sensor multitarget tracking algorithm to the case of tracking with multiple sensors. These issues correspond to the compensation of the algorithm for asynchronous reporting rates from multiple sensors, and the interpretation and implementation of an nscan approximation technique for assigning reports from multiple sensors to targets. Procedures that account for these issues and have been demonstrated using real data are also provided.<<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":"114385999","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: 14
Generalized canonical variate analysis of nonlinear systems 非线性系统的广义正则变量分析
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194622
W. Larimore
{"title":"Generalized canonical variate analysis of nonlinear systems","authors":"W. Larimore","doi":"10.1109/CDC.1988.194622","DOIUrl":"https://doi.org/10.1109/CDC.1988.194622","url":null,"abstract":"The canonical variate analysis (CVA) is extended to general nonlinear systems. Nonlinear canonical variables are shown to determine the optimum nonlinear transformation of the past maximizing the mutual information between the true and an approximating normal distribution. A sequential procedure for selection of the canonical variables is described. Nonlinear CVA is applied to nonlinear controlled Markov processes to obtain approximating nonlinear filters. A recursive innovations representation is given for the nonlinear filter that also yields an innovations representation for the Markov process model.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"744 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":"117005189","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: 10
Industrial manipulator control with feedforward dynamic compensation 工业机械手前馈动态补偿控制
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194380
M. Leahy
{"title":"Industrial manipulator control with feedforward dynamic compensation","authors":"M. Leahy","doi":"10.1109/CDC.1988.194380","DOIUrl":"https://doi.org/10.1109/CDC.1988.194380","url":null,"abstract":"The feasibility of implementing model-based control techniques on the existing hierarchical control architecture of industrial manipulators has been evaluated experimentally. Three critical issues are addressed: the impact of stiffer PD (proportional-derivative) loops on the performance of model-based controllers with incomplete dynamic compensation in the feedforward loop, the performance degradation produced by asynchronous calculation of feedforward and feedback compensation torques, and the PD loop gain payload adaption requirements. It is concluded that a constant-gain PD feedback with an asynchronous feedforward compensation algorithm outperforms conventional controllers and could be implemented on existing control structures without hardware modifications.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"2 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":"117102687","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: 7
A learning controller for robotic manipulators 机器人操作器的学习控制器
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194381
F. Pourboghrat
{"title":"A learning controller for robotic manipulators","authors":"F. Pourboghrat","doi":"10.1109/CDC.1988.194381","DOIUrl":"https://doi.org/10.1109/CDC.1988.194381","url":null,"abstract":"A simple adaptive algorithm for learning control is proposed which generates suitable input for a class of nonlinear systems, such as robotic manipulators, to track a desired trajectory after repeated trials. As the number of trials increases, the error between the desired trajectory and that of the system is guaranteed to approach zero. The design is based on the combination of direct adaptive control and the learning process. This method does not require any knowledge of the dynamic parameters of the system and can easily be implemented using inexpensive microcomputers.<<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":"123431863","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
Spectrum reassignment in a class of vibrationally controlled linear systems with time delays 一类时滞振动控制线性系统的频谱再分配
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194342
J. Bentsman, B. Lehman
{"title":"Spectrum reassignment in a class of vibrationally controlled linear systems with time delays","authors":"J. Bentsman, B. Lehman","doi":"10.1109/CDC.1988.194342","DOIUrl":"https://doi.org/10.1109/CDC.1988.194342","url":null,"abstract":"The authors address the problem of spectrum reassignment in the averaged description of the vibrationally controlled time delay system in terms of the parameters of the vibrations. The formulas presented facilitate a search for stabilizing vibrations for a class of time-lag systems. Robustness of correction terms with respect to delays is also discussed.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"42 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":"123526851","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
The four block problem for distributed systems 分布式系统的四块问题
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194462
C. Foias, A. Tannebaum
{"title":"The four block problem for distributed systems","authors":"C. Foias, A. Tannebaum","doi":"10.1109/CDC.1988.194462","DOIUrl":"https://doi.org/10.1109/CDC.1988.194462","url":null,"abstract":"A study is made of the singular values of the four-block operator, which appears naturally in many H/sup infinity / control problems. Following the framework of the monograph of B.A. Francis (1987), almost all such robust design problems can be formulated in terms of the spectral properties of such an operator. This includes the problems of sensitivity and mixed-sensitivity minimization, model matching, and certain tracking problems. The authors' techniques give the optimal solution to this problem, which is valid for a large class of distributed systems.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"2 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":"121931496","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
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