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

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Robust adaptive control for a class of partially known nonlinear systems 一类部分已知非线性系统的鲁棒自适应控制
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194776
F. L. Lewis, G. Maliotis, C. Abdallah
{"title":"Robust adaptive control for a class of partially known nonlinear systems","authors":"F. L. Lewis, G. Maliotis, C. Abdallah","doi":"10.1109/CDC.1988.194776","DOIUrl":"https://doi.org/10.1109/CDC.1988.194776","url":null,"abstract":"An adaptive controller is developed that takes advantage of the structure and any known dynamics of the system in order to increase speed of adaptation and relax the conditions required for convergence. The control design method has two stages. First, the known dynamics are separated out and used to perform a global linearization on the nonlinear system. Second, a model-reference adaptive control, based on the Lyapunov stability criterion, is designed for the remaining unknown portion of the plant. This control scheme is shown to relax several assumptions usually made in applying adaptive control to a manipulator system. For instance, it relaxes the common assumption that the time-varying plant is close to the desired model.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"7 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":"122183418","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: 5
Parameter optimization: reduction of expected cost subject to constrained worst-case cost 参数优化:在最坏情况成本约束下降低预期成本
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194730
J. Allwright
{"title":"Parameter optimization: reduction of expected cost subject to constrained worst-case cost","authors":"J. Allwright","doi":"10.1109/CDC.1988.194730","DOIUrl":"https://doi.org/10.1109/CDC.1988.194730","url":null,"abstract":"In the context of parameter optimization for bilinear systems when the initial condition is uniformly distributed on a ball, the author considers the determination of a search direction mu (of unit norm) in parameter space to minimize the change in the expected cost subject to a constraint on the worst-case change in cost. Computational issues are discussed, and an approximate solution with prespecified error is obtained.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"98 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":"117222302","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
Decoupled filters for interconnected systems 用于互联系统的解耦滤波器
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194763
A. Feliachi, R. Sperry
{"title":"Decoupled filters for interconnected systems","authors":"A. Feliachi, R. Sperry","doi":"10.1109/CDC.1988.194763","DOIUrl":"https://doi.org/10.1109/CDC.1988.194763","url":null,"abstract":"A class of decoupled estimators for linear, discrete-time interconnected large-scale systems is described. These filters are obtained by designing decoupled filters at the subsystems levels. The connection variables are dealt with either by using the most updated estimates or by synthesizing them from measurements using least-squares-estimation techniques.<<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":"117244868","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: 6
Applications of plant inversion via state feedback to missile autopilot design 状态反馈植物反演在导弹自动驾驶仪设计中的应用
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194405
M. Tahk, M. Briggs, P. Menon
{"title":"Applications of plant inversion via state feedback to missile autopilot design","authors":"M. Tahk, M. Briggs, P. Menon","doi":"10.1109/CDC.1988.194405","DOIUrl":"https://doi.org/10.1109/CDC.1988.194405","url":null,"abstract":"A linearizing transformation technique developed for the control of nonlinear systems is applied to the autopilot design of air-to-air missile systems. The plant inversion characteristic of this methodology is clearly displayed, and stability problems associated with nonminimum-phase plants are identified. To avoid the difficulty associated with the non-minimum-phase dynamics of missile acceleration, the plant inversion is first applied to the control of angle-of-attack and sideslip. Owing to simplifications made by the plant inversion, a point design is enough to provide the desired closed-loop responses for all fight conditions. Normal and lateral accelerations are then controlled by the classical integral feedback. The gain-scheduling required is minimal and transparent. The procedure is applied to the autopilot design of skid-to-turn and bank-to-turn missiles to obtain satisfactory performance of both missile designs.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"26 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":"124038836","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: 76
Voltage instability proximity index (VIPI) based on multiple load flow solutions in ill-conditioned power systems 基于多潮流解的病态电力系统电压不稳定接近指数(VIPI
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194707
Y. Tamura, K. Sakamoto, Y. Tayama
{"title":"Voltage instability proximity index (VIPI) based on multiple load flow solutions in ill-conditioned power systems","authors":"Y. Tamura, K. Sakamoto, Y. Tayama","doi":"10.1109/CDC.1988.194707","DOIUrl":"https://doi.org/10.1109/CDC.1988.194707","url":null,"abstract":"The authors deal with an index for predicting voltage instability, based on the relationship between voltage instability and multiple-load flow solutions. After comparison of several indices for two scenarios, the effectiveness of the VIPI (voltage instability proximity index) is shown. This index is computed from multiple-load-flow solutions and can be used for monitoring the system state.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"68 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":"125904207","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: 92
Feedback equivalence of nonlinear control systems with m-states and (m-1) controls 具有m-状态和(m-1)控制的非线性控制系统的反馈等价
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194265
R. Gardner
{"title":"Feedback equivalence of nonlinear control systems with m-states and (m-1) controls","authors":"R. Gardner","doi":"10.1109/CDC.1988.194265","DOIUrl":"https://doi.org/10.1109/CDC.1988.194265","url":null,"abstract":"The problem of equivalence for control systems with m-states and (m-1) controls is interpreted as a geometric equivalence of a submanifold of the tangent bundle under the diffeomorphisms of a canonically defined geometric structure. E. Cartan's method of equivalence is executed to uncover the basis invariants of this structure.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"37 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":"125048353","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
Stabilizability of perturbed linear systems on Hilbert space 希尔伯特空间上摄动线性系统的稳定性
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194636
N. Ahmed, Peng Li
{"title":"Stabilizability of perturbed linear systems on Hilbert space","authors":"N. Ahmed, Peng Li","doi":"10.1109/CDC.1988.194636","DOIUrl":"https://doi.org/10.1109/CDC.1988.194636","url":null,"abstract":"The questions of controllability and stabilizability of structurally perturbed (or uncertain) linear systems in Hilbert space of the form dx/dt=(A+P(r))x+Bu are considered. The operator A is assumed to be the infinitesimal generator of a C/sub 0/-semigroup of contractions T(t), t>or=0, in a Hilbert space X. B is a bounded linear operator from another Hilbert space U to X, and (P(r), r epsilon Omega ) is a family of bounded or unbounded perturbations of A in X where Omega is an arbitrary set not necessarily carrying any topology. Sufficient conditions are presented that guarantee controllability and stabilizability of the perturbed system given that the unperturbed system dx/dt=Ax+Bu, has similar properties. In particular it is shown that for certain class of perturbations weak and strong stabilizability properties are preserved for the same state feedback operator.<<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":"129381664","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
Design of a nonlinear TACAN bearing tracking servo using the extended Kalman filter 基于扩展卡尔曼滤波的非线性TACAN轴承跟踪伺服系统设计
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194406
S. Welt
{"title":"Design of a nonlinear TACAN bearing tracking servo using the extended Kalman filter","authors":"S. Welt","doi":"10.1109/CDC.1988.194406","DOIUrl":"https://doi.org/10.1109/CDC.1988.194406","url":null,"abstract":"An analytical and simulation study was used to develop a near-real-time optimum digital computer TACAN bearing tracking algorithm. An extended Kalman filter estimator was utilized to determine a tracking loop configuration and its expected performance. Examination of the filter covariance matrix and gains revealed that a few key elements of the covariance matrix were the significant contributors to the filter gains. This observation suggested that a set of time-switched constant gains multiplied by the partial derivatives of the observation with respect to the state would provide adequate performance with significant real-time processing reduction. Fortran computer simulations verified the concept. The algorithm was implemented on a microcomputer, and the system was successfully flight-tested.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"112 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":"128280119","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
Implementation of a lag-lead compensator for robots 机器人滞后超前补偿器的实现
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194291
Yihong Chen
{"title":"Implementation of a lag-lead compensator for robots","authors":"Yihong Chen","doi":"10.1109/CDC.1988.194291","DOIUrl":"https://doi.org/10.1109/CDC.1988.194291","url":null,"abstract":"A frequency response approach was used to design and realize a lag-lead compensator for a robot arm. An analytical comparison between a PD (proportional-derivative) or PID (proportional integral-derivative) controller and a lag-lead compensator shows that the latter reduces the tradeoffs between the static accuracy, system stability, and is insensitive to disturbances in the frequency domain. The implementation and test results verify the encouraging results in the time domain. The lag-lead compensator reduces the tracking errors considerably.<<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":"129643523","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: 8
Global bifurcation analysis of an adaptive control system 自适应控制系统的全局分岔分析
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194319
F. Salam, S. V. van Gils, Zhang Zhi-fen
{"title":"Global bifurcation analysis of an adaptive control system","authors":"F. Salam, S. V. van Gils, Zhang Zhi-fen","doi":"10.1109/CDC.1988.194319","DOIUrl":"https://doi.org/10.1109/CDC.1988.194319","url":null,"abstract":"The authors present a complete bifurcation analysis of a two-parameter, two-dimensional quadratic ODE (ordinary differential equation) which arises in the study of model reference adaptive control systems. The 2-D ODE exhibits saddle-node, (subcritical) Hopf, and saddle-loop bifurcations. The authors are able to describe the bifurcation diagram completely by identifying all the bifurcation curves. All but the saddle-loop bifurcation curves are explicitly characterized. The saddle-loop bifurcation curve, however, is described qualitatively, and its endpoints as well as its relative position are identified.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"60 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":"127034498","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
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