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

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A neural network architecture for cue-based motion planning 基于线索的运动规划神经网络架构
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194321
M. Zacksenhouse, R. Defigueiredo, D.H. Johnson
{"title":"A neural network architecture for cue-based motion planning","authors":"M. Zacksenhouse, R. Defigueiredo, D.H. Johnson","doi":"10.1109/CDC.1988.194321","DOIUrl":"https://doi.org/10.1109/CDC.1988.194321","url":null,"abstract":"The principles of memory organization of plans are presented, and the role of sensory cues in the timely selection and execution of plans is demonstrated. The two major components of learning a cue-based plan, developing the ability to detect cues and associating cues with the relevant responses, are described. The preliminary development of neural-network mechanisms for learning cue-based plans is presented. It is shown that hard-wired neural networks provide the input to adaptive neural networks that learn an internal representation of the relevant cues and the threshold levels associated with them. Self-organizing neural networks learn to associate cues with changes in action and to construct cue-based plans.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"53 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":"130014296","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: 13
Square root information filtering using the covariance spectral decomposition 利用协方差谱分解的平方根信息滤波
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194335
Y. Oshman
{"title":"Square root information filtering using the covariance spectral decomposition","authors":"Y. Oshman","doi":"10.1109/CDC.1988.194335","DOIUrl":"https://doi.org/10.1109/CDC.1988.194335","url":null,"abstract":"A square-root state-estimation algorithm is introduced which operates in the information mode in both the time and the measurement update stages. The algorithm, called the V-Lambda filter, is based on the spectral decomposition of the covariance matrix into a V Lambda V/sup T/ form, where V is the matrix whose columns are the eigenvectors of the covariance matrix and Lambda is the diagonal matrix of its eigenvalues. The algorithm updates a normalized state estimate along with the information matrix square-root factors, thus doing away with the gain computation. Singular value decomposition is used as a sole computational tool in both the eigenvectors-eigenvalues and the normalized state-estimate updates, rendering a complete estimation scheme with exceptional numerical stability and precision. A typical numerical example is used to demonstrate the performance of the V-Lambda filter as compared to that of the corresponding conventional Kalman algorithm.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"6 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":"130122576","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
Domain rescaling techniques for the solution of affinely parametrized nondifferentiable optimal design problems 仿射参数化不可微优化设计问题解的域重标技术
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194731
E. Polak, E. Wiest
{"title":"Domain rescaling techniques for the solution of affinely parametrized nondifferentiable optimal design problems","authors":"E. Polak, E. Wiest","doi":"10.1109/CDC.1988.194731","DOIUrl":"https://doi.org/10.1109/CDC.1988.194731","url":null,"abstract":"The authors show that the affine parametrizations used in the design of feedback compensators and open-loop optimal controls can lead to severely ill-conditioned optimization problems. The effect of this ill-conditioning is to cause many optimization algorithms to converge very slowly. They describe a domain rescaling technique which considerably mitigates this ill-conditioning. The technique is applied to both differentiable and minimax problems. A numerical example of a minimax problem involving two scaling matrices is given.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"69 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":"132977928","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
Task-oriented dual-arm manipulability and its application to configuration optimization 面向任务的双臂可操作性及其在构型优化中的应用
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194736
Sukhan Lee, J. Lee
{"title":"Task-oriented dual-arm manipulability and its application to configuration optimization","authors":"Sukhan Lee, J. Lee","doi":"10.1109/CDC.1988.194736","DOIUrl":"https://doi.org/10.1109/CDC.1988.194736","url":null,"abstract":"The authors deal with a measure of static manipulability for a dual-redundant-arm system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented dual-arm manipulability measure is defined as the measure of geometrical similarity between the desired and the actual dual-arm manipulability ellipsoids at the selected task points. The authors present mathematical formulas defining task-oriented dual redundant arm static manipulability and its application to the optimization of dual-redundant-arm joint as well as grasp configurations. Simulation results are shown.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"83 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":"131006535","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: 24
On slowly time-varying systems and adaptive control 慢时变系统与自适应控制
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194313
M. Dahleh, M. Dahleh
{"title":"On slowly time-varying systems and adaptive control","authors":"M. Dahleh, M. Dahleh","doi":"10.1109/CDC.1988.194313","DOIUrl":"https://doi.org/10.1109/CDC.1988.194313","url":null,"abstract":"The authors present a characterization of a class of adaptive controllers based on slowly time-varying systems. They derive conditions for the stability of a general adaptive control scheme with the least dependence on the specific design procedure. Such an approach will serve as a characterization of a large class of adaptive controllers and thus make it possible to impose design specifications.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"4 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":"127846322","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
Probabilistic multimodeling in zero-sum differential games 零和微分对策的概率多建模
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194560
T. Başar
{"title":"Probabilistic multimodeling in zero-sum differential games","authors":"T. Başar","doi":"10.1109/CDC.1988.194560","DOIUrl":"https://doi.org/10.1109/CDC.1988.194560","url":null,"abstract":"A theory of existence and characterization of equilibria is developed for stochastic zero-sum differential games when the players operate under different (probabilistic) models for the underlying system and measurement processes. The authors identify salient features of such an extended formulation for zero-sum stochastic differential games with noisy measurements, and analyze the equilibria that emerge from possible inconsistent modeling. After a general discussion on the implications of subjective probabilistic modeling on saddle-point equilibria, the authors study the class of zero-sum differential games where the players have a common (noisy) measurement of the state, but different (subjective) statistics on the system measurement noise processes. The author obtains a characterization of the equilibrium solution in the presence of such a discrepancy and studies the structural consistency of the solution and its convergence to the saddle-point solution of the nominal game as the discrepancy becomes (in some norm) vanishingly small.<<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":"125448545","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
A rule based procedure for self-tuning PID controllers 基于规则的PID控制器自整定程序
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194671
M.A. da Silva, F. Gomide, W. C. Amaral
{"title":"A rule based procedure for self-tuning PID controllers","authors":"M.A. da Silva, F. Gomide, W. C. Amaral","doi":"10.1109/CDC.1988.194671","DOIUrl":"https://doi.org/10.1109/CDC.1988.194671","url":null,"abstract":"The authors present a rule-based self-tuning procedure for industrial PID controllers. It is based on theoretical and heuristic principles together with the pattern recognition approach introduced by E.H. Bristol (1977) and operational strategies proposed by T.W. Kraus and T.J. Myron (1984). The main concepts are discussed, the procedure is described, and a sample of the rules is presented. Computational results are included to illustrate the properties and behavior of the tuning procedure.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"52 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":"126764475","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
Sensitivity minimization via extended linear parameterization of all stabilizing compensators 通过所有稳定补偿器的扩展线性参数化实现灵敏度最小化
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194346
G. Celentano, G. De Maria
{"title":"Sensitivity minimization via extended linear parameterization of all stabilizing compensators","authors":"G. Celentano, G. De Maria","doi":"10.1109/CDC.1988.194346","DOIUrl":"https://doi.org/10.1109/CDC.1988.194346","url":null,"abstract":"The authors present a new linear parametrization of all stabilizing compensators in the case of linear multivariable systems. It is shown that sensitivity minimization can be achieved with closed-loop poles lying in specified neighborhoods of assigned nominal poles.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"117 22 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":"126413309","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
Order reduction of 2-D discrete systems via bounded real balancing 基于有界实平衡的二维离散系统降阶
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194503
W.-s. Lu
{"title":"Order reduction of 2-D discrete systems via bounded real balancing","authors":"W.-s. Lu","doi":"10.1109/CDC.1988.194503","DOIUrl":"https://doi.org/10.1109/CDC.1988.194503","url":null,"abstract":"A novel order-reduction method for 2-D discrete systems based on bounded real (BR) balancing is presented. The concept of BR balancing was first introduced to reduce the order of 1-D continuous-time systems. It is shown that if the 2-D discrete system considered satisfies the 2-D Lyapunov condition, the BR balanced approximation then yields a stable low-order 2-D system with a reasonably small approximation error.<<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":"123049444","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
Directionality, coupling, and multivariable loop-shaping 方向性，耦合和多变量环成形
Proceedings of the 27th IEEE Conference on Decision and Control Pub Date : 1988-12-07 DOI: 10.1109/CDC.1988.194340
J. Freudenberg
{"title":"Directionality, coupling, and multivariable loop-shaping","authors":"J. Freudenberg","doi":"10.1109/CDC.1988.194340","DOIUrl":"https://doi.org/10.1109/CDC.1988.194340","url":null,"abstract":"The author presents results useful in applying multivariable loop-shaping ideas to ill-conditioned plants. First, he examines the relation between open- and closed-loop properties at one loop-breaking point. He also investigates how feedback properties at one point are related, both nominally as well as robustly, to those at the other point, and describes the role played by the directional properties of an ill-conditioned plant. By combining these two sets of results, he shows how the open-loop transfer function at one point should be shaped to obtain satisfactory feedback properties at the other point. Finally, he studies design limitations imposed when the plant is ill-conditioned and investigates the sensitivity of feedback properties to violations of the alignment conditions.<<ETX>>","PeriodicalId":113534,"journal":{"name":"Proceedings of the 27th IEEE Conference on Decision and Control","volume":"25 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":"122335952","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
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